version: 66.04
glider: 512
mission: 1
dive: 540
start: 1 30 111 0 30 16
data:
$ID,512
$MISSION,1
$DIVE,540
$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,-17586.01
$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,53
$R_STBD_OVSHOOT,40
$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
$GPS1,002337,2244.887,-15753.951,12,1.3,17,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.5
$GPS2,002925,2244.895,-15753.983,11,1.3,16,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.259,-0.050
$KALMAN_X,-187471.4,1769.9,158.7,214844.3,-10602.1
$KALMAN_Y,-510233.8,-1967.6,-154.5,632059.1,4994.9
$MHEAD_RNG_PITCHd_Wd,90.8,7594,-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,-155.7,0.0,0.0,0,63,0.00,0.00,-45.30,0.000,2,0.000,0.000,32,2691,3081
$GC,67,-0.84,-155.7,3.6,-6.2,6,99,10.45,0.00,-16.17,0.000,6,0.232,0.000,2517,2691,3961
$GC,360,-0.84,-155.7,117.6,-32.4,37,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2692,3964
$GC,623,-0.84,-155.7,201.2,-26.9,62,627,0.00,2.15,0.00,0.000,4,0.000,0.027,2523,1232,3967
$GC,645,-0.84,-155.7,207.8,-26.3,62,650,0.00,2.30,0.00,0.000,6,0.000,0.067,2514,2632,3967
$GC,907,-0.84,-155.7,272.7,-25.1,69,911,0.00,2.12,0.00,0.000,4,0.000,0.082,2504,3901,3968
$GC,999,-0.84,-155.7,291.5,-18.0,71,1003,0.00,1.83,0.00,0.000,6,0.000,0.025,2508,2642,3968
$GC,1291,-0.84,-155.7,353.2,-21.8,78,1294,0.00,2.03,0.00,0.000,4,0.000,0.027,2512,1250,3968
$GC,1319,-0.84,-155.7,359.5,-20.3,78,1323,0.00,2.28,0.00,0.000,6,0.000,0.064,2503,2649,3968
$GC,1575,-0.84,-155.7,412.3,-21.1,85,1579,0.00,2.10,0.00,0.000,4,0.000,0.081,2493,3904,3968
$GC,1642,-0.84,-155.7,426.2,-17.9,86,1647,0.12,1.83,0.00,0.000,6,0.149,0.026,2531,2640,3968
$GC,1910,-0.84,-155.7,471.1,-17.1,93,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2634,3967
$GC,2154,-0.84,-155.7,511.2,-16.3,99,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2634,3966
$GC,2397,-0.84,-155.7,546.9,-14.4,105,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2634,3965
$GC,2642,-0.84,-155.7,584.0,-15.3,111,2646,0.00,2.15,0.00,0.000,4,0.000,0.083,2523,3898,3963
$GC,2681,-0.84,-155.7,590.7,-15.9,111,2688,0.00,1.83,0.00,0.000,6,0.000,0.028,2523,2652,3963
$STATE,2766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2766,begin apogee
$GC,2774,-0.32,0.0,604.8,16.1,114,2901,0.55,0.00,123.57,1.033,6,0.137,0.000,2691,2555,3367
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2902,begin climb
$GC,2905,0.84,155.7,614.3,0.0,117,3043,1.08,0.00,133.57,1.015,6,0.057,0.000,3078,2555,2732
$GC,3256,1.00,283.5,627.4,4.3,126,3372,0.12,2.33,110.22,1.017,4,0.110,0.067,3110,3897,2211
$GC,3394,1.00,283.5,602.7,28.2,128,3398,0.00,2.08,0.00,0.000,6,0.000,0.030,3119,2574,2209
$GC,3662,1.00,283.5,527.6,27.6,135,3665,0.00,2.20,0.00,0.000,4,0.000,0.032,3130,1120,2202
$GC,3740,1.00,283.5,507.3,25.7,136,3744,0.00,2.33,0.00,0.000,6,0.000,0.059,3124,2552,2201
$GC,3993,1.00,283.5,444.0,25.1,142,3996,0.00,2.15,0.00,0.000,4,0.000,0.031,3133,1114,2199
$GC,4021,1.00,283.5,436.5,25.1,142,4025,0.00,2.33,0.00,0.000,6,0.000,0.055,3133,2562,2199
$GC,4277,1.00,283.5,370.3,25.8,149,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2562,2197
$GC,4520,1.00,283.5,308.0,25.2,155,4524,0.00,2.15,0.00,0.000,4,0.000,0.029,3144,1112,2196
$GC,4605,1.00,283.5,286.4,25.1,156,4611,0.00,2.30,0.00,0.000,6,0.000,0.052,3144,2559,2196
$GC,4855,1.00,283.5,226.2,23.5,163,4859,0.00,2.15,0.00,0.000,4,0.000,0.058,3144,3906,2194
$GC,4872,1.00,283.5,221.7,23.1,163,4877,0.15,2.05,0.00,0.000,6,0.229,0.028,3123,2530,2194
$GC,5132,1.00,283.5,169.7,18.5,180,5135,0.00,2.08,0.00,0.000,4,0.000,0.030,3132,1123,2193
$GC,5200,1.00,283.5,158.0,17.9,186,5204,0.00,2.25,0.00,0.000,6,0.000,0.050,3132,2550,2193
$GC,5463,1.00,283.5,106.6,19.3,210,5466,0.00,2.17,0.00,0.000,4,0.000,0.061,3133,3904,2193
$GC,5513,1.00,283.5,94.9,23.9,214,5521,0.00,2.05,0.00,0.000,6,0.000,0.029,3142,2541,2193
$GC,5777,1.00,283.5,48.3,15.5,239,5781,0.00,2.08,0.00,0.000,4,0.000,0.029,3153,1123,2193
$GC,5813,1.00,283.5,42.9,15.3,242,5817,0.00,2.25,0.00,0.000,6,0.000,0.048,3150,2558,2192
$STATE,6049,end climb,SURFACE_DEPTH_REACHED
$STATE,6049,begin surface coast
$FINISH,0.4,1.024077
$STATE,6067,end surface coast,CONTROL_FINISHED_OK
$STATE,6067,begin surface
$SM_CCo,6087,38.95,0.601,0,0,1940,350.04
$SM_GC,1.55,0.00,0.00,38.95,0.000,0.000,0.601,38,2687,1940,-8.63,1.05,350.04
$IRIDIUM_FIX,2237.01,-15754.99,240400,232336
$TT8_MAMPS,0.023777
$HUMID,1885
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.8,70.978
$10V_AH,10.7,40.855
$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,20.650,55.750,367.375,38.950,0.000,31.557,35.517,169.104,0.000,0.000,0.000,16.506,584.877,4032.401,430.332,1011.557,426.558,33.330,866.211,0.000,1008.808,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,82.836,1033.149,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,189.952,445.161,459.135,107.561,441.378,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22472,281
$CAP_FILE_SIZE,53177,0
$CFSIZE,260165632,239976448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,300111,021431,2244.261,-15753.125,86,0.9,87,10.1