version: 66.04
glider: 512
mission: 1
dive: 394
start: 1 16 111 0 22 27
data:
$ID,512
$MISSION,1
$DIVE,394
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,208
$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,160
$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,350
$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,-13374.374
$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,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,001632,2248.252,-15757.002,9,1.7,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-78.6
$GPS2,002136,2248.237,-15757.027,16,0.9,32,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.097,0.246
$KALMAN_X,-154060.1,-5008.7,747.0,182404.0,1148.0
$KALMAN_Y,-352086.5,2682.7,462.7,474804.5,-8518.0
$MHEAD_RNG_PITCHd_Wd,328.3,2644,-16.2,-9.615
$D_GRID,600
$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,15,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-38.47,0.000,2,0.000,0.000,40,2556,2919
$GC,59,-0.84,-155.7,3.1,-5.4,5,100,11.32,2.15,-20.85,0.000,4,0.254,0.044,2576,1155,3961
$GC,228,-0.84,-155.7,43.9,-16.5,27,232,0.00,2.50,0.00,0.000,6,0.000,0.105,2565,2545,3963
$GC,491,-0.84,-155.7,126.5,-30.3,51,495,0.00,2.42,0.00,0.000,4,0.000,0.107,2553,3903,3964
$GC,545,-0.84,-155.7,140.9,-21.2,55,552,0.00,2.03,0.00,0.000,6,0.000,0.028,2561,2556,3964
$GC,808,-0.84,-155.7,200.7,-21.6,80,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2549,3965
$GC,1051,-0.84,-155.7,251.3,-20.7,86,1055,0.00,2.53,0.00,0.000,4,0.000,0.124,2552,3898,3966
$GC,1079,-0.84,-155.7,257.1,-20.0,86,1083,0.00,2.00,0.00,0.000,6,0.000,0.030,2560,2542,3966
$GC,1334,-0.84,-155.7,301.7,-18.2,93,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2534,3966
$GC,1578,-0.84,-155.7,343.8,-17.0,99,1582,0.00,2.55,0.00,0.000,4,0.000,0.124,2551,3898,3967
$GC,1639,-0.84,-155.7,353.6,-14.0,100,1643,0.00,2.03,0.00,0.000,6,0.000,0.030,2559,2544,3967
$GC,1906,-0.84,-155.7,394.1,-16.0,107,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2537,3966
$GC,2150,-0.84,-155.7,432.4,-15.7,113,2154,0.00,2.55,0.00,0.000,4,0.000,0.125,2550,3899,3965
$GC,2211,-0.84,-155.7,441.5,-12.1,114,2214,0.00,2.00,0.00,0.000,6,0.000,0.031,2558,2549,3965
$GC,2479,-0.84,-155.7,479.8,-14.7,121,2482,0.00,2.08,0.00,0.000,4,0.000,0.031,2562,1142,3963
$GC,2511,-0.84,-155.7,484.8,-14.1,121,2516,0.00,2.45,0.00,0.000,6,0.000,0.089,2552,2569,3963
$GC,2767,-0.84,-155.7,522.6,-15.4,128,2771,0.00,2.35,0.00,0.000,4,0.000,0.107,2541,3893,3960
$GC,2807,-0.84,-155.7,528.8,-14.9,129,2812,0.12,2.00,0.00,0.000,6,0.158,0.032,2577,2542,3960
$GC,3097,-0.84,-155.7,562.9,-11.5,136,3101,0.00,2.62,0.00,0.000,4,0.000,0.140,2576,3890,3958
$GC,3129,-0.84,-155.7,567.0,-11.5,136,3135,0.00,2.00,0.00,0.000,6,0.000,0.033,2581,2546,3958
$GC,3381,-0.84,-155.7,591.7,-9.8,143,3386,0.00,2.60,0.00,0.000,4,0.000,0.135,2576,3892,3955
$GC,3421,-0.84,-155.7,595.7,-9.1,144,3425,0.00,2.00,0.00,0.000,6,0.000,0.034,2584,2550,3955
$STATE,3506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3506,begin apogee
