version: 66.04
glider: 512
mission: 1
dive: 125
start: 12 28 110 8 59 56
data:
$ID,512
$MISSION,1
$DIVE,125
$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,588.95569
$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,-7836.7476
$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,55
$R_STBD_OVSHOOT,24
$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
$GPS1,083837,2244.341,-15757.908,37,1.0,37,10.1
$_CALLS,5
$_XMS_NAKs,34
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.3
$GPS2,085902,2243.915,-15757.864,12,1.6,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.227
$KALMAN_X,-71688.8,-151.9,-68.7,94563.3,1885.3
$KALMAN_Y,-153177.9,1381.5,428.1,269217.7,-7938.4
$MHEAD_RNG_PITCHd_Wd,320.7,14278,-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,-69.65,0.000,2,0.000,0.000,35,2559,2906
$GC,89,-0.88,-146.0,3.2,-6.5,9,114,11.18,0.00,-10.60,0.000,6,0.260,0.000,2554,2558,3398
$GC,370,-0.88,-146.0,89.7,-30.0,42,374,0.00,2.28,0.00,0.000,4,0.000,0.091,2545,3885,3399
$GC,500,-0.88,-146.0,123.5,-22.0,53,509,0.00,1.98,0.00,0.000,6,0.000,0.027,2553,2557,3399
$GC,764,-0.88,-146.0,184.3,-22.9,78,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2550,3401
$GC,1039,-0.88,-146.0,247.2,-22.6,90,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2550,3401
$GC,1284,-0.88,-146.0,298.3,-20.3,96,1287,0.00,2.05,0.00,0.000,4,0.000,0.029,2563,1139,3401
$GC,1304,-0.88,-146.0,302.7,-19.3,96,1309,0.00,2.33,0.00,0.000,6,0.000,0.072,2555,2539,3401
$GC,1571,-0.88,-146.0,350.5,-18.1,103,1575,0.00,2.25,0.00,0.000,4,0.000,0.083,2544,3903,3400
$GC,1626,-0.88,-146.0,360.7,-18.5,104,1630,0.00,2.00,0.00,0.000,6,0.000,0.030,2551,2547,3399
$GC,1905,-0.88,-146.0,407.6,-16.8,111,1909,0.00,2.35,0.00,0.000,4,0.000,0.101,2541,3893,3398
$GC,2027,-0.88,-146.0,430.5,-18.2,113,2034,0.00,1.98,0.00,0.000,6,0.000,0.029,2548,2560,3397
$GC,2277,-0.88,-146.0,474.7,-17.4,120,2281,0.00,2.33,0.00,0.000,4,0.000,0.100,2538,3893,3396
$GC,2316,-0.88,-146.0,481.6,-18.5,121,2320,0.00,1.98,0.00,0.000,6,0.000,0.031,2546,2544,3395
$STATE,2440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2440,begin apogee
$GC,2444,-0.32,0.0,502.6,16.5,124,2563,0.70,0.00,116.45,0.939,6,0.181,0.000,2745,2535,2800
$STATE,2564,end apogee,CONTROL_FINISHED_OK
$STATE,2564,begin climb
$GC,2566,0.88,146.0,506.8,0.0,127,2693,1.20,0.00,123.18,0.934,6,0.107,0.000,3130,2534,2204
$GC,2965,0.88,146.0,409.7,28.6,137,2968,0.00,2.10,0.00,0.000,4,0.000,0.032,3140,1142,2193
$GC,3025,0.88,146.0,392.2,28.1,138,3029,0.00,2.33,0.00,0.000,6,0.000,0.056,3137,2556,2192
$GC,3297,0.88,146.0,317.1,26.9,145,3301,0.00,2.10,0.00,0.000,4,0.000,0.032,3147,1145,2189
$GC,3335,0.88,146.0,307.3,25.7,145,3343,0.00,2.30,0.00,0.000,6,0.000,0.056,3146,2556,2189
$GC,3585,0.88,146.0,243.8,25.0,152,3588,0.00,2.10,0.00,0.000,4,0.000,0.030,3156,1141,2188
$GC,3639,0.88,146.0,230.8,23.1,153,3644,0.00,2.25,0.00,0.000,6,0.000,0.053,3150,2540,2187
$GC,3903,0.88,146.0,167.4,24.3,167,3907,0.00,2.08,0.00,0.000,4,0.000,0.032,3159,1136,2184
$GC,3981,0.88,146.0,148.9,23.0,174,3985,0.00,2.25,0.00,0.000,6,0.000,0.053,3159,2553,2184
$GC,4242,0.88,146.0,90.3,22.5,198,4245,0.00,2.08,0.00,0.000,4,0.000,0.031,3168,1149,2183
$GC,4462,0.88,146.0,52.4,15.9,218,4466,0.00,2.20,0.00,0.000,6,0.000,0.046,3163,2564,2182
$GC,4724,0.88,146.0,4.3,20.8,254,4732,0.00,2.15,0.00,0.000,4,0.000,0.064,3162,3891,2182
$STATE,4738,end climb,SURFACE_DEPTH_REACHED
$STATE,4738,begin surface coast
$FINISH,0.1,1.023573
$STATE,4750,end surface coast,CONTROL_FINISHED_OK
$STATE,4750,begin surface
$SM_CCo,4768,211.38,0.580,0,0,398,588.96
$SM_GC,0.97,0.00,0.00,211.38,0.000,0.000,0.580,47,2528,398,-8.76,-0.62,588.96
$IRIDIUM_FIX,2234.68,-15800.20,230300,090930
$TT8_MAMPS,0.023777
$HUMID,1735
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,24.5,22.878
$10V_AH,10.8,12.635
$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,21.725,47.500,239.625,211.375,0.000,141.161,184.836,557.268,0.500,0.000,0.000,12.893,538.054,3200.374,529.705,967.825,986.823,33.315,907.729,0.000,970.688,0.000,0.544,0.000
$DEVICE_MAMPS,260.013,101.244,938.808,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,173.613,451.983,465.378,111.882,462.272,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22462,258
$CAP_FILE_SIZE,60960,0
$CFSIZE,260165632,254046208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,281210,102344,2244.268,-15758.197,14,1.8,14,10.1