version: 66.04
glider: 512
mission: 1
dive: 145
start: 12 29 110 14 49 45
data:
$ID,512
$MISSION,1
$DIVE,145
$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,-8236.9824
$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,53
$R_STBD_OVSHOOT,21
$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
$GPS1,144116,2248.666,-15801.111,13,5.6,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.3
$GPS2,144852,2248.562,-15801.067,16,6.2,35,10.1
$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,-68631.6,481.1,256.6,85025.3,1850.8
$KALMAN_Y,-174676.7,1441.8,189.7,299506.5,-7424.9
$MHEAD_RNG_PITCHd_Wd,322.8,4240,-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,-69.97,0.000,2,0.000,0.000,40,2542,2783
$GC,89,-0.88,-146.0,3.0,-5.5,9,121,11.18,2.35,-11.43,0.000,4,0.261,0.103,2546,3882,3298
$GC,363,-0.88,-146.0,86.1,-28.5,40,372,0.00,2.00,0.00,0.000,6,0.000,0.028,2554,2550,3300
$GC,627,-0.88,-146.0,151.9,-24.1,65,631,0.00,2.30,0.00,0.000,4,0.000,0.091,2545,3887,3302
$GC,756,-0.88,-146.0,182.1,-21.6,76,760,0.00,1.95,0.00,0.000,6,0.000,0.028,2553,2544,3302
$GC,1045,-0.88,-146.0,241.9,-19.7,89,1049,0.00,2.33,0.00,0.000,4,0.000,0.094,2544,3896,3303
$GC,1150,-0.88,-146.0,263.0,-20.6,91,1155,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2541,3303
$GC,1416,-0.88,-146.0,312.5,-18.5,98,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2534,3303
$GC,1660,-0.88,-146.0,355.3,-17.3,104,1664,0.00,2.33,0.00,0.000,4,0.000,0.095,2542,3886,3302
$GC,1731,-0.88,-146.0,368.2,-17.5,105,1736,0.00,1.98,0.00,0.000,6,0.000,0.030,2550,2551,3302
$GC,1986,-0.88,-146.0,412.4,-16.3,112,1990,0.00,2.33,0.00,0.000,4,0.000,0.098,2540,3889,3302
$GC,2131,-0.88,-146.0,438.8,-17.8,115,2135,0.00,2.00,0.00,0.000,6,0.000,0.030,2547,2547,3301
$GC,2403,-0.88,-146.0,483.1,-16.4,122,2407,0.00,2.35,0.00,0.000,4,0.000,0.098,2537,3900,3299
$GC,2435,-0.88,-146.0,488.8,-17.1,122,2442,0.00,2.00,0.00,0.000,6,0.000,0.031,2545,2551,3298
$STATE,2521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2521,begin apogee
$GC,2525,-0.32,0.0,502.8,16.4,125,2647,0.70,0.00,118.30,0.954,6,0.189,0.000,2739,2544,2700
$STATE,2647,end apogee,CONTROL_FINISHED_OK
$STATE,2648,begin climb
$GC,2649,0.88,146.0,507.0,0.0,128,2787,1.27,2.22,125.25,0.909,4,0.127,0.031,3140,1151,2103
$GC,2819,0.88,146.0,473.5,29.6,132,2824,0.00,2.35,0.00,0.000,6,0.000,0.051,3137,2549,2098
$GC,3092,0.88,146.0,389.7,30.9,139,3095,0.00,2.10,0.00,0.000,4,0.000,0.031,3146,1148,2093
$GC,3102,0.88,146.0,386.2,31.8,139,3106,0.00,2.22,0.00,0.000,6,0.000,0.044,3146,2550,2093
$GC,3380,0.88,146.0,302.2,30.6,146,3384,0.00,2.12,0.00,0.000,4,0.000,0.034,3156,1144,2090
$GC,3412,0.88,146.0,292.8,27.5,146,3417,0.00,2.25,0.00,0.000,6,0.000,0.049,3150,2545,2089
$GC,3669,0.88,146.0,217.6,29.5,153,3673,0.00,2.08,0.00,0.000,4,0.000,0.031,3159,1147,2087
$GC,3685,0.88,146.0,212.3,29.0,153,3689,0.00,2.22,0.00,0.000,6,0.000,0.046,3159,2544,2087
$GC,3948,0.88,146.0,140.2,27.7,173,3951,0.00,2.10,0.00,0.000,4,0.000,0.033,3167,1147,2084
$GC,4048,0.88,146.0,115.2,23.3,182,4052,0.00,2.20,0.00,0.000,6,0.000,0.044,3163,2556,2084
$GC,4315,0.88,146.0,57.3,20.7,207,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2556,2083
$GC,4570,0.88,146.0,3.3,20.3,242,4578,0.00,2.12,0.00,0.000,4,0.000,0.052,3163,3897,2083
$STATE,4584,end climb,SURFACE_DEPTH_REACHED
$STATE,4584,begin surface coast
$FINISH,0.0,1.023257
$STATE,4601,end surface coast,CONTROL_FINISHED_OK
$STATE,4602,begin surface
$SM_CCo,4620,124.30,0.576,0,0,986,420.19
$SM_GC,0.97,0.00,0.00,124.30,0.000,0.000,0.576,51,2527,986,-8.74,-0.59,420.19
$IRIDIUM_FIX,2241.69,-15804.53,240300,141412
$TT8_MAMPS,0.023777
$HUMID,1796
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.30
$XPDR_PINGS,2
$24V_AH,24.5,24.918
$10V_AH,10.8,13.855
$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,21.850,51.950,243.550,124.300,0.000,52.828,75.577,163.180,0.500,0.000,0.000,36.541,521.429,2904.167,452.332,964.623,374.559,33.313,832.667,0.000,941.059,0.000,0.543,0.000
$DEVICE_MAMPS,260.780,102.778,954.148,576.017,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,166.136,427.227,438.206,106.001,441.392,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19352,247
$CAP_FILE_SIZE,48223,0
$CFSIZE,260165632,253485056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,291210,161007,2248.830,-15801.135,43,0.9,43,10.1