version: 66.04
glider: 161
mission: 1
dive: 13
start: 12 4 108 5 59 35
data:
$ID,161
$MISSION,1
$DIVE,13
$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,-2622.8704
$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,49
$R_STBD_OVSHOOT,43
$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
$GPS1,055008,4806.265,-12222.291,37,0.9,37,18.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.8
$GPS2,055856,4806.241,-12222.250,14,1.5,31,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,0.160
$KALMAN_X,-19.4,-2.5,20.1,1613.6,65.6
$KALMAN_Y,-201.6,-30.9,-40.2,-3468.3,-83.3
$MHEAD_RNG_PITCHd_Wd,307.3,3911,-24.4,-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,-1.03,-78.2,0.0,0.0,0,84,0.00,0.00,-70.80,0.000,2,0.000,0.000,133,2317,3198
$GC,85,-1.03,-78.2,3.0,-3.4,12,122,10.62,2.30,-22.20,0.000,4,0.244,0.088,2789,3693,3965
$GC,185,-1.03,-78.2,9.4,-6.2,30,192,0.00,2.17,0.00,0.000,6,0.000,0.048,2789,2311,3965
$GC,254,-1.03,-78.2,13.3,-6.3,43,261,0.00,2.22,0.00,0.000,4,0.000,0.051,2789,885,3965
$GC,292,-1.03,-78.2,16.3,-8.1,50,299,0.00,2.22,0.00,0.000,6,0.000,0.055,2779,2280,3965
$GC,361,-1.03,-78.2,21.4,-8.2,63,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2280,3965
$GC,425,-1.03,-78.2,26.7,-8.1,75,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2280,3965
$GC,489,-1.03,-78.2,32.4,-9.0,87,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2280,3965
$GC,553,-1.03,-78.2,38.1,-8.5,99,560,0.00,2.17,0.00,0.000,4,0.000,0.051,2779,889,3965
$GC,579,-1.03,-78.2,40.7,-10.2,104,587,0.10,2.25,0.00,0.000,6,0.172,0.055,2799,2302,3965
$GC,714,-1.03,-78.2,51.7,-7.4,129,721,0.00,2.28,0.00,0.000,4,0.000,0.074,2790,3705,3965
$GC,751,-1.03,-78.2,54.9,-8.5,136,758,0.00,2.17,0.00,0.000,6,0.000,0.047,2790,2301,3965
$GC,885,-1.03,-78.2,65.9,-7.8,161,891,0.00,2.28,0.00,0.000,4,0.000,0.073,2781,3700,3965
$GC,932,-1.03,-78.2,70.4,-9.4,170,939,0.00,2.15,0.00,0.000,6,0.000,0.046,2781,2305,3965
$GC,1066,-1.03,-78.2,82.0,-8.2,195,1072,0.00,2.17,0.00,0.000,4,0.000,0.051,2781,888,3965
$GC,1113,-1.03,-78.2,86.4,-9.2,204,1121,0.10,2.22,0.00,0.000,6,0.168,0.055,2802,2305,3965
$GC,1248,-1.03,-78.2,95.8,-6.6,229,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2304,3965
$GC,1376,-1.03,-78.2,104.4,-7.2,253,1382,0.00,2.25,0.00,0.000,4,0.000,0.074,2793,3706,3965
$GC,1461,-1.03,-78.2,110.9,-8.5,269,1467,0.00,2.15,0.00,0.000,6,0.000,0.048,2793,2307,3965
$STATE,1512,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1512,begin apogee
$GC,1515,-0.19,0.0,115.1,8.0,279,1571,0.88,0.00,53.20,0.710,6,0.150,0.000,3070,2198,3669
$STATE,1572,end apogee,CONTROL_FINISHED_OK
$STATE,1572,begin climb
$GC,1573,1.03,78.2,115.7,0.0,289,1640,1.12,2.25,58.33,0.674,4,0.080,0.044,3482,794,3350
$GC,1660,1.03,78.2,108.1,12.0,305,1666,0.00,2.28,0.00,0.000,6,0.000,0.045,3482,2205,3350
$GC,1792,1.03,78.2,88.5,15.2,330,1800,0.00,2.25,0.00,0.000,4,0.000,0.060,3482,3605,3350
$GC,1852,1.03,78.2,79.4,15.0,341,1859,0.00,2.17,0.00,0.000,6,0.000,0.036,3493,2184,3350
$GC,1985,1.03,78.2,61.6,12.8,366,1992,0.00,2.15,0.00,0.000,4,0.000,0.043,3503,787,3350
$GC,2023,1.03,78.2,56.6,13.4,373,2030,0.08,2.20,0.00,0.000,6,0.185,0.044,3481,2202,3350
$GC,2156,1.03,78.2,39.5,12.4,398,2163,0.00,2.20,0.00,0.000,4,0.000,0.058,3481,3601,3350
$GC,2193,1.03,78.2,34.4,13.6,405,2201,0.00,2.12,0.00,0.000,6,0.000,0.036,3490,2192,3350
$GC,2263,1.03,78.2,25.8,11.8,418,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2191,3350
$GC,2327,1.03,78.2,18.1,12.4,430,2334,0.00,2.10,0.00,0.000,4,0.000,0.043,3501,808,3350
$GC,2349,1.03,78.2,15.7,11.6,434,2356,0.00,2.12,0.00,0.000,6,0.000,0.043,3501,2192,3350
$GC,2418,1.03,78.2,8.1,10.2,447,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2192,3350
$GC,2482,1.20,214.6,5.2,-1.7,459,2578,0.00,0.00,93.50,0.621,2,0.000,0.000,3501,2192,2820
$STATE,2578,end climb,SURFACE_DEPTH_REACHED
$STATE,2578,begin surface coast
$FINISH,4.0,1.019627
$STATE,2714,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2714,begin surface
$SM_CCo,2728,252.60,0.590,1,0,1427,550.21
$SM_GC,1.88,0.00,0.00,252.60,0.000,0.000,0.590,130,2316,1427,-9.41,0.45,550.21
$IRIDIUM_FIX,4751.72,-12340.51,280298,060601
$TT8_MAMPS,0.048321
$HUMID,1506
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,18.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.3,44.3
$24V_AH,24.0,1.790
$10V_AH,10.6,0.800
$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,22.525,53.175,205.025,252.600,0.000,57.530,55.341,266.802,2.250,0.000,0.000,33.889,0.000,1366.673,589.610,1107.932,449.451,33.318,1037.170,0.000,908.721,0.000,5.521,0.000
$DEVICE_MAMPS,243.906,88.205,710.242,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.189,614.810,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22236,501
$CAP_FILE_SIZE,62221,0
$CFSIZE,260165632,257839104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041208,064951,4806.395,-12222.378,11,1.9,11,18.3