version: 66.04
glider: 512
mission: 1
dive: 166
start: 12 30 110 20 45 22
data:
$ID,512
$MISSION,1
$DIVE,166
$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,-8663.3252
$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,51
$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,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
$GPS1,204013,2251.893,-15756.046,15,1.9,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.9
$GPS2,204426,2251.872,-15756.056,16,1.9,16,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.003,0.260
$KALMAN_X,-74172.3,2144.3,-69.4,97842.8,-2992.8
$KALMAN_Y,-194955.8,1590.9,168.9,325785.1,-8922.3
$MHEAD_RNG_PITCHd_Wd,350.5,3822,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-76.90,0.000,2,0.000,0.000,45,2568,2896
$GC,95,-0.88,-146.0,3.2,-6.3,10,120,11.18,2.25,-6.50,0.000,4,0.261,0.098,2546,3893,3195
$GC,365,-0.88,-146.0,86.2,-28.6,41,369,0.00,2.00,0.00,0.000,6,0.000,0.028,2553,2544,3197
$GC,632,-0.88,-146.0,147.9,-20.4,66,636,0.00,2.33,0.00,0.000,4,0.000,0.092,2544,3892,3200
$GC,807,-0.88,-146.0,186.0,-21.4,81,816,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2547,3200
$GC,1080,-0.88,-146.0,242.4,-19.9,93,1084,0.00,2.35,0.00,0.000,4,0.000,0.096,2544,3897,3201
$GC,1173,-0.88,-146.0,260.4,-17.5,95,1178,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2551,3201
$GC,1452,-0.88,-146.0,306.9,-16.2,102,1456,0.00,2.33,0.00,0.000,4,0.000,0.096,2543,3893,3202
$GC,1557,-0.88,-146.0,325.5,-17.0,104,1561,0.00,2.00,0.00,0.000,6,0.000,0.028,2551,2545,3201
$GC,1826,-0.88,-146.0,365.5,-14.8,111,1830,0.00,2.33,0.00,0.000,4,0.000,0.095,2541,3889,3201
$GC,1887,-0.88,-146.0,376.0,-16.7,112,1891,0.00,1.98,0.00,0.000,6,0.000,0.029,2547,2558,3201
$GC,2153,-0.88,-146.0,418.1,-15.9,119,2157,0.00,2.30,0.00,0.000,4,0.000,0.095,2538,3889,3199
$GC,2332,-0.88,-146.0,449.1,-17.5,123,2335,0.00,1.98,0.00,0.000,6,0.000,0.030,2545,2540,3198
$GC,2615,-0.88,-146.0,494.5,-15.8,130,2619,0.00,2.33,0.00,0.000,4,0.000,0.097,2537,3888,3197
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2652,-0.32,0.0,500.3,18.3,130,2775,0.70,0.00,119.62,0.949,6,0.201,0.000,2737,2535,2600
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin climb
$GC,2777,0.88,146.0,504.9,0.0,133,2910,1.27,2.22,124.05,0.939,4,0.133,0.031,3137,1149,2003
$GC,2926,0.88,146.0,471.9,35.8,136,2930,0.00,2.33,0.00,0.000,6,0.000,0.048,3137,2552,2000
$GC,3187,0.88,146.0,378.1,36.3,143,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2552,1994
$GC,3431,0.88,146.0,294.0,34.4,149,3434,0.00,2.10,0.00,0.000,4,0.000,0.032,3146,1146,1992
$GC,3508,0.88,146.0,269.2,30.6,150,3512,0.00,2.28,0.00,0.000,6,0.000,0.051,3146,2550,1991
$GC,3763,0.88,146.0,190.5,30.6,157,3767,0.00,2.10,0.00,0.000,4,0.000,0.033,3155,1144,1988
$GC,3776,0.88,146.0,187.1,29.7,158,3780,0.00,2.22,0.00,0.000,6,0.000,0.044,3150,2566,1988
$GC,4037,0.88,146.0,108.0,26.6,182,4040,0.00,2.12,0.00,0.000,4,0.000,0.033,3159,1145,1987
$GC,4073,0.88,146.0,97.5,27.9,185,4081,0.00,2.25,0.00,0.000,6,0.000,0.054,3159,2538,1986
$GC,4336,0.88,146.0,30.0,24.7,210,4340,0.00,2.05,0.00,0.000,4,0.000,0.030,3169,1145,1985
$GC,4429,0.88,146.0,7.6,22.0,226,4437,0.00,2.22,0.00,0.000,6,0.000,0.049,3163,2544,1985
$STATE,4453,end climb,SURFACE_DEPTH_REACHED
$STATE,4453,begin surface coast
$FINISH,0.1,1.023497
$STATE,4466,end surface coast,CONTROL_FINISHED_OK
$STATE,4466,begin surface
$SM_CCo,4482,121.68,0.581,0,0,885,420.19
$SM_GC,0.93,0.00,0.00,121.68,0.000,0.000,0.581,50,2552,885,-8.75,0.06,420.19
$IRIDIUM_FIX,2241.69,-15759.32,250300,191917
$TT8_MAMPS,0.023777
$HUMID,1823
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,24.5,26.990
$10V_AH,10.8,15.061
$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,21.775,52.075,243.675,121.675,0.000,27.477,34.793,109.159,0.000,0.000,0.000,16.220,504.434,2751.398,420.475,940.343,259.371,33.315,825.105,0.000,937.627,0.000,0.542,0.000
$DEVICE_MAMPS,260.780,98.176,948.779,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,155.846,398.005,409.724,97.105,403.166,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19314,232
$CAP_FILE_SIZE,44923,0
$CFSIZE,260165632,252887040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,301210,220324,2252.195,-15756.065,26,1.4,44,10.1