version: 66.04
glider: 512
mission: 1
dive: 409
start: 1 17 111 4 27 5
data:
$ID,512
$MISSION,1
$DIVE,409
$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,-13696.545
$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,17
$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
$GPS1,042055,2248.189,-15757.229,93,1.8,93,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.4
$GPS2,042614,2248.163,-15757.189,11,1.7,11,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,0.243
$KALMAN_X,-163784.3,-197.6,125.0,187655.0,-2809.2
$KALMAN_Y,-363303.9,1687.3,94.5,487250.1,-6120.2
$MHEAD_RNG_PITCHd_Wd,13.2,2393,-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,-155.7,0.0,0.0,0,55,0.00,0.00,-38.12,0.000,2,0.000,0.000,32,2536,2913
$GC,58,-0.84,-155.7,3.1,-4.7,5,99,11.68,2.08,-20.83,0.000,4,0.262,0.042,2576,1140,3961
$GC,154,-0.84,-155.7,29.6,-24.2,20,163,0.00,2.53,0.00,0.000,6,0.000,0.098,2566,2537,3963
$GC,418,-0.84,-155.7,113.5,-33.4,45,422,0.00,2.38,0.00,0.000,4,0.000,0.094,2555,3905,3965
$GC,536,-0.84,-155.7,143.1,-17.6,55,540,0.00,2.00,0.00,0.000,6,0.000,0.028,2562,2551,3965
$GC,823,-0.84,-155.7,212.0,-23.9,79,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2543,3967
$GC,1066,-0.84,-155.7,260.6,-18.5,85,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2543,3968
$GC,1311,-0.84,-155.7,304.0,-17.8,91,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2543,3968
$GC,1555,-0.84,-155.7,346.0,-17.0,97,1559,0.00,2.50,0.00,0.000,4,0.000,0.116,2553,3910,3968
$GC,1582,-0.84,-155.7,351.0,-16.8,97,1586,0.00,2.03,0.00,0.000,6,0.000,0.030,2562,2533,3968
$GC,1837,-0.84,-155.7,391.7,-16.3,104,1841,0.00,2.50,0.00,0.000,4,0.000,0.116,2552,3901,3967
$GC,1870,-0.84,-155.7,397.1,-16.1,104,1876,0.00,2.00,0.00,0.000,6,0.000,0.030,2560,2543,3967
$GC,2121,-0.84,-155.7,433.5,-14.8,111,2125,0.00,2.50,0.00,0.000,4,0.000,0.117,2551,3898,3965
$GC,2161,-0.84,-155.7,439.8,-14.8,112,2165,0.00,2.00,0.00,0.000,6,0.000,0.030,2560,2542,3966
$GC,2450,-0.84,-155.7,482.3,-14.8,119,2455,0.00,2.50,0.00,0.000,4,0.000,0.115,2551,3900,3964
$GC,2500,-0.84,-155.7,489.7,-12.7,120,2504,0.00,2.00,0.00,0.000,6,0.000,0.031,2559,2543,3964
$GC,2779,-0.84,-155.7,526.4,-13.0,127,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2537,3962
$GC,3023,-0.84,-155.7,556.2,-12.3,133,3027,0.00,2.50,0.00,0.000,4,0.000,0.117,2550,3897,3960
$GC,3078,-0.84,-155.7,563.1,-11.7,134,3082,0.00,2.00,0.00,0.000,6,0.000,0.031,2558,2545,3960
$GC,3352,-0.84,-155.7,597.0,-12.7,141,3356,0.00,2.50,0.00,0.000,4,0.000,0.114,2549,3901,3958
$STATE,3372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3372,begin apogee
$GC,3381,-0.32,0.0,600.1,12.9,141,3504,0.57,0.00,119.78,1.068,6,0.163,0.000,2730,2531,3367
$STATE,3505,end apogee,CONTROL_FINISHED_OK
$STATE,3505,begin climb
$GC,3508,0.84,155.7,606.6,0.0,144,3647,1.15,2.50,131.23,1.047,4,0.097,0.081,3109,3912,2733
