version: 66.04
glider: 512
mission: 1
dive: 170
start: 12 31 110 2 19 58
data:
$ID,512
$MISSION,1
$DIVE,170
$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,-8748.5146
$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,57
$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
$GPS1,021454,2252.529,-15754.522,29,1.2,46,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.6
$GPS2,021902,2252.527,-15754.520,17,1.2,17,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.062,0.163
$KALMAN_X,-74653.6,1069.8,-79.8,102049.3,-3977.7
$KALMAN_Y,-195563.8,-796.7,182.4,329986.2,-5387.6
$MHEAD_RNG_PITCHd_Wd,329.1,6310,-27.3,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.17,-63.4,0.0,0.0,0,92,0.00,0.00,-75.62,0.000,6,0.000,0.000,38,2566,2860
$GC,95,-1.21,-99.5,3.1,-6.2,10,120,10.88,2.22,-3.28,0.000,4,0.265,0.085,2440,3895,3009
$GC,365,-1.21,-99.5,96.4,-37.3,41,369,0.00,1.98,0.00,0.000,6,0.000,0.029,2449,2550,3012
$GC,632,-1.21,-99.5,164.9,-22.6,66,636,0.00,2.28,0.00,0.000,4,0.000,0.084,2440,3898,3012
$GC,886,-1.21,-99.5,225.1,-22.9,81,893,0.00,2.00,0.00,0.000,6,0.000,0.027,2448,2551,3014
$GC,1136,-1.21,-99.5,274.4,-19.7,88,1140,0.00,2.05,0.00,0.000,4,0.000,0.028,2459,1141,3014
$GC,1393,-1.21,-99.5,320.7,-18.3,93,1398,0.00,2.33,0.00,0.000,6,0.000,0.071,2450,2544,3015
$GC,1648,-1.21,-99.5,367.2,-18.7,100,1652,0.00,2.05,0.00,0.000,4,0.000,0.028,2459,1137,3015
$GC,1731,-1.21,-99.5,381.8,-16.6,101,1738,0.00,2.35,0.00,0.000,6,0.000,0.072,2449,2546,3014
$GC,1981,-1.21,-99.5,425.9,-17.8,108,1985,0.00,2.05,0.00,0.000,4,0.000,0.029,2458,1143,3013
$GC,2052,-1.21,-99.5,439.0,-17.6,109,2057,0.00,2.35,0.00,0.000,6,0.000,0.072,2449,2552,3013
$GC,2316,-1.21,-99.5,487.5,-18.4,116,2320,0.00,2.22,0.00,0.000,4,0.000,0.079,2439,3909,3012
$STATE,2380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2380,begin apogee
$GC,2387,-0.32,0.0,500.8,19.3,117,2473,1.23,0.00,82.35,0.930,6,0.255,0.000,2736,2537,2600
$STATE,2474,end apogee,CONTROL_FINISHED_OK
$STATE,2474,begin climb
$GC,2476,1.21,99.5,504.7,0.0,119,2578,1.62,2.22,87.62,0.892,4,0.137,0.031,3243,1140,2193
$GC,2606,1.21,99.5,474.3,35.9,122,2610,0.00,2.30,0.00,0.000,6,0.000,0.049,3243,2560,2190
$GC,2882,1.21,99.5,376.9,35.3,129,2886,0.00,2.12,0.00,0.000,4,0.000,0.031,3253,1140,2184
$GC,2965,1.21,99.5,348.2,33.7,130,2973,0.00,2.28,0.00,0.000,6,0.000,0.048,3253,2551,2183
$GC,3215,1.21,99.5,266.0,32.5,137,3219,0.00,2.10,0.00,0.000,4,0.000,0.032,3263,1143,2181
$GC,3230,1.21,99.5,260.9,31.9,137,3235,0.00,2.22,0.00,0.000,6,0.000,0.045,3257,2551,2180
$GC,3486,1.21,99.5,185.6,28.3,145,3489,0.00,2.10,0.00,0.000,4,0.000,0.032,3266,1139,2178
$GC,3579,1.21,99.5,158.8,27.8,153,3588,0.00,2.25,0.00,0.000,6,0.000,0.048,3257,2549,2178
$GC,3841,1.21,99.5,92.3,18.5,178,3845,0.00,2.10,0.00,0.000,4,0.000,0.032,3266,1146,2176
$GC,3922,1.21,99.5,76.6,17.8,185,3932,0.00,2.20,0.00,0.000,6,0.000,0.042,3257,2546,2175
$GC,4185,1.21,99.5,19.6,22.6,214,4194,0.00,2.15,0.00,0.000,4,0.000,0.056,3258,3888,2175
$GC,4265,1.21,99.5,3.7,18.6,228,4273,0.00,2.00,0.00,0.000,6,0.000,0.028,3266,2540,2174
$STATE,4281,end climb,SURFACE_DEPTH_REACHED
$STATE,4281,begin surface coast
$FINISH,0.0,1.022869
$STATE,4298,end surface coast,CONTROL_FINISHED_OK
$STATE,4299,begin surface
$SM_CCo,4315,151.48,0.584,0,0,886,420.19
$SM_GC,1.03,0.00,0.00,151.48,0.000,0.000,0.584,48,2527,886,-8.75,-0.65,420.19
$IRIDIUM_FIX,2244.02,-15754.11,260300,010102
$TT8_MAMPS,0.023777
$HUMID,1791
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,24.5,27.355
$10V_AH,10.8,15.288
$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,22.725,51.975,169.975,151.475,0.000,30.027,39.725,97.293,0.000,0.000,0.000,17.298,511.620,2582.550,400.773,984.968,254.792,33.311,814.447,0.000,980.143,0.000,0.542,0.000
$DEVICE_MAMPS,264.615,85.137,930.371,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,156.263,409.266,421.911,101.761,424.085,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19371,233
$CAP_FILE_SIZE,45178,0
$CFSIZE,260165632,252768256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,311210,033514,2252.646,-15754.464,14,1.8,14,10.1