version: 66.04
glider: 512
mission: 1
dive: 113
start: 12 27 110 14 7 2
data:
$ID,512
$MISSION,1
$DIVE,113
$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,-7627.6885
$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,58
$R_STBD_OVSHOOT,18
$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
$GPS1,135244,2244.354,-15756.812,10,1.9,10,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.2
$GPS2,140608,2244.270,-15756.667,14,1.6,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.019,0.259
$KALMAN_X,-76491.0,-1203.7,-213.7,102630.1,4341.9
$KALMAN_Y,-134751.8,1844.8,467.3,250951.7,-6625.1
$MHEAD_RNG_PITCHd_Wd,345.7,15149,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-69.62,0.000,2,0.000,0.000,40,2540,3002
$GC,89,-0.88,-146.0,3.0,-4.2,9,121,11.35,2.35,-10.43,0.000,4,0.265,0.097,2542,3897,3499
$GC,363,-0.88,-146.0,94.7,-28.6,39,371,0.00,2.00,0.00,0.000,6,0.000,0.030,2549,2569,3500
$GC,626,-0.88,-146.0,166.0,-28.6,64,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2563,3501
$GC,884,-0.88,-146.0,231.3,-24.7,80,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2563,3502
$GC,1129,-0.88,-146.0,286.3,-21.3,86,1133,0.00,2.28,0.00,0.000,4,0.000,0.094,2541,3893,3502
$GC,1149,-0.88,-146.0,291.1,-21.2,86,1154,0.00,2.03,0.00,0.000,6,0.000,0.031,2548,2530,3502
$GC,1410,-0.88,-146.0,343.6,-19.9,93,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2523,3502
$GC,1655,-0.88,-146.0,389.7,-18.6,99,1660,0.00,2.38,0.00,0.000,4,0.000,0.100,2538,3893,3501
$GC,1765,-0.88,-146.0,410.6,-18.2,101,1770,0.00,2.00,0.00,0.000,6,0.000,0.031,2546,2548,3500
$GC,2027,-0.88,-146.0,456.3,-17.4,108,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2541,3499
$GC,2270,-0.88,-146.0,498.8,-17.4,114,2274,0.00,2.35,0.00,0.000,4,0.000,0.103,2538,3892,3497
$STATE,2279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2279,begin apogee
$GC,2285,-0.32,0.0,500.7,17.4,114,2405,0.68,0.00,116.45,0.951,6,0.195,0.000,2736,2533,2900
$STATE,2405,end apogee,CONTROL_FINISHED_OK
$STATE,2406,begin climb
$GC,2407,0.88,146.0,505.8,0.0,117,2539,1.20,2.17,122.57,0.929,4,0.107,0.031,3137,1163,2303
$GC,2583,0.88,146.0,482.3,26.4,121,2587,0.00,2.38,0.00,0.000,6,0.000,0.063,3137,2550,2298
$GC,2860,0.88,146.0,406.9,27.0,128,2864,0.00,2.08,0.00,0.000,4,0.000,0.033,3146,1165,2293
$GC,3040,0.88,146.0,363.0,23.5,132,3044,0.00,2.25,0.00,0.000,6,0.000,0.060,3146,2558,2291
$GC,3323,0.88,146.0,294.8,24.1,139,3327,0.00,2.10,0.00,0.000,4,0.000,0.032,3155,1158,2288
$GC,3415,0.88,146.0,274.5,23.7,141,3419,0.00,2.25,0.00,0.000,6,0.000,0.062,3150,2552,2287
$GC,3697,0.88,146.0,213.6,20.4,148,3701,0.00,2.10,0.00,0.000,4,0.000,0.033,3159,1153,2285
$GC,3746,0.88,146.0,204.2,19.7,149,3750,0.00,2.28,0.00,0.000,6,0.000,0.060,3159,2549,2285
$GC,4010,0.88,146.0,151.1,18.9,171,4013,0.00,2.08,0.00,0.000,4,0.000,0.033,3167,1154,2283
$GC,4113,0.88,146.0,133.2,16.9,180,4122,0.00,2.28,0.00,0.000,6,0.000,0.063,3163,2545,2283
$GC,4376,0.88,146.0,84.0,19.1,205,4380,0.00,2.17,0.00,0.000,4,0.000,0.067,3163,3904,2283
$GC,4400,0.88,146.0,80.0,16.2,207,4405,0.17,1.98,0.00,0.000,6,0.259,0.034,3137,2562,2282
$GC,4668,0.88,146.0,48.8,12.0,232,4672,0.00,2.10,0.00,0.000,4,0.000,0.031,3147,1135,2282
$GC,4914,0.92,174.0,24.5,8.7,260,4939,0.00,2.28,20.05,0.597,6,0.000,0.054,3146,2556,2189
$STATE,5082,end climb,SURFACE_DEPTH_REACHED
$STATE,5082,begin surface coast
$FINISH,0.1,1.023479
$STATE,5099,end surface coast,CONTROL_FINISHED_OK
$STATE,5100,begin surface
$SM_CCo,5115,116.07,0.591,0,0,1187,420.19
$SM_GC,1.16,0.00,0.00,116.07,0.000,0.000,0.591,51,2563,1187,-8.74,0.37,420.19
$IRIDIUM_FIX,2234.68,-15755.87,220300,141419
$TT8_MAMPS,0.023777
$HUMID,1753
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,24.5,21.593
$10V_AH,10.7,11.837
$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,22.025,47.900,259.075,116.075,0.000,85.503,112.867,398.954,0.250,0.000,0.000,14.254,597.933,3195.611,417.577,1151.362,689.617,33.318,868.203,0.000,1154.088,0.000,0.544,0.000
$DEVICE_MAMPS,265.382,102.778,951.080,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,197.337,526.156,541.731,139.369,576.940,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25661,293
$CAP_FILE_SIZE,58143,0
$CFSIZE,260165632,254418944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,271210,153522,2244.427,-15756.308,15,7.0,34,10.1