version: 66.04
glider: 163
mission: 1
dive: 3
start: 12 3 108 20 22 10
data:
$ID,163
$MISSION,1
$DIVE,3
$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,50
$T_MISSION,60
$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,200
$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,635
$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,-3986.1887
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,123
$PITCH_MAX,3969
$C_PITCH,2980
$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,227
$ROLL_MAX,3784
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2359
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3600
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-30.71829
$PRESSURE_SLOPE,0.000160567
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,4
$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,0.0043696649
$SEABIRD_T_H,0.00063696795
$SEABIRD_T_I,2.5730227e-05
$SEABIRD_T_J,2.8682675e-06
$SEABIRD_C_G,-9.7142849
$SEABIRD_C_H,1.0845447
$SEABIRD_C_I,-0.00099864113
$SEABIRD_C_J,0.00016596938
$GPS1,201803,4808.197,-12223.732,13,1.1,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-73.9
$GPS2,202133,4808.190,-12223.749,13,1.1,13,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.268,-0.124
$KALMAN_X,-305.3,-148.0,-144.2,307.6,-146.8
$KALMAN_Y,139.6,99.5,97.6,-198.1,100.1
$MHEAD_RNG_PITCHd_Wd,96.6,991,-14.9,-10.000
$D_GRID,103
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.81,-195.5,0.0,0.0,0,72,0.00,0.00,-58.95,0.000,2,0.000,0.000,119,2241,2092
$GC,74,-0.81,-195.5,3.1,-3.0,10,167,10.70,2.22,-75.50,0.000,4,0.256,0.074,2710,847,3962
$GC,406,-0.81,-195.5,20.0,-6.0,71,413,0.00,2.22,0.00,0.000,6,0.000,0.058,2703,2248,3963
$GC,476,-0.81,-195.5,24.5,-7.1,84,482,0.00,2.22,0.00,0.000,4,0.000,0.060,2702,845,3963
$GC,513,-0.81,-195.5,27.5,-8.1,91,520,0.00,2.22,0.00,0.000,6,0.000,0.058,2693,2248,3963
$GC,583,-0.81,-195.5,33.1,-7.7,104,589,0.00,2.28,0.00,0.000,4,0.000,0.068,2683,3662,3963
$GC,625,-0.81,-195.5,36.9,-9.1,112,632,0.10,2.20,0.00,0.000,6,0.141,0.050,2715,2253,3963
$GC,695,-0.81,-195.5,42.6,-7.9,125,701,0.00,2.22,0.00,0.000,4,0.000,0.060,2715,845,3963
$GC,785,-0.81,-195.5,49.8,-7.7,142,792,0.00,2.22,0.00,0.000,6,0.000,0.058,2708,2251,3963
$GC,919,-0.81,-195.5,59.9,-7.9,167,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2251,3963
$GC,1047,-0.81,-195.5,69.5,-6.9,191,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2251,3963
$GC,1179,-0.81,-195.5,79.1,-7.1,216,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2251,3963
$GC,1307,-0.81,-195.5,88.3,-6.9,240,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2251,3963
$GC,1435,-0.81,-195.5,97.5,-7.3,264,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2251,3963
$STATE,1519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1519,begin apogee
$GC,1523,-0.19,0.0,103.4,7.1,280,1596,0.62,0.00,67.35,0.793,6,0.123,0.000,2912,2366,3599
$STATE,1596,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1597,0.81,195.5,104.0,0.0,293,1752,0.90,0.00,148.82,0.746,6,0.065,0.000,3237,2365,2802
$GC,1879,0.81,195.5,56.9,21.7,345,1885,0.00,2.30,0.00,0.000,4,0.000,0.067,3237,3756,2802
$GC,1900,0.81,195.5,52.1,22.9,349,1906,0.00,2.22,0.00,0.000,6,0.000,0.049,3248,2371,2802
$GC,2033,0.81,195.5,23.0,20.3,374,2040,0.00,2.30,0.00,0.000,4,0.000,0.061,3258,948,2803
$GC,2076,0.81,195.5,14.0,21.2,382,2083,0.00,2.28,0.00,0.000,6,0.000,0.058,3259,2356,2803
$STATE,2139,end climb,SURFACE_DEPTH_REACHED
$STATE,2139,begin surface coast
$FINISH,5.3,1.017834
$STATE,2187,end surface coast,CONTROL_FINISHED_OK
$STATE,2187,begin surface
$SM_CCo,2189,360.00,0.686,0,1,901,661.82
$SM_CCo,2551,102.28,0.565,11,0,450,772.70
$SM_GC,2.29,8.80,0.00,0.00,0.048,0.000,0.000,124,2251,446,-8.88,0.03,773.68
$IRIDIUM_FIX,4751.72,-12340.51,270298,202012
$TT8_MAMPS,0.051389
$HUMID,1501
$INTERNAL_PRESSURE,9.24434
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,58.4
$24V_AH,24.3,0.726
$10V_AH,10.7,0.228
$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,21.125,27.225,216.175,462.275,0.000,0.000,0.000,0.000,0.500,0.000,0.000,13.514,0.000,1109.478,832.675,870.404,41.333,31.396,1207.493,0.000,724.160,0.000,5.560,0.000
$DEVICE_MAMPS,256.178,79.768,793.078,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.022,484.945,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19084,403
$CAP_FILE_SIZE,60513,7
$CFSIZE,260165632,258838528
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,11,0
$GPS,031208,210950,4808.017,-12223.581,15,1.3,32,18.3