version: 66.04
glider: 160
mission: 1
dive: 26
start: 12 4 108 14 14 7
data:
$ID,160
$MISSION,1
$DIVE,26
$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,70
$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,100
$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,630
$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,-5438.2217
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2562
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3589
$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,-23.342426
$PRESSURE_SLOPE,0.000115925
$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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$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,0.004341932
$SEABIRD_T_H,0.00063318753
$SEABIRD_T_I,2.3343002e-05
$SEABIRD_T_J,2.4016158e-06
$SEABIRD_C_G,-9.9320574
$SEABIRD_C_H,1.1090317
$SEABIRD_C_I,-0.00091700396
$SEABIRD_C_J,0.00016420601
$GPS1,140253,4806.602,-12222.590,10,99.0,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.8
$GPS2,141329,4806.562,-12222.568,12,8.1,31,18.3
$SPEED_LIMITS,0.140,0.202
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.166
$KALMAN_X,-173.3,231.3,69.0,1099.1,34.4
$KALMAN_Y,1171.8,-321.0,-319.4,-3742.8,-38.4
$MHEAD_RNG_PITCHd_Wd,307.3,3198,-17.9,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.72,-97.8,0.0,0.0,0,109,0.00,0.00,-95.80,0.000,2,0.000,0.000,150,2357,2903
$GC,111,-0.72,-97.8,3.0,-1.8,18,155,8.45,2.38,-31.60,0.000,4,0.239,0.082,2314,3761,3964
$GC,297,-0.72,-97.8,22.7,-10.6,53,304,0.00,2.28,0.00,0.000,6,0.000,0.048,2314,2350,3964
$GC,366,-0.72,-97.8,30.0,-11.1,66,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2349,3964
$GC,431,-0.72,-97.8,37.2,-11.4,78,437,0.00,2.28,0.00,0.000,4,0.000,0.055,2314,936,3964
$GC,489,-0.72,-97.8,44.4,-12.7,89,496,0.00,2.30,0.00,0.000,6,0.000,0.061,2313,2350,3964
$GC,622,-0.72,-97.8,61.0,-12.8,114,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2350,3964
$GC,750,-0.72,-97.8,77.6,-12.8,138,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2350,3964
$GC,878,-0.72,-97.8,93.1,-11.6,162,885,0.00,2.28,0.00,0.000,4,0.000,0.055,2313,940,3965
$GC,927,-0.72,-97.8,98.7,-11.9,171,933,0.00,2.28,0.00,0.000,6,0.000,0.060,2313,2349,3964
$STATE,983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,983,begin apogee
$GC,987,-0.17,0.0,105.1,10.7,182,1061,0.57,0.00,68.38,0.732,6,0.144,0.000,2498,2407,3588
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1062,0.72,97.8,107.3,0.0,196,1143,0.82,2.38,74.22,0.694,4,0.087,0.064,2784,3793,3189
$GC,1157,0.72,97.8,99.8,11.5,214,1165,0.00,2.30,0.00,0.000,6,0.000,0.044,2793,2402,3189
$GC,1291,0.72,97.8,81.3,13.9,239,1298,0.00,2.33,0.00,0.000,4,0.000,0.056,2796,988,3188
$GC,1322,0.72,97.8,77.1,13.7,245,1329,0.00,2.30,0.00,0.000,6,0.000,0.051,2796,2398,3188
$GC,1456,0.72,97.8,59.8,12.8,270,1463,0.00,2.28,0.00,0.000,4,0.000,0.061,2796,3786,3188
$GC,1498,0.72,97.8,54.0,13.9,278,1505,0.00,2.20,0.00,0.000,6,0.000,0.041,2805,2397,3188
$GC,1631,0.72,97.8,36.1,13.2,303,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2397,3188
$GC,1695,0.72,97.8,27.8,13.1,315,1702,0.00,2.25,0.00,0.000,4,0.000,0.051,2809,987,3188
$GC,1722,0.72,97.8,24.5,12.5,320,1729,0.00,2.25,0.00,0.000,6,0.000,0.048,2809,2401,3188
$GC,1791,0.72,97.8,16.3,11.7,333,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2401,3188
$GC,1855,0.72,97.8,9.7,9.0,345,1862,0.00,2.25,0.00,0.000,4,0.000,0.058,2809,3797,3188
$GC,1871,0.73,108.0,8.6,7.5,348,1884,0.00,2.20,9.00,0.594,6,0.000,0.040,2816,2394,3148
$GC,1946,0.88,229.2,6.1,1.3,362,2043,0.00,2.38,88.80,0.646,4,0.000,0.052,2816,990,2653
$STATE,2152,end climb,SURFACE_DEPTH_REACHED
$STATE,2152,begin surface coast
$FINISH,3.8,1.217225
$STATE,2227,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2227,begin surface
$SM_CCo,2241,303.73,0.612,0,0,1019,630.18
$SM_GC,2.01,0.00,0.00,303.73,0.000,0.000,0.612,151,2357,1019,-7.54,0.20,630.18
$IRIDIUM_FIX,4748.51,-12221.84,280298,141436
$TT8_MAMPS,0.052156
$HUMID,1524
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.60
$XPDR_PINGS,6
$24V_AH,24.1,3.352
$10V_AH,10.7,1.255
$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,17.350,41.175,240.400,303.725,0.000,77.152,83.577,263.134,1.500,0.000,0.000,33.724,0.000,1245.906,668.284,780.979,486.762,33.312,1036.084,0.000,608.844,0.000,0.535,0.000
$DEVICE_MAMPS,238.537,109.681,732.485,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,276.933,224.515,313.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19026,415
$CAP_FILE_SIZE,51305,0
$CFSIZE,260165632,257904640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,041208,145726,4806.607,-12222.608,35,1.8,35,18.3