version: 66.04
glider: 160
mission: 2
dive: 10
start: 12 11 108 3 26 35
data:
$ID,160
$MISSION,2
$DIVE,10
$D_SURF,5
$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,0
$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,-6270.0415
$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,23
$R_STBD_OVSHOOT,25
$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,10
$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,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
$GPS1,032131,4806.505,-12222.437,39,2.0,39,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.1
$GPS2,032557,4806.447,-12222.394,15,1.3,15,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.081,-0.200
$KALMAN_X,95.1,-72.1,70.4,991.4,157.0
$KALMAN_Y,-172.7,-50.6,-51.9,-2772.0,-85.6
$MHEAD_RNG_PITCHd_Wd,139.5,960,-21.7,-10.000
$D_GRID,150
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.84,-97.8,0.0,0.0,0,79,0.00,0.00,-64.68,0.000,2,0.000,0.000,148,2347,2133
$GC,80,-0.84,-97.8,3.1,-5.5,11,145,8.82,2.35,-48.50,0.000,4,0.248,0.075,2351,938,3964
$GC,165,-0.84,-97.8,9.2,-6.4,26,172,0.00,2.33,0.00,0.000,6,0.000,0.060,2350,2342,3964
$GC,235,-0.84,-97.8,13.9,-5.9,39,241,0.00,2.38,0.00,0.000,4,0.000,0.074,2340,3760,3964
$GC,480,-0.84,-97.8,43.2,-14.0,85,487,0.00,2.28,0.00,0.000,6,0.000,0.052,2340,2351,3965
$GC,613,-0.84,-97.8,62.5,-14.4,110,620,0.00,2.35,0.00,0.000,4,0.000,0.074,2339,3756,3964
$GC,720,-0.84,-97.8,78.7,-15.0,130,727,0.00,2.25,0.00,0.000,6,0.000,0.051,2340,2352,3964
$GC,854,-0.84,-97.8,97.3,-13.4,155,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2351,3964
$STATE,960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,960,begin apogee
$GC,963,-0.17,0.0,111.5,13.8,175,1035,0.70,0.00,67.78,0.730,6,0.152,0.000,2561,2351,3589
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1037,0.84,97.8,114.8,0.0,188,1121,0.98,2.50,73.50,0.690,4,0.099,0.067,2889,3761,3189
$GC,1162,0.84,97.8,104.9,11.6,211,1168,0.00,2.33,0.00,0.000,6,0.000,0.046,2892,2353,3189
$GC,1295,0.84,97.8,89.7,11.3,236,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2353,3189
$GC,1423,0.84,97.8,76.0,10.3,260,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2353,3189
$GC,1551,0.85,99.5,63.1,9.9,284,1559,0.00,2.28,0.00,0.000,4,0.000,0.058,2892,941,3189
$GC,1600,0.85,99.5,58.2,10.6,293,1606,0.00,2.28,0.00,0.000,6,0.000,0.051,2892,2356,3189
$GC,1733,0.85,102.3,44.7,9.8,318,1740,0.00,0.00,4.97,0.523,6,0.000,0.000,2892,2356,3172
$GC,1867,0.85,105.2,31.7,9.8,343,1874,0.00,0.00,3.97,0.463,6,0.000,0.000,2891,2356,3159
$GC,1937,0.85,105.2,25.0,10.3,356,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2356,3159
$GC,2001,0.85,105.2,18.8,10.0,368,2007,0.00,2.28,0.00,0.000,4,0.000,0.064,2891,3758,3159
$GC,2043,0.85,105.2,14.1,10.8,376,2051,0.00,2.22,0.00,0.000,6,0.000,0.045,2895,2351,3159
$GC,2113,0.92,159.9,8.4,6.2,389,2161,0.00,2.40,40.45,0.663,4,0.000,0.068,2895,3759,2936
$STATE,2277,end climb,NO_VERTICAL_VELOCITY
$STATE,2277,begin surface
$SM_CCo,2278,457.88,0.607,0,0,489,760.18
$SM_GC,1.49,7.62,0.00,0.00,0.046,0.000,0.000,145,2347,485,-7.68,-0.08,761.41
$IRIDIUM_FIX,4751.72,-12153.14,070398,020205
$TT8_MAMPS,0.050622
$HUMID,1483
$INTERNAL_PRESSURE,9.20344
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,40.7
$24V_AH,24.4,5.029
$10V_AH,10.7,1.804
$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,18.125,32.600,190.675,457.875,0.000,24.319,29.394,149.658,0.750,0.000,0.000,16.806,0.000,1191.919,746.078,908.409,258.574,33.311,1122.910,0.000,757.923,0.000,5.510,0.000
$DEVICE_MAMPS,247.741,75.166,730.184,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.423,217.926,509.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,419
$CAP_FILE_SIZE,45063,0
$CFSIZE,260165632,258347008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,041437,4806.121,-12222.218,9,1.3,25,18.3