version: 66.04
glider: 163
mission: 1
dive: 21
start: 12 4 108 13 37 14
data:
$ID,163
$MISSION,1
$DIVE,21
$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,-4606.8652
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,133117,4806.677,-12222.823,14,6.0,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.8
$GPS2,133635,4806.649,-12222.838,15,6.3,34,18.3
$SPEED_LIMITS,0.140,0.171
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,0.159
$KALMAN_X,-225.3,93.9,19.6,945.2,56.2
$KALMAN_Y,-3207.5,-48.2,31.9,506.4,-224.7
$MHEAD_RNG_PITCHd_Wd,320.1,2885,-21.8,-8.065
$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,-1.12,-68.4,0.0,0.0,0,43,0.00,0.00,-30.30,0.000,2,0.000,0.000,125,2231,1935
$GC,45,-1.12,-68.4,3.0,-1.3,5,139,10.00,2.25,-77.10,0.000,4,0.239,0.073,2591,3642,3960
$GC,346,-1.12,-68.4,31.2,-9.9,60,353,0.00,2.20,0.00,0.000,6,0.000,0.044,2591,2235,3960
$GC,416,-1.12,-68.4,38.8,-11.2,73,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2235,3960
$GC,483,-1.12,-68.4,46.5,-11.2,86,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2235,3960
$GC,612,-1.12,-68.4,61.6,-12.2,110,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2235,3961
$GC,740,-1.12,-68.4,77.6,-12.5,134,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2235,3961
$GC,868,-1.12,-68.4,93.4,-12.3,158,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2235,3961
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,955,-0.24,0.0,103.6,11.7,174,1000,0.93,0.00,40.10,0.782,6,0.141,0.000,2882,2235,3750
$STATE,1000,end apogee,CONTROL_FINISHED_OK
$STATE,1000,begin climb
$GC,1001,1.12,68.4,104.6,0.0,182,1063,1.23,2.33,52.30,0.747,4,0.067,0.054,3334,831,3470
$GC,1073,1.13,79.9,100.3,7.2,195,1090,0.00,2.30,9.98,0.672,6,0.000,0.051,3333,2228,3427
$GC,1217,1.13,79.9,81.2,14.4,222,1224,0.00,2.30,0.00,0.000,4,0.000,0.060,3333,3643,3427
$GC,1291,1.13,79.9,70.1,14.7,236,1299,0.00,2.22,0.00,0.000,6,0.000,0.044,3342,2236,3427
$GC,1426,1.13,79.9,51.8,13.2,261,1432,0.00,2.28,0.00,0.000,4,0.000,0.060,3342,3646,3427
$GC,1602,1.13,79.9,27.3,12.7,294,1608,0.00,2.20,0.00,0.000,6,0.000,0.044,3352,2236,3427
$GC,1671,1.13,79.9,19.7,9.7,307,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2236,3427
$GC,1735,1.16,98.0,15.0,6.6,319,1755,0.00,2.30,15.70,0.719,4,0.000,0.059,3352,3645,3350
$GC,1833,1.27,186.5,11.5,1.0,337,1905,0.00,2.22,66.12,0.715,6,0.000,0.044,3362,2222,2989
$GC,1968,1.37,269.7,7.4,1.5,361,2040,0.12,2.40,62.65,0.696,4,0.091,0.060,3404,3641,2650
$GC,2279,1.49,366.3,5.2,0.4,418,2287,0.00,2.22,4.60,0.537,2,0.000,0.044,3416,2235,2630
$STATE,2288,end climb,NO_VERTICAL_VELOCITY
$STATE,2288,begin surface
$SM_CCo,2289,360.00,0.676,0,1,746,736.88
$SM_CCo,2651,68.05,0.558,7,0,450,809.49
$SM_GC,2.36,9.43,0.00,0.00,0.054,0.000,0.000,118,2235,445,-8.85,0.14,810.72
$IRIDIUM_FIX,4751.72,-12340.51,280298,121253
$TT8_MAMPS,0.051389
$HUMID,1482
$INTERNAL_PRESSURE,9.23458
$TCM_TEMP,18.70
$XPDR_PINGS,3
$24V_AH,24.5,3.003
$10V_AH,10.7,1.111
$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,21.700,27.225,251.450,428.050,0.000,26.222,35.491,164.003,0.750,0.000,0.000,35.688,0.000,1169.392,776.600,929.685,299.552,33.326,1164.612,0.000,764.767,0.000,0.535,0.000
$DEVICE_MAMPS,239.304,72.865,781.573,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.297,548.260,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,419
$CAP_FILE_SIZE,45582,7
$CFSIZE,260165632,258310144
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,7,0
$GPS,041208,142538,4806.770,-12222.977,12,1.2,29,18.3