version: 66.04
glider: 512
mission: 1
dive: 186
start: 1 1 111 1 9 27
data:
$ID,512
$MISSION,1
$DIVE,186
$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,-9073.9512
$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,53
$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
$GPS1,010437,2249.682,-15758.458,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.8
$GPS2,010831,2249.715,-15758.462,12,0.9,17,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.254,-0.054
$KALMAN_X,-79113.3,5005.0,-289.0,96017.0,-6560.3
$KALMAN_Y,-193421.0,1495.4,388.9,320156.8,-301.0
$MHEAD_RNG_PITCHd_Wd,92.0,2551,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-84.47,0.000,2,0.000,0.000,42,2534,3140
$GC,103,-0.88,-146.0,4.0,-7.7,11,121,11.18,2.33,-1.05,0.000,4,0.260,0.091,2545,3894,3199
$GC,155,-0.88,-146.0,25.9,-40.0,19,164,0.00,2.03,0.00,0.000,6,0.000,0.029,2553,2554,3199
$GC,427,-0.88,-146.0,107.6,-27.7,45,431,0.00,2.35,0.00,0.000,4,0.000,0.097,2544,3897,3201
$GC,590,-0.88,-146.0,145.8,-21.5,59,593,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2542,3202
$GC,858,-0.88,-146.0,201.1,-20.3,84,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2535,3204
$GC,1099,-0.88,-146.0,247.3,-19.1,90,1103,0.00,2.35,0.00,0.000,4,0.000,0.098,2544,3886,3204
$GC,1153,-0.88,-146.0,258.8,-20.6,91,1158,0.00,2.00,0.00,0.000,6,0.000,0.028,2551,2542,3204
$GC,1425,-0.88,-146.0,307.5,-17.6,98,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2535,3205
$GC,1669,-0.88,-146.0,349.1,-16.9,104,1673,0.00,2.38,0.00,0.000,4,0.000,0.100,2543,3894,3205
$GC,1926,-0.88,-146.0,394.2,-17.4,109,1933,0.00,2.00,0.00,0.000,6,0.000,0.030,2550,2547,3204
$GC,2177,-0.88,-146.0,430.5,-14.3,116,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2540,3203
$GC,2421,-0.88,-146.0,466.2,-14.7,122,2425,0.00,2.35,0.00,0.000,4,0.000,0.100,2541,3887,3201
$GC,2493,-0.88,-146.0,477.8,-16.0,123,2497,0.00,2.00,0.00,0.000,6,0.000,0.031,2547,2547,3201
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2672,-0.32,0.0,503.7,14.9,128,2795,0.70,0.00,120.32,0.956,6,0.193,0.000,2738,2538,2600
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin climb
$GC,2798,0.88,146.0,507.8,0.0,131,2929,1.25,2.20,123.88,0.942,4,0.132,0.033,3133,1148,2003
$GC,2973,0.88,146.0,465.8,33.9,135,2978,0.00,2.35,0.00,0.000,6,0.000,0.057,3133,2543,1999
$GC,3252,0.88,146.0,368.7,34.9,142,3255,0.00,2.10,0.00,0.000,4,0.000,0.032,3143,1147,1993
$GC,3363,0.88,146.0,335.0,27.9,144,3367,0.00,2.25,0.00,0.000,6,0.000,0.054,3137,2556,1991
$GC,3630,0.88,146.0,251.3,31.3,151,3634,0.00,2.12,0.00,0.000,4,0.000,0.032,3146,1153,1990
$GC,3679,0.88,146.0,236.5,28.4,152,3683,0.00,2.28,0.00,0.000,6,0.000,0.058,3146,2543,1988
$GC,3939,0.88,146.0,159.9,29.5,165,3943,0.00,2.10,0.00,0.000,4,0.000,0.033,3156,1151,1987
$GC,3995,0.88,146.0,143.4,27.1,170,3999,0.00,2.25,0.00,0.000,6,0.000,0.055,3150,2562,1986
$GC,4257,0.88,146.0,72.2,23.3,194,4261,0.00,2.12,0.00,0.000,4,0.000,0.031,3159,1143,1986
$GC,4270,0.88,146.0,68.9,23.8,195,4274,0.00,2.22,0.00,0.000,6,0.000,0.048,3159,2558,1986
$STATE,4532,end climb,SURFACE_DEPTH_REACHED
$STATE,4532,begin surface coast
$FINISH,-0.0,1.023571
$STATE,4544,end surface coast,CONTROL_FINISHED_OK
$STATE,4544,begin surface
$SM_CCo,4560,116.80,0.578,0,0,886,420.19
$SM_GC,0.89,0.00,0.00,116.80,0.000,0.000,0.578,53,2566,886,-8.74,0.45,420.19
$IRIDIUM_FIX,2241.69,-15757.16,260300,232303
$TT8_MAMPS,0.024544
$HUMID,1825
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.40
$XPDR_PINGS,2
$24V_AH,24.4,28.920
$10V_AH,10.8,16.219
$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,21.625,43.775,244.200,116.800,0.000,23.561,31.372,95.592,0.500,0.000,0.000,17.352,502.150,2872.371,412.772,906.664,236.450,33.314,796.491,0.000,903.688,0.000,0.542,0.000
$DEVICE_MAMPS,260.013,100.477,955.682,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,155.269,391.263,403.359,93.891,389.287,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19323,231
$CAP_FILE_SIZE,43200,0
$CFSIZE,260165632,252313600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,010111,022814,2249.233,-15757.975,15,1.4,15,10.1