version: 66.04
glider: 512
mission: 1
dive: 502
start: 1 27 111 5 57 14
data:
$ID,512
$MISSION,1
$DIVE,502
$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,-16752.41
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,56
$R_STBD_OVSHOOT,49
$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
$GPS1,054652,2244.799,-15806.990,7,4.1,26,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-78.5
$GPS2,055622,2244.815,-15806.966,15,6.8,34,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.061,0.257
$KALMAN_X,-158625.9,-87.1,17.3,165679.1,126.6
$KALMAN_Y,-494128.1,134.2,119.5,613403.3,-2681.8
$MHEAD_RNG_PITCHd_Wd,3.3,7889,-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,-155.7,0.0,0.0,0,56,0.00,0.00,-38.17,0.000,2,0.000,0.000,43,2675,2925
$GC,60,-0.84,-155.7,3.3,-5.9,5,100,10.48,2.00,-20.62,0.000,4,0.232,0.082,2513,3861,3961
$GC,196,-0.84,-155.7,50.1,-25.3,22,205,0.00,1.83,0.00,0.000,6,0.000,0.033,2518,2682,3963
$GC,461,-0.84,-155.7,146.5,-37.0,47,464,0.00,2.20,0.00,0.000,4,0.000,0.041,2528,1243,3964
$GC,519,-0.84,-155.7,163.9,-25.3,52,524,0.00,2.22,0.00,0.000,6,0.000,0.061,2520,2619,3965
$GC,805,-0.84,-155.7,248.8,-29.2,67,809,0.00,2.10,0.00,0.000,4,0.000,0.038,2528,1241,3966
$GC,828,-0.84,-155.7,255.1,-26.6,67,832,0.00,2.28,0.00,0.000,6,0.000,0.061,2519,2653,3966
$GC,1089,-0.84,-155.7,321.5,-25.4,74,1092,0.00,2.17,0.00,0.000,4,0.000,0.040,2527,1232,3967
$GC,1118,-0.84,-155.7,329.2,-26.5,74,1123,0.00,2.30,0.00,0.000,6,0.000,0.063,2518,2649,3967
$GC,1376,-0.84,-155.7,389.2,-23.1,81,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2649,3967
$GC,1618,-0.84,-155.7,443.6,-21.9,87,1622,0.00,2.15,0.00,0.000,4,0.000,0.041,2521,1243,3967
$GC,1669,-0.84,-155.7,453.5,-17.1,88,1673,0.00,2.33,0.00,0.000,6,0.000,0.069,2512,2654,3966
$GC,1952,-0.84,-155.7,508.8,-19.7,95,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2654,3965
$GC,2199,-0.84,-155.7,553.4,-18.0,101,2202,0.00,2.17,0.00,0.000,4,0.000,0.042,2516,1244,3964
$GC,2245,-0.84,-155.7,561.6,-15.0,102,2249,0.00,2.33,0.00,0.000,6,0.000,0.068,2508,2656,3963
$STATE,2485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2485,begin apogee
$GC,2492,-0.32,0.0,602.2,17.0,108,2617,0.77,0.00,121.95,1.074,6,0.237,0.000,2689,2487,3367
$STATE,2618,end apogee,CONTROL_FINISHED_OK
$STATE,2618,begin climb
$GC,2621,0.84,155.7,607.8,0.0,111,2759,1.52,0.00,133.02,1.059,6,0.223,0.000,3057,2488,2732
$GC,2988,0.93,225.8,608.4,6.7,120,3055,0.15,2.20,60.83,1.055,4,0.192,0.053,3103,1146,2445
$GC,3125,0.93,225.8,588.5,18.7,123,3129,0.00,2.35,0.00,0.000,6,0.000,0.064,3095,2548,2442
$GC,3403,0.93,225.8,538.3,17.2,130,3407,0.00,2.22,0.00,0.000,4,0.000,0.050,3103,1147,2436
