version: 66.04
glider: 161
mission: 1
dive: 20
start: 12 4 108 13 5 29
data:
$ID,161
$MISSION,1
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,90
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,62
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2776.2339
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3670
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.491602
$PRESSURE_SLOPE,0.0001162844
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043144668
$SEABIRD_T_H,0.00063067116
$SEABIRD_T_I,2.3331902e-05
$SEABIRD_T_J,2.4048572e-06
$SEABIRD_C_G,-9.9688005
$SEABIRD_C_H,1.1159369
$SEABIRD_C_I,-0.00065751909
$SEABIRD_C_J,0.00014078162
$GPS1,125921,4807.059,-12223.008,13,1.0,13,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.6
$GPS2,130451,4807.028,-12222.992,11,1.4,11,18.3
$SPEED_LIMITS,0.140,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.152
$KALMAN_X,645.7,227.6,69.2,-244.6,-4.4
$KALMAN_Y,-1053.2,-275.3,-70.4,-887.8,-16.7
$MHEAD_RNG_PITCHd_Wd,308.6,2190,-20.3,-8.065
$D_GRID,105
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.88,-78.2,0.0,0.0,0,126,0.00,0.00,-112.00,0.000,2,0.000,0.000,136,2320,3352
$GC,127,-0.88,-78.2,3.3,-2.9,19,157,11.00,0.00,-16.02,0.000,6,0.250,0.000,2851,2320,3964
$GC,220,-0.88,-78.2,10.3,-6.0,36,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2320,3965
$GC,284,-0.88,-78.2,13.2,-4.1,48,291,0.00,2.33,0.00,0.000,4,0.000,0.073,2842,3737,3965
$GC,417,-0.88,-78.2,21.1,-6.9,73,424,0.00,2.20,0.00,0.000,6,0.000,0.047,2842,2328,3965
$GC,487,-0.88,-78.2,25.9,-7.0,86,494,0.00,2.20,0.00,0.000,4,0.000,0.051,2842,913,3965
$GC,514,-0.88,-78.2,27.8,-7.3,91,520,0.00,2.25,0.00,0.000,6,0.000,0.056,2833,2330,3965
$GC,583,-0.88,-78.2,32.8,-7.4,104,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2330,3965
$GC,647,-0.88,-78.2,37.5,-7.0,116,654,0.00,2.28,0.00,0.000,4,0.000,0.074,2824,3728,3965
$GC,674,-0.88,-78.2,39.6,-7.8,121,681,0.10,2.17,0.00,0.000,6,0.157,0.048,2855,2330,3965
$GC,743,-0.88,-78.2,44.0,-5.9,134,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2330,3965
$GC,872,-0.88,-78.2,52.5,-6.4,158,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2330,3965
$GC,1000,-0.88,-78.2,60.7,-6.1,182,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2330,3965
$GC,1128,-0.88,-78.2,68.9,-6.3,206,1136,0.00,2.17,0.00,0.000,4,0.000,0.050,2856,916,3965
$GC,1150,-0.88,-78.2,70.4,-6.5,210,1157,0.00,2.22,0.00,0.000,6,0.000,0.056,2848,2326,3965
$GC,1284,-0.88,-78.2,79.0,-6.0,235,1290,0.00,2.28,0.00,0.000,4,0.000,0.075,2838,3733,3965
$GC,1342,-0.88,-78.2,83.0,-7.5,246,1349,0.00,2.17,0.00,0.000,6,0.000,0.048,2838,2324,3965
$GC,1476,-0.88,-78.2,91.5,-6.1,271,1482,0.00,2.15,0.00,0.000,4,0.000,0.051,2838,919,3965
$GC,1519,-0.88,-78.2,94.1,-6.3,279,1525,0.00,2.20,0.00,0.000,6,0.000,0.057,2830,2322,3965
$GC,1651,-0.88,-78.2,102.2,-5.8,304,1658,0.00,2.25,0.00,0.000,4,0.000,0.074,2820,3725,3965
$STATE,1693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1693,begin apogee
$GC,1697,-0.19,0.0,105.3,7.1,312,1754,0.77,0.00,53.08,0.698,6,0.138,0.000,3071,2220,3670
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1755,0.88,78.2,106.1,0.0,322,1817,0.98,0.00,58.08,0.663,6,0.075,0.000,3423,2219,3350
$GC,1944,0.88,78.2,86.7,11.9,357,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2219,3350
$GC,2072,0.88,78.2,71.9,11.3,381,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2219,3350
$GC,2201,0.88,78.2,57.8,11.0,405,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2219,3350
$GC,2329,0.88,78.2,44.5,10.4,429,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2219,3350
$GC,2457,0.88,78.2,31.5,10.1,453,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2219,3350
$GC,2520,0.88,78.2,25.2,9.9,465,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2219,3350
$GC,2585,0.88,78.2,19.2,9.2,477,2591,0.00,2.15,0.00,0.000,4,0.000,0.047,3433,813,3350
$GC,2617,0.88,78.2,16.2,9.3,483,2624,0.00,2.20,0.00,0.000,6,0.000,0.048,3433,2232,3350
$GC,2686,0.88,78.2,10.3,8.3,496,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2232,3350
$GC,2750,0.96,146.6,7.1,3.3,508,2805,0.00,2.25,49.83,0.627,4,0.000,0.044,3443,812,3071
$GC,3044,1.10,257.7,6.0,0.3,562,3071,0.10,2.20,22.42,0.623,2,0.061,0.046,3498,2224,2951
$STATE,3071,end climb,NO_VERTICAL_VELOCITY
$STATE,3071,begin surface
$SM_CCo,3072,452.08,0.578,0,0,500,777.60
$SM_GC,1.25,9.35,0.00,0.00,0.048,0.000,0.000,128,2346,496,-9.35,0.62,778.58
$IRIDIUM_FIX,4751.72,-12340.51,280298,121228
$TT8_MAMPS,0.049855
$HUMID,1504
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.80
$XPDR_PINGS,7
$24V_AH,24.6,2.564
$10V_AH,10.7,1.164
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.300,40.150,183.400,452.075,0.000,30.565,27.860,209.103,1.750,0.000,0.000,13.015,0.000,1640.361,765.527,1216.692,333.381,33.328,1248.240,0.000,1028.600,0.000,0.535,0.000
$DEVICE_MAMPS,250.042,75.166,697.970,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.694,710.661,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25440,566
$CAP_FILE_SIZE,61996,0
$CFSIZE,260165632,257605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,140655,4807.257,-12223.256,40,1.1,40,18.3