version: 66.04
glider: 161
mission: 1
dive: 10
start: 12 4 108 2 59 59
data:
$ID,161
$MISSION,1
$DIVE,10
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$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,550
$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,-2520.5203
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3670
$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,-19.491602
$PRESSURE_SLOPE,0.0001162844
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043144668
$SEABIRD_T_H,0.00063067116
$SEABIRD_T_I,2.3331902e-05
$SEABIRD_T_J,2.4048572e-06
$SEABIRD_C_G,-9.9688005
$SEABIRD_C_H,1.1159369
$SEABIRD_C_I,-0.00065751909
$SEABIRD_C_J,0.00014078162
$GPS1,025423,4806.193,-12222.146,61,3.2,80,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.4
$GPS2,025921,4806.162,-12222.104,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.158
$KALMAN_X,-227.4,-78.3,101.4,2002.6,-14.5
$KALMAN_Y,146.7,48.2,-187.5,-3903.5,15.0
$MHEAD_RNG_PITCHd_Wd,137.3,326,-27.2,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-1.13,-63.1,0.0,0.0,0,73,0.00,0.00,-60.00,0.000,2,0.000,0.000,133,2313,3000
$GC,75,-1.14,-78.2,3.3,-4.1,10,117,10.55,2.25,-26.17,0.000,4,0.245,0.086,2760,3698,3963
$GC,355,-1.14,-78.2,25.9,-9.0,62,363,0.00,2.17,0.00,0.000,6,0.000,0.048,2760,2307,3964
$GC,425,-1.14,-78.2,31.9,-8.7,75,432,0.00,2.25,0.00,0.000,4,0.000,0.071,2750,3681,3964
$GC,671,-1.14,-78.2,59.1,-12.0,121,678,0.00,2.12,0.00,0.000,6,0.000,0.046,2750,2304,3964
$GC,804,-1.14,-78.2,73.3,-10.6,146,811,0.00,2.25,0.00,0.000,4,0.000,0.071,2740,3693,3964
$GC,878,-1.14,-78.2,80.9,-10.3,160,886,0.08,2.17,0.00,0.000,6,0.176,0.046,2762,2290,3963
$GC,1013,-1.14,-78.2,93.1,-9.0,185,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2290,3963
$GC,1145,-1.14,-78.2,104.5,-8.3,210,1152,0.00,2.25,0.00,0.000,4,0.000,0.073,2754,3684,3963
$GC,1241,-1.14,-78.2,113.8,-10.2,228,1249,0.00,2.15,0.00,0.000,6,0.000,0.047,2754,2293,3963
$STATE,1283,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1283,begin apogee
$GC,1286,-0.19,0.0,117.8,9.1,236,1342,1.02,0.00,52.72,0.716,6,0.159,0.000,3071,2199,3669
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1343,1.14,78.2,118.5,0.0,246,1405,1.23,0.00,58.22,0.680,6,0.079,0.000,3507,2199,3351
$GC,1532,1.14,78.2,95.2,14.6,281,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2200,3351
$GC,1660,1.14,78.2,76.6,14.6,305,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2200,3350
$GC,1789,1.14,78.2,58.7,13.3,329,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2200,3350
$GC,1917,1.14,78.2,42.8,12.7,353,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2200,3350
$GC,2045,1.14,78.2,27.1,12.9,377,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2200,3350
$GC,2109,1.14,78.2,19.4,11.8,389,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2200,3350
$GC,2172,1.14,78.2,12.0,11.8,401,2179,0.00,2.20,0.00,0.000,4,0.000,0.061,3507,3590,3350
$GC,2258,1.30,203.3,7.6,-3.3,417,2353,0.08,2.10,89.85,0.629,6,0.081,0.037,3556,2193,2841
$GC,2415,1.40,285.9,5.6,1.2,445,2482,0.00,2.20,60.75,0.604,4,0.000,0.044,3566,796,2505
$STATE,2511,end climb,SURFACE_DEPTH_REACHED
$STATE,2511,begin surface coast
$FINISH,3.8,1.018095
$STATE,2651,end surface coast,CONTROL_FINISHED_OK
$STATE,2651,begin surface
$SM_CCo,2666,194.25,0.596,0,0,1426,550.21
$SM_GC,1.97,0.00,0.00,194.25,0.000,0.000,0.596,132,2299,1426,-9.40,0.00,550.21
$IRIDIUM_FIX,4751.72,-12340.51,280298,020233
$TT8_MAMPS,0.050622
$HUMID,1526
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.4,47.0
$24V_AH,24.0,1.493
$10V_AH,10.6,0.646
$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,22.800,26.625,261.550,194.250,0.000,23.212,30.718,182.465,1.500,0.000,0.000,13.775,0.000,1314.850,503.237,1048.238,290.633,33.311,929.885,0.000,888.084,0.000,5.528,0.000
$DEVICE_MAMPS,244.673,85.904,715.611,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.684,616.480,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22262,488
$CAP_FILE_SIZE,49014,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,034829,4805.996,-12222.055,12,4.4,31,18.3