$GC,3598,0.93,225.8,507.6,15.0,134,3602,0.00,2.33,0.00,0.000,6,0.000,0.063,3095,2557,2435
$GC,3866,0.93,225.8,464.5,16.3,141,3869,0.00,2.22,0.00,0.000,4,0.000,0.048,3103,1139,2433
$GC,3899,0.93,225.8,458.9,15.9,141,3903,0.00,2.33,0.00,0.000,6,0.000,0.064,3095,2548,2433
$GC,4151,0.93,225.8,419.6,15.6,147,4155,0.00,2.20,0.00,0.000,4,0.000,0.047,3103,1141,2431
$GC,4287,0.93,225.8,397.6,15.7,150,4291,0.00,2.30,0.00,0.000,6,0.000,0.060,3095,2553,2430
$GC,4571,0.93,225.8,350.3,16.4,157,4574,0.00,2.17,0.00,0.000,4,0.000,0.043,3103,1142,2427
$GC,4733,0.93,225.8,331.1,11.0,160,4737,0.00,2.33,0.00,0.000,6,0.000,0.061,3095,2560,2427
$GC,4994,0.93,225.8,303.0,11.0,167,4998,0.00,2.20,0.00,0.000,4,0.000,0.040,3103,1128,2426
$GC,5005,0.93,225.8,301.7,11.0,167,5009,0.00,2.30,0.00,0.000,6,0.000,0.058,3096,2555,2426
$GC,5278,0.93,225.8,271.3,11.4,174,5282,0.00,2.17,0.00,0.000,4,0.000,0.040,3105,1134,2426
$GC,5424,0.93,225.8,252.7,12.4,177,5428,0.00,2.33,0.00,0.000,6,0.000,0.067,3105,2555,2425
$GC,5697,0.93,225.8,220.0,11.7,184,5701,0.00,2.17,0.00,0.000,4,0.000,0.038,3114,1126,2425
$GC,5957,0.94,239.8,194.2,9.0,192,5972,0.00,2.30,9.88,0.750,6,0.000,0.057,3110,2558,2389
$GC,6228,0.94,239.8,164.3,11.6,217,6232,0.00,2.17,0.00,0.000,4,0.000,0.035,3119,1134,2388
$GC,6487,0.94,239.8,138.9,10.3,240,6492,0.00,2.28,0.00,0.000,6,0.000,0.054,3110,2557,2387
$GC,6750,1.05,329.5,118.8,5.9,264,6834,0.00,2.22,76.45,0.759,4,0.000,0.034,3119,1136,2021
$GC,6874,1.05,329.5,105.8,15.5,274,6882,0.00,2.33,0.00,0.000,6,0.000,0.052,3111,2546,2018
$GC,7138,1.05,329.5,51.7,21.3,299,7141,0.00,2.15,0.00,0.000,4,0.000,0.034,3119,1130,2015
$GC,7261,1.05,329.5,28.2,18.4,310,7269,0.00,2.30,0.00,0.000,6,0.000,0.052,3111,2553,2013
$STATE,7391,end climb,SURFACE_DEPTH_REACHED
$STATE,7391,begin surface coast
$FINISH,0.3,1.020682
$STATE,7411,end surface coast,CONTROL_FINISHED_OK
$STATE,7411,begin surface
$SM_CCo,7431,8.23,0.563,0,0,1940,350.04
$SM_GC,3.46,0.00,0.00,8.23,0.000,0.000,0.563,45,2694,1940,-8.61,1.24,350.04
$IRIDIUM_FIX,2234.68,-15808.45,220400,050541
$TT8_MAMPS,0.023777
$HUMID,1828
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,65.873
$10V_AH,10.7,38.491
$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,21.100,75.975,402.125,8.225,0.000,48.554,71.272,229.425,0.500,0.000,0.000,35.292,720.062,4899.520,422.296,1387.021,583.303,33.377,1015.133,0.000,1357.642,0.000,0.543,0.000
$DEVICE_MAMPS,237.003,82.069,1073.800,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,227.487,530.173,546.129,114.248,476.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28854,337
$CAP_FILE_SIZE,69046,0
$CFSIZE,260165632,241205248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,1
$GPS,270111,080255,2245.452,-15806.673,60,2.0,61,10.0