version: 66.04
glider: 163
mission: 1
dive: 20
start: 12 4 108 12 43 18
data:
$ID,163
$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,70
$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,620
$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,-4570.5503
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,123
$PITCH_MAX,3969
$C_PITCH,2965
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2230
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3750
$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,0
$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
$GPS1,123757,4806.610,-12222.680,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-71.4
$GPS2,124239,4806.583,-12222.654,14,1.5,14,18.3
$SPEED_LIMITS,0.140,0.171
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,0.151
$KALMAN_X,-126.5,88.7,-71.4,1166.8,140.7
$KALMAN_Y,-3077.9,-51.4,177.8,112.8,-284.5
$MHEAD_RNG_PITCHd_Wd,313.6,3107,-21.8,-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,-1.12,-68.4,0.0,0.0,0,49,0.00,0.00,-35.97,0.000,2,0.000,0.000,122,2238,2062
$GC,51,-1.12,-68.4,3.1,-2.5,6,139,10.20,2.28,-70.90,0.000,4,0.246,0.074,2590,3639,3961
$GC,164,-1.12,-68.4,13.3,-14.6,26,171,0.00,2.22,0.00,0.000,6,0.000,0.044,2590,2225,3962
$GC,234,-1.12,-68.4,20.9,-9.1,39,241,0.00,2.30,0.00,0.000,4,0.000,0.061,2580,3642,3962
$GC,287,-1.12,-68.4,25.5,-8.5,49,294,0.00,2.22,0.00,0.000,6,0.000,0.044,2580,2225,3962
$GC,357,-1.12,-68.4,32.0,-9.7,62,363,0.00,2.20,0.00,0.000,4,0.000,0.054,2579,831,3962
$GC,442,-1.12,-68.4,41.9,-12.2,78,449,0.10,2.22,0.00,0.000,6,0.172,0.051,2598,2235,3962
$GC,576,-1.12,-68.4,57.6,-12.0,103,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2236,3962
$GC,708,-1.12,-68.4,73.5,-12.1,128,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2235,3962
$GC,836,-1.12,-68.4,88.7,-11.7,152,844,0.00,2.22,0.00,0.000,4,0.000,0.053,2598,823,3962
$GC,885,-1.12,-68.4,94.8,-12.7,161,891,0.00,2.20,0.00,0.000,6,0.000,0.051,2590,2226,3962
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,972,-0.24,0.0,105.3,12.0,177,1017,0.93,0.00,40.45,0.776,6,0.142,0.000,2881,2226,3750
$STATE,1017,end apogee,CONTROL_FINISHED_OK
$STATE,1017,begin climb
$GC,1019,1.12,68.4,106.3,0.0,185,1075,1.23,0.00,52.28,0.743,6,0.067,0.000,3323,2226,3470
$GC,1202,1.12,68.4,88.5,12.5,219,1208,0.00,2.30,0.00,0.000,4,0.000,0.059,3323,3641,3471
$GC,1271,1.12,68.4,79.3,13.4,232,1278,0.00,2.22,0.00,0.000,6,0.000,0.044,3333,2234,3470
$GC,1405,1.12,68.4,63.4,11.8,257,1411,0.00,2.25,0.00,0.000,4,0.000,0.060,3333,3630,3470
$GC,1436,1.12,68.4,59.6,11.8,263,1443,0.00,2.20,0.00,0.000,6,0.000,0.044,3344,2225,3471
$GC,1569,1.12,68.4,43.9,11.5,288,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2226,3470
$GC,1698,1.12,68.4,30.1,10.1,312,1705,0.00,2.25,0.00,0.000,4,0.000,0.060,3344,3632,3471
$GC,1741,1.12,68.4,26.0,9.8,320,1748,0.00,2.17,0.00,0.000,6,0.000,0.044,3354,2232,3471
$GC,1810,1.13,75.5,20.1,7.5,333,1824,0.00,2.20,7.07,0.659,4,0.000,0.054,3364,818,3442
$GC,1902,1.19,123.7,15.5,4.2,350,1945,0.00,2.22,36.92,0.724,6,0.000,0.051,3364,2231,3244
$GC,2008,1.30,211.3,11.2,1.1,369,2080,0.00,2.30,65.82,0.705,4,0.000,0.054,3374,825,2887
$GC,2313,1.41,307.0,7.3,0.5,425,2391,0.10,2.25,71.78,0.703,6,0.081,0.051,3417,2231,2498
$GC,2454,1.55,421.1,5.4,-1.0,450,2515,0.15,0.00,58.12,0.686,2,0.081,0.000,3470,2231,2182
$STATE,2515,end climb,SURFACE_DEPTH_REACHED
$STATE,2515,begin surface coast
$FINISH,2.8,1.016993
$STATE,2630,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2645,182.55,0.682,0,0,1221,620.12
$SM_GC,2.62,0.00,0.00,182.55,0.000,0.000,0.682,125,2231,1221,-8.88,0.03,620.12
$IRIDIUM_FIX,4751.72,-12340.51,280298,111115
$TT8_MAMPS,0.051389
$HUMID,1490
$INTERNAL_PRESSURE,9.32247
$TCM_TEMP,18.70
$XPDR_PINGS,1
$24V_AH,24.0,2.860
$10V_AH,10.7,1.066
$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,22.725,40.250,332.450,182.550,0.000,25.373,26.061,160.085,0.250,0.000,0.000,14.218,0.000,1201.090,575.538,1040.348,292.790,33.335,1033.720,0.000,880.502,0.000,0.535,0.000
$DEVICE_MAMPS,246.207,74.399,776.204,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.259,639.575,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22219,482
$CAP_FILE_SIZE,50469,0
$CFSIZE,260165632,258330624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,133117,4806.677,-12222.823,14,6.0,33,18.3