version: 66.04
glider: 512
mission: 1
dive: 164
start: 12 30 110 17 52 25
data:
$ID,512
$MISSION,1
$DIVE,164
$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,-8627.8281
$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,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
$GPS1,174705,2251.807,-15756.704,13,1.9,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.1
$GPS2,175131,2251.784,-15756.686,15,1.9,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.150,0.212
$KALMAN_X,-72660.8,238.1,-234.1,97321.5,-2457.1
$KALMAN_Y,-192698.5,2695.2,-132.3,322565.7,-8020.6
$MHEAD_RNG_PITCHd_Wd,25.3,3347,-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,-145.9,0.0,0.0,0,94,0.00,0.00,-77.47,0.000,2,0.000,0.000,50,2558,2932
$GC,96,-0.88,-146.0,3.3,-6.4,10,121,11.60,2.25,-5.57,0.000,4,0.272,0.095,2546,3897,3195
$GC,214,-0.88,-146.0,43.4,-34.3,27,218,0.00,2.00,0.00,0.000,6,0.000,0.029,2553,2557,3196
$GC,481,-0.88,-146.0,123.3,-24.7,52,485,0.00,2.33,0.00,0.000,4,0.000,0.094,2544,3897,3197
$GC,600,-0.88,-146.0,150.6,-21.6,62,610,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2542,3198
$GC,892,-0.88,-146.0,210.1,-19.9,87,896,0.00,2.33,0.00,0.000,4,0.000,0.094,2544,3890,3199
$GC,907,-0.88,-146.0,213.4,-20.2,87,911,0.00,2.00,0.00,0.000,6,0.000,0.029,2552,2541,3199
$GC,1174,-0.88,-146.0,263.3,-18.5,94,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2535,3200
$GC,1417,-0.88,-146.0,303.9,-16.3,100,1421,0.00,2.35,0.00,0.000,4,0.000,0.098,2543,3888,3200
$GC,1483,-0.88,-146.0,315.2,-16.5,101,1488,0.00,1.98,0.00,0.000,6,0.000,0.029,2551,2557,3200
$GC,1744,-0.88,-146.0,354.6,-14.6,108,1748,0.00,2.05,0.00,0.000,4,0.000,0.030,2561,1147,3200
$GC,1793,-0.88,-146.0,361.9,-13.0,109,1798,0.00,2.33,0.00,0.000,6,0.000,0.077,2553,2546,3200
$GC,2078,-0.88,-146.0,403.0,-14.8,116,2082,0.00,2.25,0.00,0.000,4,0.000,0.084,2541,3901,3198
$GC,2171,-0.88,-146.0,417.3,-14.9,118,2176,0.00,2.00,0.00,0.000,6,0.000,0.031,2547,2558,3198
$GC,2449,-0.88,-146.0,456.3,-14.1,125,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2551,3196
$GC,2694,-0.88,-146.0,492.4,-14.9,131,2698,0.00,2.35,0.00,0.000,4,0.000,0.103,2537,3897,3195
$STATE,2741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2741,begin apogee
$GC,2747,-0.32,0.0,500.7,16.1,132,2870,0.70,0.00,119.22,0.956,6,0.203,0.000,2736,2531,2600
$STATE,2871,end apogee,CONTROL_FINISHED_OK
$STATE,2871,begin climb
$GC,2873,0.88,146.0,505.3,0.0,135,3005,1.27,2.20,123.90,0.933,4,0.134,0.031,3135,1148,2003
$GC,3072,0.88,146.0,454.1,32.8,139,3076,0.00,2.33,0.00,0.000,6,0.000,0.058,3135,2559,1998
$GC,3328,0.88,146.0,360.6,36.6,146,3332,0.00,2.12,0.00,0.000,4,0.000,0.031,3146,1146,1993
$GC,3377,0.88,146.0,343.1,33.0,147,3382,0.00,2.28,0.00,0.000,6,0.000,0.055,3145,2549,1992
$GC,3661,0.88,146.0,250.3,32.7,154,3665,0.00,2.10,0.00,0.000,4,0.000,0.033,3155,1151,1990
$GC,3795,0.88,146.0,211.3,28.2,157,3800,0.00,2.25,0.00,0.000,6,0.000,0.053,3150,2560,1988
$GC,4061,0.88,146.0,132.4,29.4,179,4065,0.00,2.12,0.00,0.000,4,0.000,0.031,3159,1141,1986
$GC,4096,0.88,146.0,120.9,30.2,182,4100,0.00,2.25,0.00,0.000,6,0.000,0.054,3159,2553,1986
$GC,4358,0.88,146.0,50.8,24.1,206,4361,0.00,2.10,0.00,0.000,4,0.000,0.031,3168,1132,1985
$GC,4448,0.88,146.0,29.8,20.0,214,4458,0.00,2.28,0.00,0.000,6,0.000,0.051,3163,2552,1985
$STATE,4563,end climb,SURFACE_DEPTH_REACHED
$STATE,4564,begin surface coast
$FINISH,0.1,1.023711
$STATE,4576,end surface coast,CONTROL_FINISHED_OK
$STATE,4577,begin surface
$SM_CCo,4593,120.60,0.582,0,0,886,420.19
$SM_GC,1.08,0.00,0.00,120.60,0.000,0.000,0.582,49,2560,886,-8.75,0.23,420.19
$IRIDIUM_FIX,2244.02,-15759.32,250300,161653
$TT8_MAMPS,0.023777
$HUMID,1819
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,24.5,26.793
$10V_AH,10.8,14.945
$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,22.025,52.300,243.125,120.600,0.000,27.600,33.991,107.524,0.250,0.000,0.000,32.355,510.450,2865.764,415.053,956.919,249.506,33.315,820.961,0.000,936.770,0.000,0.542,0.000
$DEVICE_MAMPS,272.285,102.778,956.449,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,159.393,402.504,414.280,97.849,406.643,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19335,237
$CAP_FILE_SIZE,45741,0
$CFSIZE,260165632,252940288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,301210,191206,2251.729,-15756.036,16,1.2,32,10.1