$GC,3512,-0.32,0.0,603.4,8.8,146,3635,0.52,0.00,119.65,1.071,6,0.147,0.000,2742,2542,3367
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3638,0.84,155.7,609.9,0.0,149,3778,1.12,2.22,132.12,1.052,4,0.093,0.033,3125,1150,2731
$GC,4035,0.92,218.0,615.4,7.0,158,4095,0.00,2.33,53.47,1.047,6,0.000,0.059,3124,2564,2478
$GC,4360,0.92,218.0,556.2,20.6,166,4364,0.00,2.15,0.00,0.000,4,0.000,0.032,3132,1148,2469
$GC,4495,0.92,218.0,529.4,19.9,169,4499,0.00,2.33,0.00,0.000,6,0.000,0.062,3133,2557,2467
$GC,4780,0.92,218.0,476.7,18.3,176,4783,0.00,2.10,0.00,0.000,4,0.000,0.031,3143,1149,2466
$GC,4874,0.92,218.0,460.7,15.7,178,4879,0.00,2.28,0.00,0.000,6,0.000,0.058,3137,2564,2465
$GC,5158,0.92,218.0,417.9,14.9,185,5162,0.00,2.12,0.00,0.000,4,0.000,0.033,3146,1141,2463
$GC,5197,0.92,218.0,412.6,12.7,185,5204,0.00,2.33,0.00,0.000,6,0.000,0.063,3146,2540,2463
$GC,5447,0.92,218.0,376.4,14.6,192,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2540,2461
$GC,5691,0.92,218.0,340.9,14.4,198,5694,0.00,2.25,0.00,0.000,4,0.000,0.075,3146,3897,2460
$GC,5948,0.92,218.0,299.6,15.5,203,5952,0.00,2.00,0.00,0.000,6,0.000,0.032,3155,2549,2459
$GC,6204,0.92,218.0,264.3,13.9,210,6207,0.00,2.25,0.00,0.000,4,0.000,0.071,3150,3897,2458
$GC,6378,0.92,218.0,240.4,11.8,213,6384,0.00,2.03,0.00,0.000,6,0.000,0.033,3159,2534,2458
$GC,6628,0.92,218.0,214.7,10.1,220,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2533,2458
$GC,6878,0.98,271.9,191.5,7.4,232,6926,0.00,2.10,43.55,0.811,4,0.000,0.030,3169,1147,2257
$GC,6954,0.98,271.9,182.5,15.7,238,6961,0.00,2.35,0.00,0.000,6,0.000,0.061,3163,2545,2254
$GC,7218,0.98,271.9,132.8,21.0,263,7221,0.00,2.10,0.00,0.000,4,0.000,0.031,3171,1144,2250
$GC,7230,0.98,271.9,129.9,20.5,264,7234,0.00,2.30,0.00,0.000,6,0.000,0.057,3172,2563,2250
$GC,7500,0.98,271.9,88.6,14.0,289,7503,0.00,2.12,0.00,0.000,4,0.000,0.030,3181,1149,2249
$GC,7634,0.98,271.9,68.5,15.4,301,7639,0.00,2.25,0.00,0.000,6,0.000,0.055,3176,2554,2249
$GC,7898,0.98,271.9,23.0,18.3,328,7906,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1150,2249
$STATE,8018,end climb,SURFACE_DEPTH_REACHED
$STATE,8018,begin surface coast
$FINISH,0.3,1.023890
$STATE,8037,end surface coast,CONTROL_FINISHED_OK
$STATE,8038,begin surface
$SM_CCo,8059,47.30,0.634,0,0,1940,350.04
$SM_GC,1.10,0.00,0.00,47.30,0.000,0.000,0.634,51,2546,1940,-8.75,-0.11,350.04
$IRIDIUM_FIX,2239.35,-15754.99,100400,222251
$TT8_MAMPS,0.02301
$HUMID,1807
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.9,50.862
$10V_AH,10.7,29.876
$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,21.975,84.925,348.800,47.300,0.000,30.889,32.278,115.920,0.250,0.000,0.000,34.833,757.661,5440.941,427.256,1424.161,369.259,33.337,1034.020,0.000,1399.976,0.000,0.542,0.000
$DEVICE_MAMPS,253.877,139.594,1070.732,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,238.699,535.149,550.947,120.735,500.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28868,353
$CAP_FILE_SIZE,69840,0
$CFSIZE,260165632,245551104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,160111,023855,2248.795,-15757.988,23,2.3,42,10.1