version: 66.04
glider: 512
mission: 1
dive: 156
start: 12 30 110 6 35 26
data:
$ID,512
$MISSION,1
$DIVE,156
$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,-8463.7383
$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,57
$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,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
$GPS1,062655,2250.299,-15801.729,9,1.4,14,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.5
$GPS2,063432,2250.283,-15801.753,13,1.5,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.171,0.196
$KALMAN_X,-65792.1,-1473.1,100.1,83127.3,72.2
$KALMAN_Y,-188810.9,2805.5,-36.9,315687.5,-9741.9
$MHEAD_RNG_PITCHd_Wd,31.1,8130,-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,15,-0.88,-146.0,0.0,0.0,0,102,0.00,0.00,-84.70,0.000,2,0.000,0.000,37,2558,3179
$GC,104,-0.88,-146.0,3.8,-5.9,11,122,11.25,2.20,-0.32,0.000,4,0.263,0.085,2539,3900,3197
$GC,318,-0.88,-146.0,75.9,-28.5,36,321,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2548,3199
$GC,586,-0.88,-146.0,142.5,-21.6,61,590,0.00,2.30,0.00,0.000,4,0.000,0.091,2538,3886,3200
$GC,615,-0.88,-146.0,149.6,-24.7,63,619,0.00,1.98,0.00,0.000,6,0.000,0.028,2546,2533,3200
$GC,891,-0.88,-146.0,209.2,-21.8,86,895,0.00,2.33,0.00,0.000,4,0.000,0.091,2538,3886,3202
$GC,934,-0.88,-146.0,219.4,-22.2,87,938,0.00,1.98,0.00,0.000,6,0.000,0.029,2545,2549,3202
$GC,1217,-0.88,-146.0,272.5,-18.6,94,1221,0.00,2.30,0.00,0.000,4,0.000,0.091,2537,3889,3202
$GC,1278,-0.88,-146.0,284.3,-18.8,95,1283,0.00,1.98,0.00,0.000,6,0.000,0.028,2545,2550,3202
$GC,1545,-0.88,-146.0,329.8,-17.1,102,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2544,3202
$GC,1788,-0.88,-146.0,371.6,-17.2,108,1792,0.00,2.30,0.00,0.000,4,0.000,0.093,2536,3885,3201
$GC,1859,-0.88,-146.0,384.4,-17.2,109,1864,0.00,1.98,0.00,0.000,6,0.000,0.030,2544,2554,3201
$GC,2116,-0.88,-146.0,425.7,-15.7,116,2120,0.00,2.33,0.00,0.000,4,0.000,0.095,2536,3900,3200
$GC,2159,-0.88,-146.0,433.0,-16.5,117,2164,0.00,2.00,0.00,0.000,6,0.000,0.031,2543,2554,3200
$GC,2443,-0.88,-146.0,476.3,-15.3,124,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2547,3197
$STATE,2603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2604,begin apogee
$GC,2608,-0.32,0.0,501.3,15.3,128,2730,0.73,0.00,118.82,0.959,6,0.198,0.000,2740,2545,2600
$STATE,2730,end apogee,CONTROL_FINISHED_OK
$STATE,2730,begin climb
$GC,2732,0.88,146.0,505.5,0.0,131,2864,1.25,2.22,123.53,0.955,4,0.134,0.030,3131,1147,2004
$GC,2930,0.88,146.0,455.2,34.3,135,2935,0.00,2.33,0.00,0.000,6,0.000,0.050,3132,2549,1998
$GC,3186,0.88,146.0,367.7,33.7,142,3189,0.00,2.12,0.00,0.000,4,0.000,0.033,3142,1144,1992
$GC,3302,0.88,146.0,331.1,30.8,144,3306,0.00,2.28,0.00,0.000,6,0.000,0.050,3137,2551,1991
$GC,3564,0.88,146.0,243.3,33.7,151,3568,0.00,2.12,0.00,0.000,4,0.000,0.033,3146,1146,1989
$GC,3591,0.88,146.0,235.1,28.8,151,3595,0.00,2.28,0.00,0.000,6,0.000,0.052,3146,2550,1989
$GC,3849,0.88,146.0,156.8,32.2,166,3853,0.00,2.10,0.00,0.000,4,0.000,0.033,3156,1147,1987
$GC,3916,0.88,146.0,136.7,29.2,172,3920,0.00,2.22,0.00,0.000,6,0.000,0.047,3150,2561,1986
$GC,4178,0.88,146.0,69.9,24.8,196,4182,0.00,2.12,0.00,0.000,4,0.000,0.031,3159,1144,1985
$GC,4238,0.88,146.0,55.5,22.5,201,4246,0.00,2.25,0.00,0.000,6,0.000,0.053,3159,2545,1985
$STATE,4472,end climb,SURFACE_DEPTH_REACHED
$STATE,4472,begin surface coast
$FINISH,0.1,1.023485
$STATE,4485,end surface coast,CONTROL_FINISHED_OK
$STATE,4485,begin surface
$SM_CCo,4501,121.78,0.584,0,0,887,420.19
$SM_GC,1.00,0.00,0.00,121.78,0.000,0.000,0.584,52,2552,887,-8.74,0.06,420.19
$IRIDIUM_FIX,2241.69,-15802.37,250300,060658
$TT8_MAMPS,0.023777
$HUMID,1825
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,20.60
$XPDR_PINGS,1
$24V_AH,24.5,26.018
$10V_AH,10.8,14.494
$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,21.725,47.700,242.350,121.775,0.000,58.776,97.627,155.007,0.250,0.000,0.000,13.518,501.989,2871.999,415.621,905.306,402.238,33.317,796.212,0.000,908.370,0.000,0.542,0.000
$DEVICE_MAMPS,263.081,95.108,958.750,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,159.573,406.925,418.516,100.305,413.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19295,237
$CAP_FILE_SIZE,46323,0
$CFSIZE,260165632,253169664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,301210,075314,2250.342,-15801.424,11,1.8,11,10.1