version: 66.04
glider: 512
mission: 1
dive: 126
start: 12 28 110 10 43 2
data:
$ID,512
$MISSION,1
$DIVE,126
$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,-7850.2119
$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,63
$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
$GPS1,102344,2244.268,-15758.197,14,1.8,14,10.1
$_CALLS,4
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.3
$GPS2,104208,2243.931,-15758.161,11,2.0,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.126,0.227
$KALMAN_X,-70235.5,-848.5,-201.2,93424.7,2731.0
$KALMAN_Y,-155635.3,1822.6,831.0,270859.9,-8682.7
$MHEAD_RNG_PITCHd_Wd,320.9,13949,-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,-146.0,0.0,0.0,0,109,0.00,0.00,-92.85,0.000,2,0.000,0.000,44,2527,2860
$GC,112,-0.88,-146.0,3.1,-5.7,12,144,11.10,2.42,-11.73,0.000,4,0.258,0.113,2546,3880,3398
$GC,224,-0.88,-146.0,38.0,-34.3,29,232,0.00,2.00,0.00,0.000,6,0.000,0.028,2554,2554,3398
$GC,484,-0.88,-146.0,116.1,-26.7,54,489,0.00,2.35,0.00,0.000,4,0.000,0.098,2545,3894,3398
$GC,557,-0.88,-146.0,134.0,-23.0,60,561,0.00,1.98,0.00,0.000,6,0.000,0.028,2553,2547,3398
$GC,825,-0.88,-146.0,192.6,-21.6,85,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2541,3399
$GC,1068,-0.88,-146.0,247.5,-22.5,94,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2540,3399
$GC,1312,-0.88,-146.0,294.0,-18.2,100,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2540,3399
$GC,1558,-0.88,-146.0,337.3,-17.6,106,1562,0.00,2.35,0.00,0.000,4,0.000,0.103,2544,3886,3399
$GC,1696,-0.88,-146.0,363.4,-17.1,109,1701,0.00,2.00,0.00,0.000,6,0.000,0.030,2552,2537,3399
$GC,1976,-0.88,-146.0,410.7,-16.8,116,1980,0.00,2.35,0.00,0.000,4,0.000,0.101,2543,3882,3397
$GC,2002,-0.88,-146.0,415.7,-18.7,116,2007,0.00,1.98,0.00,0.000,6,0.000,0.031,2551,2551,3396
$GC,2258,-0.88,-146.0,458.5,-16.5,123,2262,0.00,2.35,0.00,0.000,4,0.000,0.102,2541,3894,3395
$GC,2306,-0.88,-146.0,467.2,-16.4,124,2311,0.00,2.00,0.00,0.000,6,0.000,0.031,2547,2550,3394
$STATE,2542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2542,begin apogee
$GC,2546,-0.32,0.0,505.8,16.2,130,2666,0.70,0.00,115.93,0.935,6,0.185,0.000,2743,2542,2800
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2668,0.88,146.0,510.0,0.0,133,2801,1.20,2.38,123.38,0.949,4,0.104,0.068,3132,3895,2203
$GC,2863,0.88,146.0,471.2,32.5,137,2867,0.00,2.05,0.00,0.000,6,0.000,0.031,3142,2560,2199
$GC,3117,0.88,146.0,394.9,29.1,144,3121,0.00,2.12,0.00,0.000,4,0.000,0.031,3153,1143,2193
$GC,3166,0.88,146.0,380.3,28.2,145,3171,0.00,2.30,0.00,0.000,6,0.000,0.054,3150,2549,2192
$GC,3450,0.88,146.0,298.2,28.8,152,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2550,2190
$GC,3693,0.88,146.0,234.2,24.9,158,3697,0.00,2.12,0.00,0.000,4,0.000,0.034,3159,1136,2187
$GC,3715,0.88,146.0,229.0,23.8,158,3719,0.00,2.30,0.00,0.000,6,0.000,0.058,3159,2547,2187
$GC,3977,0.88,146.0,164.8,26.3,173,3981,0.00,2.10,0.00,0.000,4,0.000,0.033,3168,1133,2185
$GC,4231,0.88,146.0,106.8,21.3,196,4235,0.00,2.28,0.00,0.000,6,0.000,0.054,3163,2565,2183
$GC,4493,0.88,146.0,57.0,19.6,220,4497,0.00,2.12,0.00,0.000,4,0.000,0.064,3163,3902,2183
$GC,4742,0.88,146.0,6.6,19.6,254,4750,0.12,2.05,0.00,0.000,6,0.258,0.033,3143,2532,2182
$STATE,4761,end climb,SURFACE_DEPTH_REACHED
$STATE,4761,begin surface coast
$FINISH,0.3,1.023506
$STATE,4779,end surface coast,CONTROL_FINISHED_OK
$STATE,4779,begin surface
$SM_CCo,4795,126.00,0.604,0,0,1087,420.19
$SM_GC,0.98,0.00,0.00,126.00,0.000,0.000,0.604,53,2529,1087,-8.74,-0.59,420.19
$IRIDIUM_FIX,2237.01,-15758.03,230300,101001
$TT8_MAMPS,0.023777
$HUMID,1783
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,24.5,23.009
$10V_AH,10.8,12.704
$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,21.650,43.600,239.300,126.000,0.000,108.148,143.312,578.467,0.500,0.000,0.000,12.835,534.137,3171.653,440.380,967.655,927.676,33.323,835.411,0.000,972.762,0.000,0.544,0.000
$DEVICE_MAMPS,258.479,112.749,948.779,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,174.696,453.993,467.441,112.337,465.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22429,260
$CAP_FILE_SIZE,57304,0
$CFSIZE,260165632,254025728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,281210,120607,2244.240,-15758.561,30,1.0,30,10.1