version: 66.04
glider: 512
mission: 1
dive: 121
start: 12 28 110 2 44 56
data:
$ID,512
$MISSION,1
$DIVE,121
$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,-7778.7485
$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,50
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,023950,2244.980,-15755.999,13,1.3,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-78.4
$GPS2,024401,2244.877,-15755.985,17,1.4,17,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.181,0.187
$KALMAN_X,-72674.4,-730.7,-237.5,99538.1,3973.3
$KALMAN_Y,-144899.6,665.1,36.6,263839.5,-7044.1
$MHEAD_RNG_PITCHd_Wd,305.8,15276,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-69.72,0.000,2,0.000,0.000,46,2551,2889
$GC,89,-0.88,-146.0,3.1,-5.4,9,121,11.45,2.28,-10.90,0.000,4,0.269,0.093,2543,3882,3398
$GC,274,-0.88,-146.0,60.7,-27.3,33,278,0.00,2.00,0.00,0.000,6,0.000,0.028,2550,2557,3400
$GC,540,-0.88,-146.0,134.8,-27.3,58,544,0.00,2.30,0.00,0.000,4,0.000,0.091,2542,3888,3401
$GC,590,-0.88,-146.0,147.5,-24.3,62,594,0.00,1.98,0.00,0.000,6,0.000,0.028,2550,2544,3401
$GC,864,-0.88,-146.0,210.6,-21.8,85,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2538,3403
$GC,1110,-0.88,-146.0,263.9,-22.1,91,1115,0.00,2.33,0.00,0.000,4,0.000,0.095,2541,3881,3404
$GC,1316,-0.88,-146.0,308.3,-21.8,95,1321,0.00,1.98,0.00,0.000,6,0.000,0.028,2548,2553,3404
$GC,1572,-0.88,-146.0,357.6,-19.0,102,1576,0.00,2.33,0.00,0.000,4,0.000,0.096,2539,3895,3404
$GC,1593,-0.88,-146.0,362.1,-20.7,102,1598,0.00,2.00,0.00,0.000,6,0.000,0.030,2546,2548,3404
$GC,1854,-0.88,-146.0,409.9,-18.2,109,1858,0.00,2.33,0.00,0.000,4,0.000,0.097,2538,3885,3403
$GC,1983,-0.88,-146.0,434.7,-18.7,112,1986,0.00,1.98,0.00,0.000,6,0.000,0.031,2545,2539,3402
$GC,2272,-0.88,-146.0,485.9,-17.6,119,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2533,3401
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2351,begin apogee
$GC,2355,-0.32,0.0,500.4,17.7,121,2476,0.70,0.00,118.03,0.949,6,0.188,0.000,2741,2531,2800
$STATE,2477,end apogee,CONTROL_FINISHED_OK
$STATE,2477,begin climb
$GC,2479,0.88,146.0,506.2,0.0,124,2611,1.20,2.22,124.15,0.953,4,0.110,0.031,3139,1149,2203
$GC,2678,0.88,146.0,471.8,26.5,128,2682,0.00,2.33,0.00,0.000,6,0.000,0.054,3137,2542,2197
$GC,2933,0.88,146.0,398.1,28.7,135,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2542,2193
$GC,3178,0.88,146.0,323.4,30.7,141,3181,0.00,2.20,0.00,0.000,4,0.000,0.063,3137,3908,2191
$GC,3204,0.88,146.0,314.9,30.0,141,3209,0.00,2.05,0.00,0.000,6,0.000,0.032,3146,2562,2190
$GC,3465,0.88,146.0,245.1,25.9,148,3469,0.00,2.10,0.00,0.000,4,0.000,0.032,3157,1140,2188
$GC,3503,0.88,146.0,235.9,23.3,148,3510,0.00,2.28,0.00,0.000,6,0.000,0.055,3150,2547,2188
$GC,3757,0.88,146.0,173.9,23.0,161,3761,0.00,2.17,0.00,0.000,4,0.000,0.063,3150,3904,2186
$GC,3791,0.88,146.0,165.3,25.8,164,3795,0.00,2.03,0.00,0.000,6,0.000,0.034,3158,2553,2185
$GC,4059,0.88,146.0,102.8,21.1,189,4063,0.00,2.10,0.00,0.000,4,0.000,0.031,3169,1131,2184
$GC,4129,0.88,146.0,87.5,19.9,195,4137,0.00,2.28,0.00,0.000,6,0.000,0.052,3163,2549,2184
$GC,4392,0.88,146.0,36.8,16.8,220,4396,0.00,2.15,0.00,0.000,4,0.000,0.063,3162,3902,2183
$GC,4427,0.88,146.0,31.2,17.0,223,4431,0.17,2.03,0.00,0.000,6,0.254,0.032,3137,2525,2183
$STATE,4617,end climb,SURFACE_DEPTH_REACHED
$STATE,4618,begin surface coast
$FINISH,0.1,1.023614
$STATE,4640,end surface coast,CONTROL_FINISHED_OK
$STATE,4640,begin surface
$SM_CCo,4656,129.75,0.618,0,0,1087,420.19
$SM_GC,0.97,0.00,0.00,129.75,0.000,0.000,0.618,42,2522,1087,-8.77,-0.79,420.19
$IRIDIUM_FIX,2237.01,-15754.99,230300,010103
$TT8_MAMPS,0.023777
$HUMID,1775
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,24.4,22.426
$10V_AH,10.8,12.375
$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,22.025,47.400,242.175,129.750,0.000,27.458,47.099,100.334,0.000,0.000,0.000,17.209,541.582,2841.262,437.524,984.394,250.862,33.322,821.494,0.000,982.502,0.000,0.541,0.000
$DEVICE_MAMPS,269.217,96.642,952.614,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,175.937,463.188,476.094,118.264,490.056,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22454,261
$CAP_FILE_SIZE,45289,0
$CFSIZE,260165632,254181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,281210,040555,2244.746,-15756.485,39,1.8,39,10.1