version: 66.04
glider: 512
mission: 1
dive: 167
start: 12 30 110 22 9 1
data:
$ID,512
$MISSION,1
$DIVE,167
$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,-8680.9258
$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,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
$GPS1,220324,2252.195,-15756.065,26,1.4,44,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.3
$GPS2,220807,2252.177,-15756.087,11,1.7,16,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.136,0.222
$KALMAN_X,-74685.8,2723.4,161.5,97494.2,-3486.0
$KALMAN_Y,-194681.0,125.9,222.1,327488.0,-7679.2
$MHEAD_RNG_PITCHd_Wd,21.5,4323,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-77.10,0.000,2,0.000,0.000,45,2551,2901
$GC,96,-0.88,-146.0,3.3,-6.8,10,121,11.18,2.25,-6.07,0.000,4,0.261,0.095,2544,3893,3195
$GC,247,-0.88,-146.0,53.1,-32.4,30,251,0.00,2.00,0.00,0.000,6,0.000,0.028,2551,2548,3196
$GC,516,-0.88,-146.0,126.7,-24.4,55,520,0.00,2.33,0.00,0.000,4,0.000,0.091,2543,3897,3198
$GC,666,-0.88,-146.0,161.3,-20.8,68,670,0.00,2.00,0.00,0.000,6,0.000,0.028,2551,2538,3198
$GC,949,-0.88,-146.0,217.9,-20.1,89,953,0.00,2.33,0.00,0.000,4,0.000,0.090,2542,3893,3200
$GC,988,-0.88,-146.0,225.8,-21.4,90,992,0.00,1.98,0.00,0.000,6,0.000,0.028,2550,2544,3200
$GC,1278,-0.88,-146.0,277.5,-17.4,97,1282,0.00,2.30,0.00,0.000,4,0.000,0.090,2541,3885,3200
$GC,1416,-0.88,-146.0,303.8,-18.7,100,1421,0.00,1.98,0.00,0.000,6,0.000,0.028,2549,2550,3201
$GC,1694,-0.88,-146.0,350.8,-16.7,107,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2543,3200
$GC,1938,-0.88,-146.0,389.4,-15.9,113,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2543,3200
$GC,2183,-0.88,-146.0,424.0,-13.9,119,2187,0.00,2.30,0.00,0.000,4,0.000,0.092,2539,3886,3199
$GC,2384,-0.88,-146.0,457.8,-17.3,123,2389,0.00,1.98,0.00,0.000,6,0.000,0.031,2546,2554,3197
$GC,2645,-0.88,-146.0,497.4,-15.1,130,2649,0.00,2.30,0.00,0.000,4,0.000,0.094,2537,3886,3196
$STATE,2659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2659,begin apogee
$GC,2666,-0.32,0.0,500.0,15.1,130,2788,0.70,0.00,119.00,0.939,6,0.203,0.000,2737,2533,2600
$STATE,2789,end apogee,CONTROL_FINISHED_OK
$STATE,2789,begin climb
$GC,2791,0.88,146.0,504.5,0.0,133,2923,1.25,2.22,123.47,0.909,4,0.132,0.031,3132,1145,2003
$GC,2973,0.88,146.0,460.9,31.3,137,2977,0.00,2.35,0.00,0.000,6,0.000,0.052,3132,2551,1999
$GC,3245,0.88,146.0,368.1,34.4,144,3249,0.00,2.12,0.00,0.000,4,0.000,0.035,3142,1152,1993
$GC,3260,0.88,146.0,363.0,32.6,144,3265,0.00,2.22,0.00,0.000,6,0.000,0.046,3137,2549,1992
$GC,3534,0.88,146.0,272.5,32.9,151,3538,0.00,2.10,0.00,0.000,4,0.000,0.035,3146,1151,1990
$GC,3572,0.88,146.0,260.5,29.4,151,3579,0.00,2.25,0.00,0.000,6,0.000,0.051,3146,2544,1990
$GC,3825,0.88,146.0,187.0,27.2,161,3828,0.00,2.08,0.00,0.000,4,0.000,0.034,3155,1148,1988
$GC,3849,0.88,146.0,180.1,30.5,163,3853,0.00,2.20,0.00,0.000,6,0.000,0.046,3150,2562,1987
$GC,4111,0.88,146.0,101.7,27.7,187,4115,0.00,2.10,0.00,0.000,4,0.000,0.031,3159,1138,1986
$GC,4127,0.88,146.0,96.5,27.3,188,4136,0.00,2.22,0.00,0.000,6,0.000,0.048,3159,2548,1986
$GC,4390,0.88,146.0,30.6,23.2,213,4394,0.00,2.08,0.00,0.000,4,0.000,0.033,3168,1152,1985
$GC,4471,0.88,146.0,10.5,22.4,227,4480,0.00,2.22,0.00,0.000,6,0.000,0.051,3163,2547,1984
$STATE,4502,end climb,SURFACE_DEPTH_REACHED
$STATE,4502,begin surface coast
$FINISH,0.1,1.023474
$STATE,4514,end surface coast,CONTROL_FINISHED_OK
$STATE,4514,begin surface
$SM_CCo,4530,124.57,0.594,0,0,886,420.19
$SM_GC,1.07,0.00,0.00,124.57,0.000,0.000,0.594,48,2554,886,-8.75,0.11,420.19
$IRIDIUM_FIX,2244.02,-15757.16,250300,202010
$TT8_MAMPS,0.023777
$HUMID,1831
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,24.5,27.086
$10V_AH,10.8,15.117
$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,21.775,51.925,242.475,124.575,0.000,28.686,35.583,135.220,0.250,0.000,0.000,16.971,503.211,2835.059,421.004,912.422,283.889,33.314,815.890,0.000,908.437,0.000,0.542,0.000
$DEVICE_MAMPS,260.780,95.108,938.808,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,157.276,400.252,412.221,95.571,396.199,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19379,234
$CAP_FILE_SIZE,45335,0
$CFSIZE,260165632,252854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,301210,232743,2252.440,-15755.755,15,2.0,32,10.1