version: 66.04
glider: 512
mission: 1
dive: 111
start: 12 27 110 10 47 51
data:
$ID,512
$MISSION,1
$DIVE,111
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,740
$D_NO_BLEED,500
$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,166
$T_MISSION,400
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7595.2988
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,-61.916836
$PRESSURE_SLOPE,0.00011360509
$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,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$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
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$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,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,103644,2243.675,-15757.149,13,1.6,13,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.0
$GPS2,104656,2243.670,-15757.051,11,1.7,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.129,0.226
$KALMAN_X,-78365.2,-1132.2,-24.0,103581.5,4683.7
$KALMAN_Y,-132131.0,1247.3,773.6,247506.5,-6147.9
$MHEAD_RNG_PITCHd_Wd,320.2,15509,-17.6,-10.040
$D_GRID,500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-70.32,0.000,2,0.000,0.000,46,2548,3013
$GC,89,-0.88,-146.0,3.5,-7.3,9,115,11.15,2.35,-9.55,0.000,4,0.261,0.100,2543,3887,3498
$GC,360,-0.88,-146.0,94.1,-28.6,39,364,0.00,2.00,0.00,0.000,6,0.000,0.028,2551,2538,3500
$GC,628,-0.88,-146.0,172.2,-28.0,64,632,0.00,2.35,0.00,0.000,4,0.000,0.097,2541,3887,3501
$GC,690,-0.88,-146.0,188.3,-23.9,69,694,0.00,1.98,0.00,0.000,6,0.000,0.029,2547,2536,3502
$GC,946,-0.88,-146.0,248.8,-23.3,79,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2529,3503
$GC,1190,-0.88,-146.0,301.3,-21.3,85,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2530,3502
$GC,1436,-0.88,-146.0,352.9,-20.7,91,1440,0.00,2.38,0.00,0.000,4,0.000,0.103,2536,3889,3502
$GC,1552,-0.88,-146.0,377.5,-20.6,93,1556,0.00,2.00,0.00,0.000,6,0.000,0.030,2544,2544,3501
$GC,1807,-0.88,-146.0,427.6,-19.8,100,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2537,3499
$GC,2054,-0.88,-146.0,471.7,-17.7,106,2058,0.00,2.38,0.00,0.000,4,0.000,0.105,2535,3894,3498
$GC,2130,-0.88,-146.0,485.8,-16.3,107,2137,0.00,2.00,0.00,0.000,6,0.000,0.031,2543,2551,3497
$STATE,2258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2258,begin apogee
$GC,2262,-0.32,0.0,506.0,15.9,111,2382,0.70,0.00,116.70,0.942,6,0.183,0.000,2740,2543,2900
$STATE,2383,end apogee,CONTROL_FINISHED_OK
$STATE,2383,begin climb
$GC,2385,0.88,146.0,509.2,0.0,114,2516,1.20,2.33,122.93,0.948,4,0.096,0.062,3136,3896,2304
$GC,2578,0.88,146.0,477.1,31.7,118,2582,0.00,2.05,0.00,0.000,6,0.000,0.030,3146,2561,2300
$GC,2832,0.88,146.0,403.9,28.0,125,2836,0.00,2.12,0.00,0.000,4,0.000,0.031,3157,1138,2294
$GC,2870,0.88,146.0,394.5,25.0,125,2878,0.00,2.30,0.00,0.000,6,0.000,0.054,3150,2547,2293
$GC,3120,0.88,146.0,331.2,25.1,132,3123,0.00,2.12,0.00,0.000,4,0.000,0.033,3159,1131,2290
$GC,3152,0.88,146.0,323.5,24.1,132,3157,0.00,2.30,0.00,0.000,6,0.000,0.054,3159,2549,2290
$GC,3409,0.88,146.0,260.7,24.7,139,3413,0.00,2.12,0.00,0.000,4,0.000,0.034,3168,1131,2287
$GC,3501,0.88,146.0,240.8,20.7,141,3505,0.00,2.25,0.00,0.000,6,0.000,0.052,3163,2554,2287
$GC,3757,0.88,146.0,188.4,20.0,151,3760,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1131,2285
$GC,3892,0.88,146.0,162.4,17.8,163,3896,0.15,2.22,0.00,0.000,6,0.240,0.052,3141,2550,2284
$GC,4158,0.88,146.0,112.6,18.5,188,4161,0.00,2.10,0.00,0.000,4,0.000,0.032,3151,1134,2283
$GC,4413,0.88,146.0,83.8,10.9,211,4417,0.00,2.25,0.00,0.000,6,0.000,0.054,3150,2559,2283
$GC,4675,0.88,146.0,51.1,11.6,235,4679,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1128,2282
$GC,4764,0.88,148.0,41.1,9.9,243,4769,0.00,2.25,0.00,0.000,6,0.000,0.050,3159,2561,2282
$GC,5026,0.88,148.0,12.7,11.6,282,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2561,2282
$STATE,5107,end climb,SURFACE_DEPTH_REACHED
$STATE,5107,begin surface coast
$FINISH,0.3,1.023491
$STATE,5130,end surface coast,CONTROL_FINISHED_OK
$STATE,5130,begin surface
$SM_CCo,5146,126.93,0.604,0,0,1186,420.19
$SM_GC,1.26,0.00,0.00,126.93,0.000,0.000,0.604,52,2567,1186,-8.74,0.51,420.19
$IRIDIUM_FIX,2234.68,-15754.99,220300,101044
$TT8_MAMPS,0.023777
$HUMID,1740
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,21.373
$10V_AH,10.8,11.691
$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,21.775,48.100,239.625,126.925,0.000,56.424,72.717,342.402,0.000,0.000,0.000,12.515,616.525,3147.439,431.640,1149.092,557.691,33.322,858.036,0.000,1152.260,0.000,0.544,0.000
$DEVICE_MAMPS,260.780,105.079,948.012,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,203.083,548.643,564.023,141.099,587.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25718,301
$CAP_FILE_SIZE,55404,0
$CFSIZE,260165632,254492672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,271210,121701,2244.100,-15757.055,43,1.3,43,10.1