version: 66.04
glider: 512
mission: 1
dive: 415
start: 1 17 111 17 44 17
data:
$ID,512
$MISSION,1
$DIVE,415
$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,-13836.598
$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,65
$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
$GPS1,173826,2250.529,-15756.784,23,1.6,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.6
$GPS2,174326,2250.486,-15756.800,15,1.6,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.208
$KALMAN_X,-170419.4,3120.2,583.7,191183.3,-4676.5
$KALMAN_Y,-366742.4,819.6,816.3,495122.9,-2657.1
$MHEAD_RNG_PITCHd_Wd,131.7,6678,-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,16,-0.84,-155.7,0.0,0.0,0,64,0.00,0.00,-46.05,0.000,2,0.000,0.000,44,2560,3183
$GC,67,-0.84,-155.7,3.9,-5.8,6,100,11.98,2.45,-13.62,0.000,4,0.270,0.121,2562,3897,3962
$GC,265,-0.84,-155.7,69.1,-20.2,28,269,0.00,2.00,0.00,0.000,6,0.000,0.028,2567,2572,3965
$GC,534,-0.84,-155.7,136.9,-23.9,53,538,0.00,2.10,0.00,0.000,4,0.000,0.028,2571,1137,3967
$GC,583,-0.84,-155.7,145.6,-15.8,57,587,0.00,2.50,0.00,0.000,6,0.000,0.098,2562,2547,3967
$GC,845,-0.84,-155.7,197.6,-21.0,81,849,0.00,2.42,0.00,0.000,4,0.000,0.109,2552,3897,3968
$GC,974,-0.84,-155.7,222.0,-14.3,85,978,0.00,2.00,0.00,0.000,6,0.000,0.028,2560,2538,3969
$GC,1262,-0.84,-155.7,272.5,-17.2,92,1267,0.00,2.58,0.00,0.000,4,0.000,0.127,2551,3897,3969
$GC,1330,-0.84,-155.7,282.9,-12.3,93,1334,0.00,2.00,0.00,0.000,6,0.000,0.030,2560,2529,3970
$GC,1591,-0.84,-155.7,321.1,-15.1,100,1595,0.00,2.55,0.00,0.000,4,0.000,0.126,2550,3897,3970
$GC,1637,-0.84,-155.7,328.0,-14.8,101,1641,0.00,1.98,0.00,0.000,6,0.000,0.030,2558,2550,3970
$GC,1927,-0.84,-155.7,368.9,-14.1,108,1931,0.00,2.55,0.00,0.000,4,0.000,0.125,2549,3897,3970
$GC,1999,-0.84,-155.7,378.1,-11.2,109,2003,0.00,2.00,0.00,0.000,6,0.000,0.031,2558,2540,3969
$GC,2256,-0.84,-155.7,411.6,-13.3,116,2260,0.00,2.55,0.00,0.000,4,0.000,0.120,2548,3908,3967
$GC,2328,-0.84,-155.7,421.6,-11.5,117,2331,0.00,2.00,0.00,0.000,6,0.000,0.031,2556,2551,3968
$GC,2583,-0.84,-155.7,454.6,-12.9,124,2588,0.00,2.50,0.00,0.000,4,0.000,0.118,2547,3906,3966
$GC,2644,-0.84,-155.7,462.1,-10.8,125,2649,0.00,2.03,0.00,0.000,6,0.000,0.031,2554,2555,3966
$GC,2911,-0.84,-155.7,497.8,-14.0,132,2915,0.00,2.50,0.00,0.000,4,0.000,0.118,2545,3898,3965
$GC,2973,-0.84,-155.7,506.4,-12.8,133,2977,0.10,2.00,0.00,0.000,6,0.163,0.032,2572,2540,3964
$GC,3239,-0.84,-155.7,537.4,-11.5,140,3243,0.00,2.55,0.00,0.000,4,0.000,0.123,2562,3899,3962
$GC,3283,-0.84,-155.7,542.3,-11.0,141,3287,0.00,2.03,0.00,0.000,6,0.000,0.032,2562,2534,3962
$GC,3567,-0.84,-155.7,574.3,-11.4,148,3571,0.00,2.55,0.00,0.000,4,0.000,0.121,2552,3898,3959
$GC,3606,-0.84,-155.7,579.0,-11.5,149,3610,0.00,2.03,0.00,0.000,6,0.000,0.033,2561,2540,3959
$STATE,3812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3812,begin apogee
$GC,3818,-0.32,0.0,602.0,11.3,154,3942,0.62,0.00,121.18,1.065,6,0.158,0.000,2743,2531,3367
$STATE,3943,end apogee,CONTROL_FINISHED_OK
$STATE,3943,begin climb
