version: 66.04
glider: 512
mission: 1
dive: 400
start: 1 16 111 12 41 30
data:
$ID,512
$MISSION,1
$DIVE,400
$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,-13531.09
$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,19
$R_STBD_OVSHOOT,13
$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
$GPS1,123619,2248.213,-15756.456,14,1.7,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.8
$GPS2,124037,2248.194,-15756.483,13,1.7,13,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.159
$KALMAN_X,-168414.0,1711.3,1356.3,190338.8,-10552.0
$KALMAN_Y,-357096.3,3524.9,966.8,478393.2,-9766.1
$MHEAD_RNG_PITCHd_Wd,42.9,3153,-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,-155.7,0.0,0.0,0,78,0.00,0.00,-60.97,0.000,2,0.000,0.000,43,2562,3247
$GC,81,-0.84,-155.7,3.7,-5.2,8,114,11.57,2.47,-12.15,0.000,4,0.262,0.127,2558,3884,3962
$GC,173,-0.84,-155.7,46.5,-30.8,19,181,0.00,2.08,0.00,0.000,6,0.000,0.031,2566,2531,3964
$GC,435,-0.84,-155.7,125.5,-27.9,44,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2524,3965
$GC,690,-0.84,-155.7,188.0,-21.8,68,693,0.00,2.08,0.00,0.000,4,0.000,0.030,2573,1126,3968
$GC,715,-0.84,-155.7,193.2,-22.2,70,719,0.00,2.45,0.00,0.000,6,0.000,0.091,2564,2547,3968
$GC,1002,-0.84,-155.7,249.6,-19.5,80,1006,0.00,2.38,0.00,0.000,4,0.000,0.103,2552,3908,3969
$GC,1085,-0.84,-155.7,263.7,-12.9,81,1091,0.00,2.05,0.00,0.000,6,0.000,0.029,2561,2521,3970
$GC,1335,-0.84,-155.7,305.1,-17.2,88,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2514,3970
$GC,1578,-0.84,-155.7,347.1,-17.2,94,1583,0.00,2.62,0.00,0.000,4,0.000,0.132,2551,3900,3970
$GC,1667,-0.84,-155.7,360.7,-12.5,96,1671,0.00,2.00,0.00,0.000,6,0.000,0.031,2560,2545,3970
$GC,1952,-0.84,-155.7,404.3,-15.4,103,1957,0.00,2.58,0.00,0.000,4,0.000,0.127,2550,3903,3969
$GC,1986,-0.84,-155.7,409.9,-15.4,103,1992,0.00,2.03,0.00,0.000,6,0.000,0.032,2558,2538,3969
$GC,2236,-0.84,-155.7,445.1,-14.3,110,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2530,3968
$GC,2480,-0.84,-155.7,478.7,-13.6,116,2485,0.00,2.60,0.00,0.000,4,0.000,0.132,2549,3897,3967
$GC,2520,-0.84,-155.7,484.3,-13.2,117,2524,0.00,2.00,0.00,0.000,6,0.000,0.032,2557,2548,3967
$GC,2809,-0.84,-155.7,522.3,-13.3,124,2814,0.00,2.60,0.00,0.000,4,0.000,0.133,2548,3900,3966
$GC,2831,-0.84,-155.7,525.5,-13.9,124,2835,0.00,2.03,0.00,0.000,6,0.000,0.035,2555,2542,3965
$GC,3093,-0.84,-155.7,559.8,-13.2,131,3098,0.00,2.60,0.00,0.000,4,0.000,0.133,2546,3897,3964
$GC,3148,-0.84,-155.7,566.9,-11.1,132,3152,0.00,2.00,0.00,0.000,6,0.000,0.031,2553,2549,3964
$STATE,3418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3418,begin apogee
$GC,3425,-0.32,0.0,602.8,13.8,139,3549,0.65,0.00,120.72,1.071,6,0.163,0.000,2742,2540,3367
$STATE,3549,end apogee,CONTROL_FINISHED_OK
$STATE,3550,begin climb
$GC,3552,0.84,155.7,611.1,0.0,142,3694,1.08,2.28,132.27,1.052,4,0.078,0.034,3123,1137,2731
$GC,3707,1.33,555.6,630.8,-7.0,145,4060,0.47,2.45,343.70,0.997,6,0.094,0.063,3272,2560,1102
$GC,4329,1.33,555.6,317.1,67.4,161,4333,0.00,2.20,0.00,0.000,4,0.000,0.040,3282,1150,1096
$GC,4497,1.33,555.6,207.8,60.0,164,4501,0.00,2.30,0.00,0.000,6,0.000,0.059,3283,2549,1093
$GC,4759,1.33,555.6,51.1,56.8,185,4762,0.00,2.17,0.00,0.000,4,0.000,0.043,3293,1156,1091
$GC,4822,1.33,555.6,13.7,62.4,192,4830,0.00,2.25,0.00,0.000,6,0.000,0.050,3286,2555,1090
$STATE,4841,end climb,SURFACE_DEPTH_REACHED
$STATE,4841,begin surface coast
$FINISH,0.1,1.020882
$STATE,4848,end surface coast,CONTROL_FINISHED_OK
$STATE,4848,begin surface
$SM_CCo,4928,0.00,0.000,0,0,1087,559.27
$SM_GC,0.78,9.18,0.00,0.00,0.081,0.000,0.000,50,2564,1087,-8.71,0.40,559.27
$IRIDIUM_FIX,2241.69,-15741.52,110400,111146
$TT8_MAMPS,0.023777
$HUMID,2034
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.6,51.697
$10V_AH,10.7,30.246
$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,22.950,50.200,596.700,0.000,0.000,28.071,32.878,100.441,0.000,0.000,0.000,13.258,422.425,3123.778,536.737,822.013,292.032,33.339,1000.471,0.000,810.381,0.000,0.540,0.000
$DEVICE_MAMPS,262.314,133.458,1071.499,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,130.868,276.598,284.454,60.625,250.246,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16155,196
$CAP_FILE_SIZE,44137,0
$CFSIZE,260165632,245383168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,160111,140455,2248.470,-15755.536,42,1.5,42,10.1