version: 66.04
glider: 512
mission: 1
dive: 135
start: 12 29 110 0 20 7
data:
$ID,512
$MISSION,1
$DIVE,135
$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,-8017.3525
$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,54
$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,2700
$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
$GPS1,001104,2244.980,-15800.002,9,6.7,28,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.3
$GPS2,001913,2244.988,-15800.021,11,1.7,16,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.062,0.253
$KALMAN_X,-72286.4,186.7,-93.7,91136.2,-934.0
$KALMAN_Y,-164760.2,893.4,523.5,283179.6,-7919.1
$MHEAD_RNG_PITCHd_Wd,336.2,10585,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.88,-146.0,0.0,0.0,0,95,0.00,0.00,-77.00,0.000,2,0.000,0.000,46,2560,3029
$GC,97,-0.88,-146.0,3.6,-6.8,10,121,10.95,2.28,-5.38,0.000,4,0.256,0.097,2542,3899,3297
$GC,365,-0.88,-146.0,94.7,-29.4,40,369,0.00,2.00,0.00,0.000,6,0.000,0.028,2549,2541,3299
$GC,631,-0.88,-146.0,156.7,-22.0,65,635,0.00,2.33,0.00,0.000,4,0.000,0.093,2541,3887,3300
$GC,885,-0.88,-146.0,211.2,-19.8,84,892,0.00,1.98,0.00,0.000,6,0.000,0.028,2549,2550,3301
$GC,1136,-0.88,-146.0,258.5,-18.9,91,1140,0.00,2.33,0.00,0.000,4,0.000,0.096,2540,3898,3302
$GC,1269,-0.88,-146.0,285.9,-19.8,94,1274,0.00,2.00,0.00,0.000,6,0.000,0.028,2548,2552,3302
$GC,1554,-0.88,-146.0,338.2,-18.0,101,1559,0.00,2.33,0.00,0.000,4,0.000,0.096,2539,3898,3301
$GC,1626,-0.88,-146.0,352.3,-18.1,102,1630,0.00,2.00,0.00,0.000,6,0.000,0.029,2547,2550,3301
$GC,1882,-0.88,-146.0,393.6,-15.5,109,1885,0.00,2.05,0.00,0.000,4,0.000,0.029,2557,1140,3300
$GC,1948,-0.88,-146.0,402.9,-12.6,110,1952,0.00,2.33,0.00,0.000,6,0.000,0.071,2548,2543,3300
$GC,2216,-0.88,-146.0,443.9,-15.7,117,2219,0.00,2.22,0.00,0.000,4,0.000,0.081,2538,3898,3298
$GC,2276,-0.88,-146.0,454.9,-17.9,118,2280,0.00,2.00,0.00,0.000,6,0.000,0.031,2546,2552,3298
$GC,2548,-0.88,-146.0,497.9,-15.5,125,2552,0.00,2.35,0.00,0.000,4,0.000,0.101,2537,3898,3296
$STATE,2562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2562,begin apogee
$GC,2569,-0.32,0.0,500.4,15.0,125,2690,0.70,0.00,118.00,0.932,6,0.201,0.000,2738,2525,2700
$STATE,2691,end apogee,CONTROL_FINISHED_OK
$STATE,2691,begin climb
$GC,2692,0.88,146.0,504.3,0.0,128,2824,1.23,2.22,122.65,0.908,4,0.122,0.031,3135,1144,2103
$GC,2830,0.88,146.0,477.8,30.2,131,2834,0.00,2.33,0.00,0.000,6,0.000,0.048,3135,2564,2101
$GC,3095,0.88,146.0,388.2,33.9,138,3099,0.00,2.12,0.00,0.000,4,0.000,0.032,3146,1154,2094
$GC,3234,0.88,146.0,347.6,28.8,141,3239,0.00,2.28,0.00,0.000,6,0.000,0.054,3146,2551,2092
$GC,3519,0.88,146.0,261.4,30.1,148,3523,0.00,2.10,0.00,0.000,4,0.000,0.033,3155,1144,2089
$GC,3534,0.88,146.0,256.1,29.9,148,3539,0.00,2.25,0.00,0.000,6,0.000,0.048,3151,2549,2089
$GC,3788,0.88,146.0,182.2,29.8,156,3792,0.00,2.08,0.00,0.000,4,0.000,0.033,3159,1155,2086
$GC,3826,0.88,146.0,172.4,25.1,159,3835,0.00,2.25,0.00,0.000,6,0.000,0.051,3159,2553,2087
$GC,4088,0.88,146.0,102.3,27.0,184,4091,0.00,2.12,0.00,0.000,4,0.000,0.060,3158,3896,2085
$GC,4154,0.88,146.0,85.3,24.2,190,4158,0.15,1.98,0.00,0.000,6,0.264,0.031,3139,2557,2084
$GC,4417,0.88,146.0,28.2,21.7,215,4425,0.00,2.10,0.00,0.000,4,0.000,0.031,3149,1148,2084
$STATE,4562,end climb,SURFACE_DEPTH_REACHED
$STATE,4562,begin surface coast
$FINISH,0.1,1.023511
$STATE,4580,end surface coast,CONTROL_FINISHED_OK
$STATE,4580,begin surface
$SM_CCo,4599,128.93,0.586,0,0,986,420.19
$SM_GC,1.14,0.00,0.00,128.93,0.000,0.000,0.586,41,2553,986,-8.77,0.08,420.19
$IRIDIUM_FIX,2234.68,-15800.20,240300,000001
$TT8_MAMPS,0.023777
$HUMID,1789
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,24.5,23.930
$10V_AH,10.8,13.266
$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,21.625,56.300,240.650,128.925,0.000,62.047,72.260,211.145,0.250,0.000,0.000,16.748,530.578,2841.616,427.081,1004.199,430.898,33.314,847.927,0.000,997.510,0.000,0.544,0.000
$DEVICE_MAMPS,263.848,101.244,931.905,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,164.751,421.801,434.352,105.229,436.567,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19235,245
$CAP_FILE_SIZE,50722,0
$CFSIZE,260165632,253771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,291210,013958,2245.433,-15800.173,9,2.2,28,10.1