version: 66.04
glider: 512
mission: 1
dive: 129
start: 12 28 110 15 12 8
data:
$ID,512
$MISSION,1
$DIVE,129
$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,-7918.6685
$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,22
$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
$GPS1,150646,2244.590,-15758.423,14,2.4,33,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.3
$GPS2,151114,2244.529,-15758.448,34,1.8,34,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.119,0.231
$KALMAN_X,-70435.5,-1007.3,-23.7,93118.2,1865.8
$KALMAN_Y,-158369.8,2317.9,134.7,274904.3,-8727.7
$MHEAD_RNG_PITCHd_Wd,322.7,12768,-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,-70.10,0.000,2,0.000,0.000,43,2547,2905
$GC,89,-0.88,-146.0,3.2,-6.9,9,121,11.32,2.33,-10.50,0.000,4,0.265,0.100,2547,3886,3399
$GC,340,-0.88,-146.0,80.9,-28.6,38,349,0.00,2.00,0.00,0.000,6,0.000,0.028,2554,2550,3400
$GC,604,-0.88,-146.0,148.8,-23.0,63,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2543,3402
$GC,886,-0.88,-146.0,209.1,-20.0,87,890,0.00,2.30,0.00,0.000,4,0.000,0.091,2546,3893,3403
$GC,918,-0.88,-146.0,216.6,-22.4,87,925,0.00,2.00,0.00,0.000,6,0.000,0.029,2554,2544,3404
$GC,1168,-0.88,-146.0,264.7,-19.1,94,1172,0.00,2.33,0.00,0.000,4,0.000,0.094,2545,3889,3403
$GC,1233,-0.88,-146.0,277.7,-20.1,95,1237,0.00,1.98,0.00,0.000,6,0.000,0.028,2552,2552,3404
$GC,1494,-0.88,-146.0,326.8,-18.8,102,1498,0.00,2.33,0.00,0.000,4,0.000,0.098,2542,3893,3403
$GC,1593,-0.88,-146.0,347.2,-20.5,104,1597,0.00,1.98,0.00,0.000,6,0.000,0.029,2548,2560,3404
$GC,1868,-0.88,-146.0,397.7,-18.2,111,1872,0.00,2.30,0.00,0.000,4,0.000,0.096,2538,3893,3403
$GC,1933,-0.88,-146.0,410.6,-18.2,112,1938,0.00,2.00,0.00,0.000,6,0.000,0.030,2546,2546,3403
$GC,2194,-0.88,-146.0,455.2,-16.8,119,2198,0.00,2.05,0.00,0.000,4,0.000,0.031,2554,1143,3401
$GC,2260,-0.88,-146.0,464.9,-13.1,120,2265,0.00,2.33,0.00,0.000,6,0.000,0.073,2544,2541,3401
$STATE,2527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2527,begin apogee
$GC,2531,-0.32,0.0,506.1,15.9,127,2652,0.70,0.00,117.68,0.939,6,0.189,0.000,2738,2540,2800
$STATE,2653,end apogee,CONTROL_FINISHED_OK
$STATE,2653,begin climb
$GC,2654,0.88,146.0,511.2,0.0,130,2782,1.20,0.00,123.57,0.933,6,0.112,0.000,3122,2541,2204
$GC,3020,0.88,146.0,427.1,27.7,139,3024,0.00,2.10,0.00,0.000,4,0.000,0.032,3133,1146,2194
$GC,3103,0.88,146.0,406.2,26.0,140,3111,0.00,2.28,0.00,0.000,6,0.000,0.051,3133,2545,2192
$GC,3352,0.88,146.0,338.9,27.0,147,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2546,2190
$GC,3596,0.88,146.0,274.9,26.8,153,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2546,2189
$GC,3840,0.88,146.0,212.6,24.5,159,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2546,2186
$GC,4094,0.88,146.0,154.1,22.4,177,4098,0.00,2.08,0.00,0.000,4,0.000,0.033,3143,1151,2185
$GC,4172,0.88,146.0,136.4,21.9,184,4176,0.00,2.22,0.00,0.000,6,0.000,0.051,3137,2560,2184
$GC,4433,0.88,146.0,82.2,17.8,208,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2560,2184
$GC,4690,0.88,146.0,40.8,14.4,232,4693,0.00,2.10,0.00,0.000,4,0.000,0.029,3146,1147,2183
$GC,4773,0.88,146.0,29.1,15.5,240,4781,0.00,2.22,0.00,0.000,6,0.000,0.047,3146,2560,2183
$STATE,4941,end climb,SURFACE_DEPTH_REACHED
$STATE,4941,begin surface coast
$FINISH,0.1,1.023594
$STATE,4958,end surface coast,CONTROL_FINISHED_OK
$STATE,4958,begin surface
$SM_CCo,4974,127.45,0.584,0,0,1086,420.19
$SM_GC,1.07,0.00,0.00,127.45,0.000,0.000,0.584,49,2568,1086,-8.75,0.51,420.19
$IRIDIUM_FIX,2234.68,-15800.20,230300,131307
$TT8_MAMPS,0.024544
$HUMID,1766
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,24.5,23.302
$10V_AH,10.8,12.894
$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,21.825,38.900,241.250,127.450,0.000,27.544,32.422,111.506,0.000,0.000,0.000,35.779,551.218,3135.396,439.426,1008.918,252.431,33.317,820.766,0.000,996.495,0.000,0.542,0.000
$DEVICE_MAMPS,265.382,99.710,938.808,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,184.519,481.186,494.307,120.538,500.468,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22478,274
$CAP_FILE_SIZE,44175,0
$CFSIZE,260165632,253947904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,281210,163825,2244.648,-15758.691,41,1.9,41,10.1