version: 66.04
glider: 512
mission: 1
dive: 120
start: 12 28 110 1 18 8
data:
$ID,512
$MISSION,1
$DIVE,120
$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,-7760.9092
$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,51
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,011306,2244.776,-15756.135,39,0.9,45,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.8
$GPS2,011714,2244.692,-15756.123,16,1.1,16,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.033,0.258
$KALMAN_X,-72076.4,-1240.5,-345.8,99316.8,4979.8
$KALMAN_Y,-142722.5,-103.4,326.3,261793.0,-6438.9
$MHEAD_RNG_PITCHd_Wd,342.7,15311,-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,-70.10,0.000,2,0.000,0.000,46,2557,2892
$GC,88,-0.88,-146.0,3.2,-6.3,9,121,11.35,2.33,-10.85,0.000,4,0.266,0.104,2546,3892,3398
$GC,150,-0.88,-146.0,21.5,-35.2,18,158,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2553,3399
$GC,420,-0.88,-146.0,106.8,-28.4,45,424,0.00,2.08,0.00,0.000,4,0.000,0.030,2565,1142,3400
$GC,446,-0.88,-146.0,114.3,-24.6,47,455,0.00,2.38,0.00,0.000,6,0.000,0.075,2555,2545,3400
$GC,710,-0.88,-146.0,178.5,-23.7,72,714,0.00,2.22,0.00,0.000,4,0.000,0.077,2544,3900,3402
$GC,770,-0.88,-146.0,193.5,-23.6,77,774,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2536,3402
$GC,1047,-0.88,-146.0,251.6,-20.2,86,1051,0.00,2.38,0.00,0.000,4,0.000,0.097,2543,3904,3403
$GC,1192,-0.88,-146.0,282.8,-21.2,89,1197,0.00,2.00,0.00,0.000,6,0.000,0.029,2551,2554,3404
$GC,1465,-0.88,-146.0,334.2,-18.8,96,1470,0.00,2.33,0.00,0.000,4,0.000,0.097,2540,3897,3403
$GC,1492,-0.88,-146.0,339.7,-19.2,96,1497,0.00,2.00,0.00,0.000,6,0.000,0.030,2546,2550,3403
$GC,1747,-0.88,-146.0,384.6,-17.4,103,1751,0.00,2.05,0.00,0.000,4,0.000,0.030,2554,1142,3403
$GC,1779,-0.88,-146.0,390.4,-16.5,103,1784,0.00,2.35,0.00,0.000,6,0.000,0.071,2545,2558,3403
$GC,2035,-0.88,-146.0,434.8,-17.5,110,2039,0.00,2.20,0.00,0.000,4,0.000,0.082,2535,3893,3401
$GC,2185,-0.88,-146.0,462.1,-16.7,113,2190,0.00,2.00,0.00,0.000,6,0.000,0.030,2542,2550,3399
$STATE,2417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2417,begin apogee
$GC,2421,-0.32,0.0,502.0,17.4,119,2542,0.70,0.00,118.07,0.959,6,0.187,0.000,2738,2541,2800
$STATE,2543,end apogee,CONTROL_FINISHED_OK
$STATE,2543,begin climb
$GC,2545,0.88,146.0,506.0,0.0,122,2676,1.23,2.22,123.20,0.945,4,0.117,0.031,3136,1155,2203
$GC,2725,0.88,146.0,473.7,26.8,126,2730,0.00,2.30,0.00,0.000,6,0.000,0.052,3137,2548,2198
$GC,2998,0.88,146.0,394.6,28.6,133,3001,0.00,2.17,0.00,0.000,4,0.000,0.060,3137,3902,2193
$GC,3058,0.88,146.0,376.3,30.8,134,3063,0.00,2.05,0.00,0.000,6,0.000,0.031,3146,2558,2192
$GC,3333,0.88,146.0,301.1,27.2,141,3337,0.00,2.12,0.00,0.000,4,0.000,0.033,3157,1139,2189
$GC,3506,0.88,146.0,257.1,24.2,144,3512,0.00,2.25,0.00,0.000,6,0.000,0.051,3150,2560,2188
$GC,3756,0.88,146.0,191.3,26.7,151,3760,0.00,2.12,0.00,0.000,4,0.000,0.061,3150,3896,2187
$GC,3792,0.88,146.0,182.3,26.3,154,3796,0.00,2.00,0.00,0.000,6,0.000,0.033,3159,2547,2186
$GC,4060,0.88,146.0,118.9,24.3,179,4064,0.00,2.08,0.00,0.000,4,0.000,0.032,3169,1135,2185
$GC,4085,0.88,146.0,113.7,21.4,181,4089,0.00,2.25,0.00,0.000,6,0.000,0.054,3163,2558,2184
$GC,4347,0.88,146.0,61.1,16.1,205,4351,0.00,2.08,0.00,0.000,4,0.000,0.030,3172,1137,2184
$GC,4567,0.88,146.0,27.0,17.0,226,4575,0.08,2.22,0.00,0.000,6,0.238,0.048,3145,2546,2183
$STATE,4697,end climb,SURFACE_DEPTH_REACHED
$STATE,4697,begin surface coast
$FINISH,0.5,1.023581
$STATE,4710,end surface coast,CONTROL_FINISHED_OK
$STATE,4711,begin surface
$SM_CCo,4726,129.23,0.603,0,0,1086,420.19
$SM_GC,1.05,0.00,0.00,129.23,0.000,0.000,0.603,52,2553,1086,-8.74,0.08,420.19
$IRIDIUM_FIX,2234.68,-15752.82,220300,232312
$TT8_MAMPS,0.024544
$HUMID,1777
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,24.5,22.329
$10V_AH,10.8,12.314
$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,21.900,56.200,241.275,129.225,0.000,31.615,31.831,109.398,0.250,0.000,0.000,17.039,539.732,2886.127,434.137,1011.629,249.774,33.317,854.226,0.000,1008.043,0.000,0.543,0.000
$DEVICE_MAMPS,266.149,103.545,958.750,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,169.536,440.624,454.249,108.730,451.845,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22424,252
$CAP_FILE_SIZE,47862,0
$CFSIZE,260165632,254210048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,281210,023950,2244.980,-15755.999,13,1.3,13,10.1