version: 66.04
glider: 160
mission: 2
dive: 4
start: 12 10 108 22 13 45
data:
$ID,160
$MISSION,2
$DIVE,4
$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,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,620
$N_FILEKB,8
$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,-6100.6689
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2625
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$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,4
$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,-23.364115
$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,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,220933,4807.985,-12223.841,14,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.5
$GPS2,221308,4807.987,-12223.847,8,1.5,13,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,-0.182
$KALMAN_X,-145.5,-128.1,-107.2,-328.4,-36.2
$KALMAN_Y,83.4,21.7,3.4,-309.7,17.7
$MHEAD_RNG_PITCHd_Wd,129.0,2106,-21.7,-10.000
$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,12,-0.84,-97.8,0.0,0.0,0,79,0.00,0.00,-65.38,0.000,2,0.000,0.000,144,2364,2092
$GC,80,-0.84,-97.8,3.2,-6.8,11,157,8.70,2.33,-60.47,0.000,4,0.249,0.088,2341,3757,3962
$GC,396,-0.84,-97.8,30.3,-14.3,69,402,0.00,2.28,0.00,0.000,6,0.000,0.050,2341,2339,3963
$GC,465,-0.84,-97.8,40.2,-14.0,82,472,0.00,2.38,0.00,0.000,4,0.000,0.074,2339,3763,3963
$GC,524,-0.84,-97.8,49.0,-15.6,93,530,0.00,2.25,0.00,0.000,6,0.000,0.050,2339,2353,3963
$GC,656,-0.84,-97.8,67.9,-14.4,118,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2352,3963
$GC,784,-0.84,-97.8,86.0,-14.5,142,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2352,3963
$GC,912,-0.84,-97.8,103.5,-13.8,166,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2352,3963
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,928,begin apogee
$GC,931,-0.17,0.0,105.7,13.8,169,1003,0.70,0.00,67.70,0.741,6,0.149,0.000,2561,2351,3589
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1005,0.84,97.8,109.2,0.0,182,1083,0.98,0.00,73.75,0.698,6,0.097,0.000,2892,2350,3190
$GC,1209,0.84,97.8,91.3,11.4,220,1217,0.00,2.38,0.00,0.000,4,0.000,0.068,2892,3756,3189
$GC,1241,0.84,97.8,87.4,12.4,226,1249,0.00,2.30,0.00,0.000,6,0.000,0.046,2898,2344,3189
$GC,1376,0.84,97.8,73.1,10.9,251,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2344,3189
$GC,1504,0.84,97.8,60.2,10.0,275,1510,0.00,2.35,0.00,0.000,4,0.000,0.064,2898,3762,3189
$GC,1535,0.84,97.8,56.6,11.5,281,1542,0.00,2.25,0.00,0.000,6,0.000,0.045,2905,2350,3189
$GC,1668,0.84,97.8,42.5,10.3,306,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2350,3189
$GC,1797,0.84,97.8,29.3,10.1,330,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2350,3189
$GC,1861,0.84,97.9,23.0,10.0,342,1867,0.00,2.25,0.00,0.000,4,0.000,0.056,2905,940,3189
$GC,1919,0.85,100.1,17.3,9.8,353,1928,0.00,2.25,3.50,0.418,6,0.000,0.049,2906,2353,3180
$GC,1990,0.87,116.4,10.5,8.9,366,2009,0.00,0.00,13.32,0.636,6,0.000,0.000,2906,2352,3113
$GC,2072,1.00,228.4,4.9,2.3,381,2161,0.12,2.40,81.40,0.644,4,0.075,0.057,2959,941,2655
$GC,2245,1.18,371.5,4.3,0.2,412,2329,0.10,2.33,78.78,0.626,2,0.064,0.051,3011,2353,2223
$STATE,2329,end climb,SURFACE_DEPTH_REACHED
$STATE,2329,begin surface coast
$FINISH,4.0,1.018609
$STATE,2342,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2342,begin surface
$SM_CCo,2355,215.85,0.611,0,0,1060,620.12
$SM_GC,1.89,0.00,0.00,215.85,0.000,0.000,0.611,148,2353,1060,-7.74,0.08,620.12
$IRIDIUM_FIX,4738.89,-12352.98,060398,222247
$TT8_MAMPS,0.051389
$HUMID,1487
$INTERNAL_PRESSURE,9.28157
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,24.2,4.249
$10V_AH,10.7,1.541
$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,18.750,27.725,318.450,215.850,0.000,0.000,0.000,0.000,0.500,0.000,0.000,15.821,0.000,1060.296,588.218,927.456,38.556,32.319,1003.628,0.000,782.248,0.000,0.534,0.000
$DEVICE_MAMPS,249.275,88.205,740.922,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.963,231.910,543.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,429
$CAP_FILE_SIZE,54835,0
$CFSIZE,260165632,258502656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,225723,4807.816,-12223.661,9,3.4,28,18.3