$GC,3946,0.84,155.7,608.8,0.0,157,4084,1.12,0.00,132.88,1.037,6,0.091,0.000,3117,2531,2732
$GC,4351,0.94,232.8,614.4,6.4,167,4420,0.00,0.00,67.05,1.029,6,0.000,0.000,3117,2531,2417
$GC,4635,0.94,232.8,559.7,22.5,174,4639,0.10,2.10,0.00,0.000,4,0.117,0.031,3158,1145,2410
$GC,4752,0.94,232.8,533.2,20.6,176,4756,0.00,2.28,0.00,0.000,6,0.000,0.052,3150,2566,2408
$GC,5002,0.94,232.8,477.4,22.1,182,5005,0.00,2.12,0.00,0.000,4,0.000,0.032,3159,1140,2406
$GC,5023,0.94,232.8,472.4,21.6,182,5028,0.00,2.33,0.00,0.000,6,0.000,0.061,3159,2556,2407
$GC,5292,0.94,232.8,415.7,20.7,189,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2556,2405
$GC,5534,0.94,232.8,367.4,19.6,195,5538,0.00,2.17,0.00,0.000,4,0.000,0.063,3150,3897,2403
$GC,5567,0.94,232.8,361.1,18.4,195,5571,0.00,2.03,0.00,0.000,6,0.000,0.032,3159,2545,2403
$GC,5823,0.94,232.8,317.7,16.7,202,5826,0.00,2.22,0.00,0.000,4,0.000,0.064,3159,3899,2402
$GC,5845,0.94,232.8,314.0,16.3,202,5848,0.00,2.03,0.00,0.000,6,0.000,0.034,3168,2551,2402
$GC,6111,0.94,232.8,271.1,16.3,209,6115,0.00,2.10,0.00,0.000,4,0.000,0.031,3178,1133,2401
$GC,6240,0.94,232.8,249.7,16.7,211,6246,0.00,2.28,0.00,0.000,6,0.000,0.055,3176,2556,2401
$GC,6490,0.94,232.8,210.6,14.9,218,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2556,2400
$GC,6742,0.94,232.8,178.3,11.7,236,6746,0.00,2.10,0.00,0.000,4,0.000,0.031,3185,1135,2400
$GC,6825,0.94,232.8,168.1,13.1,243,6833,0.00,2.28,0.00,0.000,6,0.000,0.054,3176,2544,2399
$GC,7087,0.94,232.8,135.7,11.3,268,7091,0.00,2.20,0.00,0.000,4,0.000,0.067,3176,3897,2399
$GC,7146,0.94,232.8,129.6,10.8,273,7150,0.15,2.00,0.00,0.000,6,0.271,0.031,3158,2540,2399
$GC,7415,0.94,232.8,105.6,9.8,298,7419,0.00,2.20,0.00,0.000,4,0.000,0.060,3151,3898,2399
$GC,7483,0.94,232.8,97.6,11.2,304,7487,0.00,2.00,0.00,0.000,6,0.000,0.029,3159,2538,2399
$GC,7753,1.19,439.9,91.1,1.0,329,7927,0.17,2.20,166.60,0.673,4,0.104,0.029,3231,1148,1571
$GC,7967,1.19,439.9,39.5,39.5,346,7976,0.00,2.33,0.00,0.000,6,0.000,0.051,3231,2556,1567
$STATE,8052,end climb,SURFACE_DEPTH_REACHED
$STATE,8052,begin surface coast
$FINISH,0.3,1.023990
$STATE,8059,end surface coast,CONTROL_FINISHED_OK
$STATE,8059,begin surface
$SM_CCo,8139,0.00,0.000,0,0,1559,443.50
$SM_GC,1.20,9.05,0.00,0.00,0.074,0.000,0.000,52,2558,1559,-8.70,0.23,443.50
$IRIDIUM_FIX,2241.69,-15809.75,120400,151517
$TT8_MAMPS,0.023777
$HUMID,1805
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.9,53.660
$10V_AH,10.7,31.230
$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,23.300,88.800,487.700,0.000,0.000,29.879,37.220,122.610,0.000,0.000,0.000,17.464,751.539,5454.147,476.536,1372.838,388.451,33.346,1104.222,0.000,1362.644,0.000,0.542,0.000
$DEVICE_MAMPS,270.751,126.555,1064.596,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,243.250,562.165,578.226,106.709,448.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28738,361
$CAP_FILE_SIZE,70112,0
$CFSIZE,260165632,244813824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,170111,200107,2249.283,-15756.265,34,1.1,35,10.1