version: 66.04
glider: 512
mission: 1
dive: 450
start: 1 20 111 20 41 5
data:
$ID,512
$MISSION,1
$DIVE,450
$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,-14672.235
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2950
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,32
$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
$GPS1,202424,2249.405,-15802.069,25,1.4,42,10.1
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.8
$GPS2,204013,2249.454,-15802.073,12,2.0,17,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.157,0.212
$KALMAN_X,-161806.1,-2512.5,-69.3,179793.0,984.5
$KALMAN_Y,-410082.6,523.8,706.8,536955.9,-6406.5
$MHEAD_RNG_PITCHd_Wd,26.5,9504,-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,-155.7,0.0,0.0,0,71,0.00,0.00,-53.85,0.000,2,0.000,0.000,48,2667,2950
$GC,75,-0.84,-155.7,3.1,-4.5,7,115,12.02,2.12,-20.40,0.000,4,0.259,0.107,2660,3882,3960
$GC,140,-0.84,-155.7,19.9,-26.6,16,148,0.00,1.83,0.00,0.000,6,0.000,0.027,2664,2666,3961
$GC,411,-0.84,-155.7,60.5,-14.7,47,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2660,3962
$GC,665,-0.84,-155.7,94.8,-12.0,71,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2660,3964
$GC,920,-0.84,-155.7,116.1,-7.2,95,924,0.00,2.08,0.00,0.000,4,0.000,0.026,2674,1240,3964
$GC,970,-0.84,-155.7,119.8,-6.7,99,977,0.00,2.28,0.00,0.000,6,0.000,0.062,2673,2641,3965
$GC,1233,-0.84,-155.7,143.3,-9.4,124,1236,0.00,2.08,0.00,0.000,4,0.000,0.082,2673,3884,3965
$GC,1368,-0.84,-155.7,155.0,-7.8,136,1372,0.00,1.85,0.00,0.000,6,0.000,0.031,2681,2629,3965
$GC,1636,-0.84,-155.7,181.3,-10.6,161,1640,0.00,1.98,0.00,0.000,4,0.000,0.027,2683,1251,3966
$GC,1892,-0.84,-155.7,210.3,-12.0,178,1896,0.00,2.33,0.00,0.000,6,0.000,0.072,2682,2658,3966
$GC,2142,-0.84,-155.7,234.8,-9.9,184,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2658,3965
$GC,2386,-0.84,-155.7,258.2,-10.0,190,2389,0.00,2.05,0.00,0.000,4,0.000,0.028,2684,1249,3965
$GC,2476,-0.84,-155.7,267.8,-11.5,192,2480,0.00,2.30,0.00,0.000,6,0.000,0.068,2684,2659,3965
$GC,2762,-0.84,-155.7,298.0,-10.8,199,2765,0.00,2.05,0.00,0.000,4,0.000,0.028,2684,1253,3964
$GC,2868,-0.84,-155.7,310.0,-10.9,201,2872,0.00,2.30,0.00,0.000,6,0.000,0.068,2684,2658,3965
$GC,3135,-0.84,-155.7,337.2,-10.2,208,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2658,3963
$GC,3379,-0.84,-155.7,363.5,-10.9,214,3383,0.00,2.05,0.00,0.000,4,0.000,0.028,2684,1261,3961
$GC,3440,-0.84,-155.7,370.6,-11.2,215,3444,0.00,2.28,0.00,0.000,6,0.000,0.065,2684,2660,3961
$GC,3713,-0.84,-155.7,402.3,-11.8,222,3717,0.00,2.05,0.00,0.000,4,0.000,0.029,2689,1260,3960
$GC,3831,-0.84,-155.7,415.7,-10.8,224,3836,0.00,2.28,-0.05,0.000,6,0.000,0.064,2689,2659,3977
$GC,4087,-0.84,-155.7,442.5,-10.6,231,4091,0.00,2.05,0.00,0.000,4,0.000,0.029,2693,1255,3976
$GC,4275,-0.84,-155.7,460.9,-9.4,235,4279,0.00,2.25,0.00,0.000,6,0.000,0.064,2689,2650,3974
$GC,4559,-0.84,-155.7,489.0,-10.1,242,4562,0.00,2.05,0.00,0.000,4,0.000,0.029,2696,1253,3972
$GC,4740,-0.84,-155.7,507.4,-10.5,246,4744,0.00,2.28,0.00,0.000,6,0.000,0.067,2689,2648,3970
$GC,5030,-0.84,-155.7,538.3,-11.0,253,5033,0.00,2.05,0.00,0.000,4,0.000,0.029,2696,1251,3969
$GC,5142,-0.84,-155.7,550.3,-11.0,255,5146,0.00,2.30,0.00,0.000,6,0.000,0.067,2689,2654,3968