$GC,3903,0.88,188.5,612.3,8.3,153,3940,0.00,2.05,28.38,1.022,6,0.000,0.031,3119,2544,2598
$GC,4183,0.88,188.5,574.8,14.2,160,4187,0.00,2.25,0.00,0.000,4,0.000,0.064,3119,3904,2592
$GC,4312,0.88,188.5,555.1,15.0,162,4318,0.00,2.03,0.00,0.000,6,0.000,0.032,3129,2559,2591
$GC,4562,0.88,188.5,522.9,12.5,169,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2553,2589
$GC,4806,0.88,188.5,495.6,10.8,175,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2553,2587
$GC,5051,0.88,188.5,469.7,10.8,181,5054,0.00,2.10,0.00,0.000,4,0.000,0.032,3140,1144,2586
$GC,5186,0.88,188.5,457.1,9.6,184,5190,0.00,2.28,0.00,0.000,6,0.000,0.057,3137,2570,2585
$GC,5471,0.89,191.6,429.5,9.5,191,5474,0.00,2.17,0.00,0.000,4,0.000,0.069,3137,3902,2584
$GC,5730,0.91,207.7,405.3,8.9,196,5751,0.00,2.03,15.35,0.924,6,0.000,0.034,3147,2538,2519
$GC,6023,0.91,207.7,370.4,12.2,204,6027,0.00,2.22,0.00,0.000,4,0.000,0.066,3147,3894,2518
$GC,6281,0.91,207.7,333.4,14.0,209,6285,0.00,2.00,0.00,0.000,6,0.000,0.031,3156,2549,2516
$GC,6538,0.91,207.7,304.8,10.6,216,6541,0.00,2.20,0.00,0.000,4,0.000,0.062,3151,3896,2515
$GC,6795,0.91,207.7,274.5,11.8,221,6799,0.00,2.00,0.00,0.000,6,0.000,0.031,3159,2549,2514
$GC,7053,0.91,207.7,247.8,9.8,228,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2542,2514
$GC,7295,0.98,267.6,229.3,7.1,234,7351,0.00,2.15,51.05,0.838,4,0.000,0.030,3170,1135,2276
$GC,7604,0.98,267.6,177.2,18.1,247,7611,0.00,2.35,0.00,0.000,6,0.000,0.059,3163,2545,2269
$GC,7866,0.98,267.6,128.0,14.9,272,7870,0.00,2.10,0.00,0.000,4,0.000,0.031,3172,1141,2266
$GC,8109,0.98,267.6,98.8,11.9,294,8114,0.00,2.30,0.00,0.000,6,0.000,0.058,3172,2558,2266
$GC,8373,0.98,267.6,60.7,15.5,318,8377,0.00,2.15,0.00,0.000,4,0.000,0.062,3162,3893,2266
$GC,8432,0.98,267.6,50.3,17.8,323,8441,0.00,2.03,0.00,0.000,6,0.000,0.029,3172,2541,2266
$GC,8697,0.98,267.6,7.3,16.9,360,8705,0.00,2.10,0.00,0.000,4,0.000,0.031,3182,1149,2266
$STATE,8721,end climb,SURFACE_DEPTH_REACHED
$STATE,8722,begin surface coast
$FINISH,0.2,1.024120
$STATE,8739,end surface coast,CONTROL_FINISHED_OK
$STATE,8739,begin surface
$SM_CCo,8760,41.33,0.623,0,0,1939,350.04
$SM_GC,0.82,0.00,0.00,41.33,0.000,0.000,0.623,50,2550,1939,-8.75,0.00,350.04
$IRIDIUM_FIX,2239.35,-15759.32,120400,010159
$TT8_MAMPS,0.024544
$HUMID,1797
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.8,52.882
$10V_AH,10.7,30.804
$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,22.075,79.425,345.775,41.325,0.000,31.543,45.214,131.918,0.250,0.000,0.000,11.338,807.323,5942.682,421.711,1547.998,408.791,33.337,1078.809,0.000,1535.154,0.000,0.544,0.000
$DEVICE_MAMPS,261.547,117.351,1068.431,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,248.458,535.140,554.515,119.623,500.475,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28822,367
$CAP_FILE_SIZE,72962,0
$CFSIZE,260165632,245051392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,170111,065458,2248.544,-15757.278,11,3.4,31,10.1