version: 66.04
glider: 512
mission: 1
dive: 162
start: 12 30 110 15 5 38
data:
$ID,512
$MISSION,1
$DIVE,162
$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,-8578.6934
$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,55
$R_STBD_OVSHOOT,20
$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
$GPS1,150030,2251.607,-15758.296,42,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.1
$GPS2,150444,2251.620,-15758.268,14,1.6,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.205,0.159
$KALMAN_X,-71717.4,-931.4,315.1,94274.6,-3070.2
$KALMAN_Y,-190496.7,2051.4,158.0,320412.2,-7062.4
$MHEAD_RNG_PITCHd_Wd,42.1,3699,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-77.38,0.000,2,0.000,0.000,50,2557,2916
$GC,96,-0.88,-146.0,3.4,-6.5,10,121,11.45,2.28,-5.93,0.000,4,0.268,0.097,2545,3901,3197
$GC,134,-0.88,-146.0,15.0,-32.6,15,143,0.00,2.05,0.00,0.000,6,0.000,0.030,2553,2554,3197
$GC,400,-0.88,-146.0,102.7,-27.1,43,404,0.00,2.35,0.00,0.000,4,0.000,0.099,2544,3889,3199
$GC,451,-0.88,-146.0,117.1,-27.4,47,455,0.00,2.00,0.00,0.000,6,0.000,0.028,2553,2532,3199
$GC,719,-0.88,-146.0,175.9,-21.7,72,723,0.00,2.38,0.00,0.000,4,0.000,0.100,2544,3889,3201
$GC,806,-0.88,-146.0,194.8,-20.9,79,809,0.00,1.98,0.00,0.000,6,0.000,0.028,2552,2539,3201
$GC,1081,-0.88,-146.0,249.5,-19.6,88,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2532,3202
$GC,1325,-0.88,-146.0,293.5,-17.9,94,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2532,3202
$GC,1569,-0.88,-146.0,334.4,-16.7,100,1573,0.00,2.38,0.00,0.000,4,0.000,0.100,2543,3898,3202
$GC,1724,-0.88,-146.0,363.4,-17.7,103,1728,0.00,2.00,0.00,0.000,6,0.000,0.030,2551,2553,3201
$GC,1985,-0.88,-146.0,408.8,-17.2,110,1989,0.00,2.33,0.00,0.000,4,0.000,0.099,2541,3886,3201
$GC,2033,-0.88,-146.0,418.0,-18.1,111,2038,0.00,2.00,0.00,0.000,6,0.000,0.030,2545,2544,3201
$GC,2311,-0.88,-146.0,463.0,-15.8,118,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2537,3200
$GC,2555,-0.88,-146.0,498.9,-14.7,124,2559,0.00,2.35,0.00,0.000,4,0.000,0.100,2537,3887,3198
$STATE,2563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2563,begin apogee
$GC,2569,-0.32,0.0,500.4,14.4,124,2692,0.70,0.00,119.75,0.946,6,0.209,0.000,2735,2522,2600
$STATE,2693,end apogee,CONTROL_FINISHED_OK
$STATE,2693,begin climb
$GC,2695,0.88,146.0,504.2,0.0,127,2827,1.27,2.15,124.22,0.938,4,0.134,0.031,3133,1158,2003
$GC,2876,0.88,146.0,457.7,35.2,131,2881,0.00,2.33,0.00,0.000,6,0.000,0.060,3133,2538,1998
$GC,3149,0.88,146.0,363.6,34.3,138,3152,0.00,2.10,0.00,0.000,4,0.000,0.032,3143,1150,1993
$GC,3265,0.88,146.0,327.5,29.8,140,3270,0.00,2.30,0.00,0.000,6,0.000,0.058,3137,2546,1992
$GC,3526,0.88,146.0,244.0,31.8,147,3530,0.00,2.10,0.00,0.000,4,0.000,0.034,3146,1150,1990
$GC,3616,0.88,146.0,219.3,25.7,149,3620,0.00,2.28,0.00,0.000,6,0.000,0.064,3146,2549,1988
$GC,3876,0.88,146.0,144.3,28.7,168,3880,0.00,2.08,0.00,0.000,4,0.000,0.031,3155,1153,1986
$GC,3899,0.88,146.0,137.7,30.0,170,3903,0.00,2.25,0.00,0.000,6,0.000,0.059,3150,2552,1986
$GC,4162,0.88,146.0,65.8,25.0,194,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2552,1985
$GC,4416,0.88,146.0,7.6,23.9,227,4424,0.00,2.12,0.00,0.000,4,0.000,0.031,3159,1150,1985
$STATE,4435,end climb,SURFACE_DEPTH_REACHED
$STATE,4436,begin surface coast
$FINISH,0.2,1.023474
$STATE,4447,end surface coast,CONTROL_FINISHED_OK
$STATE,4448,begin surface
$SM_CCo,4466,121.88,0.586,0,0,886,420.19
$SM_GC,1.01,0.00,0.00,121.88,0.000,0.000,0.586,50,2568,886,-8.75,0.54,420.19
$IRIDIUM_FIX,2241.69,-15757.16,250300,131354
$TT8_MAMPS,0.023777
$HUMID,1809
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.80
$XPDR_PINGS,1
$24V_AH,24.5,26.601
$10V_AH,10.8,14.832
$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,22.000,48.125,243.975,121.875,0.000,27.737,40.202,109.385,0.250,0.000,0.000,14.282,490.565,2816.507,414.606,881.415,256.648,33.311,791.858,0.000,882.129,0.000,0.542,0.000
$DEVICE_MAMPS,268.450,100.477,946.478,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,155.934,398.010,409.560,96.629,399.642,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19338,232
$CAP_FILE_SIZE,43237,0
$CFSIZE,260165632,253001728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,301210,162256,2251.688,-15757.452,15,1.6,15,10.1