$GC,5403,-0.84,-155.7,578.0,-10.8,262,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2654,3966
$STATE,5605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5605,begin apogee
$GC,5612,-0.32,0.0,600.2,11.0,267,5739,0.47,0.00,123.53,1.071,6,0.087,0.000,2855,2573,3367
$STATE,5739,end apogee,CONTROL_FINISHED_OK
$STATE,5739,begin climb
$GC,5742,0.84,155.7,609.7,0.0,270,5884,1.02,2.28,132.85,1.052,4,0.074,0.054,3205,3894,2731
$GC,6141,0.84,155.7,611.3,10.7,279,6145,0.00,2.03,0.00,0.000,6,0.000,0.028,3214,2534,2724
$GC,6428,0.89,195.3,587.3,8.0,286,6470,0.00,2.25,33.60,1.032,4,0.000,0.056,3214,3885,2568
$GC,6723,0.89,195.3,537.4,17.3,292,6727,0.00,2.00,0.00,0.000,6,0.000,0.028,3224,2536,2565
$GC,6984,0.89,195.3,495.5,15.6,299,6988,0.00,2.17,0.00,0.000,4,0.000,0.054,3218,3895,2562
$GC,7242,0.89,195.3,455.5,14.7,304,7246,0.00,1.98,0.00,0.000,6,0.000,0.029,3227,2548,2561
$GC,7501,0.89,195.3,420.7,13.4,311,7504,0.00,2.15,0.00,0.000,4,0.000,0.054,3218,3895,2559
$GC,7758,0.89,195.3,386.5,12.7,316,7763,0.00,1.98,0.00,0.000,6,0.000,0.029,3227,2547,2559
$GC,8014,0.89,195.3,357.7,10.4,323,8018,0.00,2.15,0.00,0.000,4,0.000,0.054,3218,3896,2558
$GC,8273,0.89,198.2,332.0,9.5,328,8276,0.00,1.98,0.00,0.000,6,0.000,0.029,3227,2549,2558
$GC,8529,0.91,209.6,308.6,9.1,335,8542,0.00,0.00,11.60,0.835,6,0.000,0.000,3226,2542,2512
$GC,8773,0.91,209.6,282.4,11.1,341,8777,0.00,2.15,0.00,0.000,4,0.000,0.054,3218,3895,2509
$GC,9031,0.91,209.6,254.6,10.9,346,9034,0.00,1.98,0.00,0.000,6,0.000,0.028,3227,2547,2509
$GC,9287,0.94,232.0,230.9,8.7,353,9312,0.00,2.17,20.45,0.822,4,0.000,0.051,3218,3901,2420
$GC,9565,0.94,232.0,189.1,16.1,363,9573,0.00,2.03,0.00,0.000,6,0.000,0.029,3227,2549,2417
$GC,9828,0.94,232.0,155.3,13.3,388,9832,0.00,2.05,0.00,0.000,4,0.000,0.028,3237,1151,2416
$GC,10089,0.97,262.5,129.3,8.3,411,10126,0.00,2.17,26.73,0.741,6,0.000,0.046,3231,2548,2295
$GC,10381,0.98,267.3,94.6,9.4,438,10395,0.10,2.12,5.05,0.538,4,0.117,0.028,3272,1147,2277
$GC,10502,0.98,267.3,80.6,12.4,448,10510,0.00,2.25,0.00,0.000,6,0.000,0.048,3270,2545,2276
$GC,10765,0.98,267.3,40.3,16.9,473,10769,0.00,2.20,0.00,0.000,4,0.000,0.064,3270,3901,2276
$STATE,10959,end climb,SURFACE_DEPTH_REACHED
$STATE,10959,begin surface coast
$FINISH,0.3,1.023897
$STATE,10976,end surface coast,CONTROL_FINISHED_OK
$STATE,10976,begin surface
$SM_CCo,10998,48.80,0.619,0,0,1939,350.04
$SM_GC,0.95,0.00,0.00,48.80,0.000,0.000,0.619,50,2623,1939,-9.06,-0.76,350.04
$IRIDIUM_FIX,2239.35,-15802.37,150400,202048
$TT8_MAMPS,0.023777
$HUMID,1821
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.9,58.629
$10V_AH,10.7,33.737
$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,22.700,88.925,353.800,48.800,0.000,92.117,113.047,497.713,0.000,0.000,0.000,19.835,1096.196,7248.520,448.922,2246.214,968.867,33.356,1334.468,0.000,2222.494,0.000,0.542,0.000
$DEVICE_MAMPS,259.246,106.613,1070.732,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,343.904,813.994,838.739,172.941,722.944,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41560,507
$CAP_FILE_SIZE,102389,0
$CFSIZE,260165632,243494912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,200111,234636,2249.569,-15801.942,38,0.9,43,10.1