version: 66.04
glider: 512
mission: 1
dive: 128
start: 12 28 110 13 42 26
data:
$ID,512
$MISSION,1
$DIVE,128
$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,-7882.2607
$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,17
$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
$GPS1,133355,2244.477,-15758.938,12,1.5,12,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.7
$GPS2,134132,2244.366,-15758.984,13,1.6,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.107,0.237
$KALMAN_X,-69887.1,-990.9,-36.8,91642.1,2753.9
$KALMAN_Y,-156479.4,1469.1,284.0,273406.8,-8134.0
$MHEAD_RNG_PITCHd_Wd,14.2,12484,-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,-69.70,0.000,2,0.000,0.000,46,2520,2885
$GC,89,-0.88,-146.0,3.1,-5.9,9,121,11.12,2.38,-10.90,0.000,4,0.260,0.100,2546,3893,3398
$GC,197,-0.88,-146.0,35.8,-31.0,26,201,0.00,1.98,0.00,0.000,6,0.000,0.028,2553,2559,3399
$GC,465,-0.88,-146.0,114.4,-25.6,51,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2551,3399
$GC,719,-0.88,-146.0,176.2,-23.4,75,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2551,3401
$GC,986,-0.88,-146.0,236.0,-21.8,89,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2551,3402
$GC,1230,-0.88,-146.0,281.2,-17.9,95,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2551,3402
$GC,1475,-0.88,-146.0,321.4,-16.4,101,1479,0.00,2.33,0.00,0.000,4,0.000,0.100,2545,3893,3402
$GC,1507,-0.88,-146.0,327.1,-16.8,101,1514,0.00,2.03,0.00,0.000,6,0.000,0.032,2553,2535,3402
$GC,1757,-0.88,-146.0,366.5,-15.8,108,1761,0.00,2.38,0.00,0.000,4,0.000,0.101,2544,3893,3402
$GC,1840,-0.88,-146.0,380.9,-17.4,110,1844,0.00,1.98,0.00,0.000,6,0.000,0.031,2552,2548,3401
$GC,2128,-0.88,-146.0,429.6,-16.7,117,2132,0.00,2.35,0.00,0.000,4,0.000,0.101,2542,3897,3399
$GC,2193,-0.88,-146.0,441.3,-17.9,118,2198,0.00,2.03,0.00,0.000,6,0.000,0.031,2549,2548,3399
$GC,2454,-0.88,-146.0,485.7,-17.3,125,2458,0.00,2.35,0.00,0.000,4,0.000,0.100,2539,3894,3398
$GC,2520,-0.88,-146.0,497.6,-17.7,126,2525,0.00,2.00,0.00,0.000,6,0.000,0.031,2546,2551,3396
$STATE,2536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2536,begin apogee
$GC,2540,-0.32,0.0,500.6,17.8,127,2661,0.70,0.00,118.00,0.973,6,0.184,0.000,2743,2542,2800
$STATE,2662,end apogee,CONTROL_FINISHED_OK
$STATE,2662,begin climb
$GC,2664,0.88,146.0,506.1,0.0,130,2794,1.20,2.20,124.30,0.920,4,0.104,0.030,3141,1144,2203
$GC,2804,0.88,146.0,486.7,26.9,133,2809,0.00,2.35,0.00,0.000,6,0.000,0.048,3137,2556,2200
$GC,3060,0.88,146.0,415.3,28.7,140,3064,0.00,2.10,0.00,0.000,4,0.000,0.031,3147,1150,2193
$GC,3097,0.88,146.0,405.1,26.5,140,3106,0.00,2.28,0.00,0.000,6,0.000,0.051,3146,2551,2192
$GC,3348,0.88,146.0,333.5,29.1,147,3351,0.00,2.10,0.00,0.000,4,0.000,0.033,3156,1145,2190
$GC,3425,0.88,146.0,310.5,28.0,148,3429,0.00,2.25,0.00,0.000,6,0.000,0.049,3150,2547,2189
$GC,3680,0.88,146.0,241.1,27.0,155,3684,0.00,2.10,0.00,0.000,4,0.000,0.033,3158,1144,2187
$GC,3785,0.88,146.0,217.3,21.3,157,3789,0.00,2.25,0.00,0.000,6,0.000,0.050,3159,2549,2187
$GC,4044,0.88,146.0,157.3,24.3,174,4048,0.00,2.08,0.00,0.000,4,0.000,0.033,3168,1150,2184
$GC,4287,0.88,146.0,105.2,22.0,196,4291,0.00,2.20,0.00,0.000,6,0.000,0.051,3163,2550,2183
$GC,4549,0.88,146.0,55.3,17.5,220,4553,0.00,2.12,0.00,0.000,4,0.000,0.058,3163,3898,2182
$GC,4616,0.88,146.0,42.4,19.9,226,4620,0.17,1.98,0.00,0.000,6,0.248,0.031,3136,2554,2181
$STATE,4839,end climb,SURFACE_DEPTH_REACHED
$STATE,4839,begin surface coast
$FINISH,0.2,1.023579
$STATE,4851,end surface coast,CONTROL_FINISHED_OK
$STATE,4851,begin surface
$SM_CCo,4866,125.43,0.574,0,0,1087,420.19
$SM_GC,1.06,0.00,0.00,125.43,0.000,0.000,0.574,45,2549,1087,-8.76,-0.08,420.19
$IRIDIUM_FIX,2237.01,-15800.20,230300,121203
$TT8_MAMPS,0.023777
$HUMID,1782
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,24.5,23.208
$10V_AH,10.8,12.830
$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,21.700,47.775,242.300,125.425,0.000,63.860,138.617,119.647,0.000,0.000,0.000,13.480,544.028,3106.041,454.788,962.911,398.707,33.313,823.632,0.000,965.947,0.000,0.543,0.000
$DEVICE_MAMPS,260.013,101.244,972.556,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,177.306,456.449,470.743,114.450,472.684,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22404,263
$CAP_FILE_SIZE,46221,0
$CFSIZE,260165632,253972480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,281210,150646,2244.590,-15758.423,14,2.4,33,10.1