version: 66.04
glider: 512
mission: 1
dive: 139
start: 12 29 110 6 15 14
data:
$ID,512
$MISSION,1
$DIVE,139
$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,-8103.3569
$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,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2700
$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
$GPS1,060638,2245.971,-15800.229,12,1.4,12,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.0
$GPS2,061420,2245.907,-15800.199,15,1.4,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.067,0.251
$KALMAN_X,-71420.3,-56.0,388.5,89722.6,-207.8
$KALMAN_Y,-171392.8,2615.6,131.4,290189.5,-9638.9
$MHEAD_RNG_PITCHd_Wd,334.9,8962,-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,13,begin dive
$GC,15,-0.88,-146.0,0.0,0.0,0,94,0.00,0.00,-76.95,0.000,2,0.000,0.000,46,2554,3026
$GC,96,-0.88,-146.0,3.5,-7.5,10,120,11.10,2.28,-5.55,0.000,4,0.260,0.091,2543,3920,3298
$GC,364,-0.88,-146.0,92.2,-29.8,40,368,0.00,2.03,0.00,0.000,6,0.000,0.028,2551,2554,3299
$GC,631,-0.88,-146.0,158.9,-21.3,65,635,0.00,2.30,0.00,0.000,4,0.000,0.088,2542,3900,3301
$GC,884,-0.88,-146.0,213.9,-19.5,83,891,0.00,2.03,0.00,0.000,6,0.000,0.029,2551,2541,3303
$GC,1134,-0.88,-146.0,260.6,-18.9,90,1138,0.00,2.33,0.00,0.000,4,0.000,0.090,2542,3899,3303
$GC,1177,-0.88,-146.0,270.0,-20.8,91,1182,0.00,2.00,0.00,0.000,6,0.000,0.029,2549,2551,3303
$GC,1461,-0.88,-146.0,323.7,-18.7,98,1465,0.00,2.30,0.00,0.000,4,0.000,0.092,2540,3898,3303
$GC,1571,-0.88,-146.0,345.6,-19.6,100,1576,0.00,2.00,0.00,0.000,6,0.000,0.029,2547,2551,3302
$GC,1832,-0.88,-146.0,391.0,-16.8,107,1836,0.00,2.30,0.00,0.000,4,0.000,0.092,2539,3898,3302
$GC,1859,-0.88,-146.0,395.7,-17.6,107,1863,0.00,2.00,0.00,0.000,6,0.000,0.030,2547,2545,3302
$GC,2116,-0.88,-146.0,434.5,-15.1,114,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2538,3300
$GC,2358,-0.88,-146.0,472.5,-15.5,120,2362,0.00,2.33,0.00,0.000,4,0.000,0.094,2537,3897,3299
$STATE,2517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2517,begin apogee
$GC,2525,-0.32,0.0,500.1,17.6,123,2646,0.68,0.00,118.47,0.944,6,0.194,0.000,2736,2544,2699
$STATE,2647,end apogee,CONTROL_FINISHED_OK
$STATE,2647,begin climb
$GC,2649,0.88,146.0,503.9,0.0,126,2787,1.25,2.20,125.80,0.930,4,0.124,0.031,3138,1141,2103
$GC,2798,0.88,146.0,475.8,31.3,130,2802,0.00,2.33,0.00,0.000,6,0.000,0.048,3137,2561,2100
$GC,3058,0.88,146.0,392.2,31.6,137,3062,0.00,2.12,0.00,0.000,4,0.000,0.031,3147,1148,2094
$GC,3091,0.88,146.0,381.6,31.5,137,3095,0.00,2.30,0.00,0.000,6,0.000,0.051,3146,2557,2092
$GC,3347,0.88,146.0,305.1,29.9,144,3351,0.00,2.12,0.00,0.000,4,0.000,0.031,3155,1151,2090
$GC,3374,0.88,146.0,296.3,31.0,144,3378,0.00,2.25,0.00,0.000,6,0.000,0.051,3151,2548,2090
$GC,3638,0.88,146.0,221.0,29.4,151,3641,0.00,2.10,0.00,0.000,4,0.000,0.033,3159,1139,2087
$GC,3727,0.88,146.0,195.3,26.5,153,3731,0.00,2.25,0.00,0.000,6,0.000,0.052,3159,2553,2086
$GC,3990,0.88,146.0,124.8,27.6,177,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2553,2085
$GC,4245,0.88,146.0,68.4,21.3,201,4248,0.00,2.10,0.00,0.000,4,0.000,0.031,3168,1148,2084
$GC,4290,0.88,146.0,59.2,20.4,205,4294,0.00,2.20,0.00,0.000,6,0.000,0.048,3163,2556,2084
$STATE,4535,end climb,SURFACE_DEPTH_REACHED
$STATE,4535,begin surface coast
$FINISH,0.6,1.023537
$STATE,4547,end surface coast,CONTROL_FINISHED_OK
$STATE,4547,begin surface
$SM_CCo,4563,127.72,0.571,0,0,986,420.19
$SM_GC,0.93,0.00,0.00,127.72,0.000,0.000,0.571,46,2564,986,-8.76,0.40,420.19
$IRIDIUM_FIX,2239.35,-15802.37,240300,060636
$TT8_MAMPS,0.023777
$HUMID,1798
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.00
$XPDR_PINGS,2
$24V_AH,24.5,24.337
$10V_AH,10.8,13.505
$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,21.700,47.875,244.275,127.725,0.000,61.027,68.294,185.615,0.500,0.000,0.000,15.841,516.419,2869.966,437.472,943.334,402.655,33.316,821.945,0.000,941.496,0.000,0.543,0.000
$DEVICE_MAMPS,260.013,94.341,944.177,571.415,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,161.438,410.741,421.527,100.304,412.516,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19197,240
$CAP_FILE_SIZE,47859,0
$CFSIZE,260165632,253657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,1
$GPS,291210,073434,2246.193,-15800.377,15,2.3,34,10.1