version: 66.04
glider: 512
mission: 1
dive: 152
start: 12 30 110 0 52 14
data:
$ID,512
$MISSION,1
$DIVE,152
$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,-8386.54
$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,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,004701,2249.588,-15802.188,42,1.2,42,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.8
$GPS2,005120,2249.584,-15802.206,14,1.5,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.092,0.243
$KALMAN_X,-64686.0,-983.3,-49.0,80898.9,2196.4
$KALMAN_Y,-182327.9,263.1,434.4,309984.4,-8612.9
$MHEAD_RNG_PITCHd_Wd,329.1,1558,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-77.62,0.000,2,0.000,0.000,48,2553,2924
$GC,96,-0.88,-146.0,3.2,-6.5,10,121,11.02,2.30,-5.88,0.000,4,0.258,0.094,2546,3893,3196
$GC,366,-0.88,-146.0,85.1,-28.3,41,369,0.00,1.98,0.00,0.000,6,0.000,0.028,2553,2555,3197
$GC,632,-0.88,-146.0,147.6,-18.7,66,636,0.00,2.30,0.00,0.000,4,0.000,0.091,2544,3894,3199
$GC,875,-0.88,-146.0,199.3,-20.5,87,884,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2548,3200
$GC,1125,-0.88,-146.0,250.1,-20.0,94,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2543,3200
$GC,1368,-0.88,-146.0,295.2,-18.3,100,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2543,3201
$GC,1613,-0.88,-146.0,338.8,-17.5,106,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2542,3201
$GC,1856,-0.88,-146.0,383.2,-18.4,112,1860,0.00,2.30,0.00,0.000,4,0.000,0.091,2544,3895,3201
$GC,1939,-0.88,-146.0,398.7,-18.0,114,1943,0.00,1.98,0.00,0.000,6,0.000,0.030,2551,2547,3200
$GC,2228,-0.88,-146.0,444.7,-15.3,121,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2539,3200
$GC,2471,-0.88,-146.0,479.5,-14.3,127,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2540,3198
$STATE,2633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2633,begin apogee
$GC,2637,-0.32,0.0,503.1,14.4,131,2759,0.68,0.00,119.35,0.962,6,0.186,0.000,2740,2538,2600
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin climb
$GC,2762,0.88,146.0,507.3,0.0,134,2894,1.27,2.25,123.72,0.943,4,0.127,0.031,3142,1151,2004
$GC,2938,0.88,146.0,463.1,34.2,138,2943,0.00,2.33,0.00,0.000,6,0.000,0.051,3137,2546,1999
$GC,3205,0.88,146.0,374.0,33.4,145,3209,0.00,2.10,0.00,0.000,4,0.000,0.033,3146,1148,1993
$GC,3282,0.88,146.0,350.0,29.9,146,3287,0.00,2.28,0.00,0.000,6,0.000,0.053,3146,2546,1992
$GC,3538,0.88,146.0,264.6,33.3,153,3541,0.00,2.10,0.00,0.000,4,0.000,0.034,3155,1144,1990
$GC,3609,0.88,146.0,242.6,28.4,154,3613,0.00,2.25,0.00,0.000,6,0.000,0.050,3150,2547,1990
$GC,3866,0.88,146.0,167.0,31.3,166,3869,0.00,2.10,0.00,0.000,4,0.000,0.034,3159,1139,1988
$GC,3933,0.88,146.0,147.0,26.5,172,3937,0.00,2.25,0.00,0.000,6,0.000,0.054,3159,2551,1987
$GC,4194,0.88,146.0,77.8,24.3,196,4198,0.00,2.10,0.00,0.000,4,0.000,0.034,3168,1141,1986
$GC,4229,0.88,146.0,69.8,22.6,199,4233,0.00,2.22,0.00,0.000,6,0.000,0.053,3163,2551,1985
$GC,4492,0.88,146.0,5.7,23.6,232,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2551,1985
$STATE,4505,end climb,SURFACE_DEPTH_REACHED
$STATE,4505,begin surface coast
$FINISH,0.2,1.023450
$STATE,4518,end surface coast,CONTROL_FINISHED_OK
$STATE,4518,begin surface
$SM_CCo,4533,125.32,0.602,0,0,885,420.19
$SM_GC,1.09,0.00,0.00,125.32,0.000,0.000,0.602,47,2558,885,-8.76,0.23,420.19
$IRIDIUM_FIX,2241.69,-15939.23,240300,232359
$TT8_MAMPS,0.023777
$HUMID,1799
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,24.5,25.617
$10V_AH,10.8,14.263
$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,21.575,34.825,243.075,125.325,0.000,29.268,33.954,118.486,0.250,0.000,0.000,15.499,486.986,2892.549,437.910,861.319,257.745,33.312,784.556,0.000,862.785,0.000,0.542,0.000
$DEVICE_MAMPS,257.712,94.341,961.818,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,158.696,402.505,411.591,97.100,406.654,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19209,236
$CAP_FILE_SIZE,40589,0
$CFSIZE,260165632,253292544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,301210,021038,2250.019,-15802.383,10,1.5,10,10.1