version: 66.04
glider: 512
mission: 1
dive: 161
start: 12 30 110 13 41 55
data:
$ID,512
$MISSION,1
$DIVE,161
$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,-8563.7852
$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,59
$R_STBD_OVSHOOT,20
$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
$GPS1,133652,2251.490,-15759.157,16,3.3,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.3
$GPS2,134101,2251.522,-15759.131,11,1.9,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.219,0.140
$KALMAN_X,-71596.4,-814.2,416.9,92452.4,-3345.5
$KALMAN_Y,-190207.4,1897.2,412.1,319840.2,-7288.8
$MHEAD_RNG_PITCHd_Wd,47.3,4602,-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,-77.20,0.000,2,0.000,0.000,43,2532,2903
$GC,96,-0.88,-146.0,3.3,-6.7,10,121,11.32,2.33,-6.30,0.000,4,0.265,0.100,2547,3895,3196
$GC,150,-0.88,-146.0,20.5,-35.6,18,158,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2562,3197
$GC,416,-0.88,-146.0,104.7,-26.9,45,420,0.00,2.33,0.00,0.000,4,0.000,0.096,2546,3893,3199
$GC,513,-0.88,-146.0,128.4,-21.8,53,517,0.00,2.00,0.00,0.000,6,0.000,0.028,2554,2535,3199
$GC,780,-0.88,-146.0,187.1,-21.1,78,784,0.00,2.38,0.00,0.000,4,0.000,0.099,2545,3893,3201
$GC,889,-0.88,-146.0,211.0,-19.8,84,894,0.00,2.00,0.00,0.000,6,0.000,0.028,2553,2550,3201
$GC,1152,-0.88,-146.0,259.2,-17.8,91,1156,0.00,2.35,0.00,0.000,4,0.000,0.097,2544,3899,3201
$GC,1217,-0.88,-146.0,271.7,-19.3,92,1222,0.00,2.00,0.00,0.000,6,0.000,0.029,2552,2546,3201
$GC,1478,-0.88,-146.0,312.6,-15.5,99,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2540,3202
$GC,1722,-0.88,-146.0,350.7,-15.8,105,1726,0.00,2.33,0.00,0.000,4,0.000,0.098,2544,3888,3201
$GC,1832,-0.88,-146.0,369.3,-17.4,107,1837,0.00,1.98,0.00,0.000,6,0.000,0.030,2551,2557,3201
$GC,2099,-0.88,-146.0,410.6,-15.7,114,2103,0.00,2.33,0.00,0.000,4,0.000,0.099,2538,3893,3200
$GC,2159,-0.88,-146.0,421.5,-18.9,115,2163,0.00,2.00,0.00,0.000,6,0.000,0.030,2545,2550,3199
$GC,2426,-0.88,-146.0,464.7,-16.1,122,2430,0.00,2.35,0.00,0.000,4,0.000,0.097,2537,3900,3198
$GC,2441,-0.88,-146.0,467.6,-16.4,122,2445,0.00,2.03,0.00,0.000,6,0.000,0.032,2544,2541,3198
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2671,-0.32,0.0,501.7,15.0,128,2794,0.73,0.00,119.57,0.951,6,0.196,0.000,2742,2532,2600
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2797,0.88,146.0,505.1,0.0,131,2928,1.25,2.20,123.15,0.917,4,0.132,0.031,3134,1162,2003
$GC,2995,0.88,146.0,452.1,33.3,135,2999,0.00,2.30,0.00,0.000,6,0.000,0.059,3135,2556,1998
$GC,3250,0.88,146.0,362.5,35.3,142,3254,0.00,2.12,0.00,0.000,4,0.000,0.032,3145,1143,1993
$GC,3346,0.88,146.0,331.3,31.1,144,3350,0.00,2.30,0.00,0.000,6,0.000,0.060,3146,2556,1992
$GC,3624,0.88,146.0,238.4,32.8,151,3627,0.00,2.10,0.00,0.000,4,0.000,0.035,3155,1154,1990
$GC,3701,0.88,146.0,214.7,28.6,152,3705,0.00,2.28,0.00,0.000,6,0.000,0.060,3150,2546,1988
$GC,3967,0.88,146.0,133.7,30.2,174,3970,0.00,2.08,0.00,0.000,4,0.000,0.032,3159,1153,1987
$GC,3980,0.88,146.0,130.2,30.3,175,3984,0.00,2.20,0.00,0.000,6,0.000,0.052,3159,2552,1987
$GC,4242,0.88,146.0,58.9,23.4,199,4246,0.00,2.08,0.00,0.000,4,0.000,0.032,3168,1150,1985
$GC,4268,0.88,146.0,53.4,23.1,201,4272,0.00,2.22,0.00,0.000,6,0.000,0.054,3163,2550,1985
$STATE,4491,end climb,SURFACE_DEPTH_REACHED
$STATE,4491,begin surface coast
$FINISH,0.3,1.023524
$STATE,4504,end surface coast,CONTROL_FINISHED_OK
$STATE,4504,begin surface
$SM_CCo,4520,119.28,0.582,0,0,887,420.19
$SM_GC,0.98,0.00,0.00,119.28,0.000,0.000,0.582,53,2556,887,-8.74,0.17,420.19
$IRIDIUM_FIX,2244.02,-15801.49,250300,121214
$TT8_MAMPS,0.024544
$HUMID,1830
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,20.60
$XPDR_PINGS,2
$24V_AH,24.5,26.506
$10V_AH,10.8,14.777
$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,21.950,52.275,242.725,119.275,0.000,30.364,35.770,108.310,0.500,0.000,0.000,11.183,506.946,2821.177,416.298,904.025,256.968,33.313,802.841,0.000,906.586,0.000,0.543,0.000
$DEVICE_MAMPS,264.615,99.710,951.080,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,158.111,400.246,412.954,97.322,403.172,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19282,235
$CAP_FILE_SIZE,44875,0
$CFSIZE,260165632,253030400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,301210,150030,2251.607,-15758.296,42,1.0,42,10.1