version: 66.04
glider: 512
mission: 1
dive: 546
start: 1 30 111 9 52 30
data:
$ID,512
$MISSION,1
$DIVE,546
$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,-17730.471
$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,44
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3400
$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
$GPS1,094636,2245.988,-15753.201,46,0.9,62,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.5
$GPS2,095138,2245.998,-15753.194,13,1.4,13,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.167,0.205
$KALMAN_X,-184265.5,2029.4,93.5,212819.9,-2322.2
$KALMAN_Y,-521531.9,-293.3,-23.8,643580.6,-5000.2
$MHEAD_RNG_PITCHd_Wd,310.7,8081,-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,-38.20,0.000,2,0.000,0.000,30,2662,2959
$GC,60,-0.84,-155.7,3.3,-5.8,5,100,10.30,2.17,-19.60,0.000,4,0.227,0.045,2525,1250,3964
$GC,195,-0.84,-155.7,42.7,-22.1,22,200,0.00,2.38,0.00,0.000,6,0.000,0.081,2516,2641,3965
$GC,458,-0.84,-155.7,131.9,-30.1,46,462,0.00,2.10,0.00,0.000,4,0.000,0.081,2507,3899,3967
$GC,495,-0.84,-155.7,143.0,-31.0,49,499,0.00,1.85,0.00,0.000,6,0.000,0.025,2507,2638,3967
$GC,792,-0.84,-155.7,221.9,-25.8,71,796,0.00,2.05,0.00,0.000,4,0.000,0.030,2516,1244,3969
$GC,854,-0.84,-155.7,234.9,-15.5,72,858,0.00,2.33,0.00,0.000,6,0.000,0.072,2507,2653,3969
$GC,1128,-0.84,-155.7,295.0,-23.0,79,1131,0.00,2.08,0.00,0.000,4,0.000,0.081,2498,3901,3970
$GC,1220,-0.84,-155.7,314.0,-17.2,81,1224,0.00,1.83,0.00,0.000,6,0.000,0.025,2505,2646,3970
$GC,1510,-0.84,-155.7,376.0,-21.5,88,1514,0.00,2.08,0.00,0.000,4,0.000,0.031,2515,1247,3969
$GC,1561,-0.84,-155.7,385.6,-15.4,89,1565,0.00,2.30,0.00,0.000,6,0.000,0.067,2506,2652,3969
$GC,1840,-0.84,-155.7,438.1,-19.1,96,1844,0.00,2.08,0.00,0.000,4,0.000,0.081,2496,3894,3968
$GC,1875,-0.84,-155.7,445.0,-18.6,96,1878,0.00,1.83,0.00,0.000,6,0.000,0.025,2503,2647,3968
$GC,2132,-0.84,-155.7,490.0,-17.4,103,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2641,3967
$GC,2374,-0.84,-155.7,530.7,-16.8,109,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2640,3966
$GC,2618,-0.84,-155.7,574.4,-18.1,115,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2640,3964
$STATE,2777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2777,begin apogee
$GC,2786,-0.32,0.0,604.0,18.3,119,2905,0.60,0.00,116.43,1.036,6,0.135,0.000,2690,2531,3400
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin climb
$GC,2909,0.84,155.7,612.8,0.0,122,3051,1.05,2.20,132.15,1.023,4,0.054,0.035,3087,1152,2765
$GC,3079,1.27,500.3,630.4,-4.7,126,3385,0.35,2.33,297.15,1.001,6,0.070,0.051,3203,2563,1360
$GC,3650,1.27,500.3,396.1,54.0,140,3654,0.00,2.15,0.00,0.000,4,0.000,0.035,3213,1159,1353
$GC,3818,1.27,500.3,313.6,45.2,143,3823,0.00,2.25,0.00,0.000,6,0.000,0.056,3214,2544,1350
$GC,4074,1.27,500.3,184.5,51.9,150,4078,0.00,2.10,0.00,0.000,4,0.000,0.035,3223,1153,1350
$GC,4122,1.27,500.3,162.3,48.1,154,4126,0.00,2.22,0.00,0.000,6,0.000,0.051,3224,2555,1349
$GC,4386,1.27,500.3,36.8,47.0,178,4390,0.00,2.10,0.00,0.000,4,0.000,0.033,3233,1153,1348
$STATE,4461,end climb,SURFACE_DEPTH_REACHED
$STATE,4461,begin surface coast
$FINISH,0.0,1.024060
$STATE,4468,end surface coast,CONTROL_FINISHED_OK
$STATE,4468,begin surface
$SM_CCo,4552,0.00,0.000,0,0,1342,504.82
$SM_GC,1.03,8.43,0.00,0.00,0.045,0.000,0.000,37,2674,1342,-8.55,0.68,504.82
$IRIDIUM_FIX,2237.01,-15752.82,250400,080832
$TT8_MAMPS,0.023777
$HUMID,2042
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,16.50
$XPDR_PINGS,160
$24V_AH,23.8,71.753
$10V_AH,10.7,41.185
$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,20.725,42.900,545.725,0.000,0.000,24.790,37.561,121.272,40.000,0.000,0.000,16.368,418.035,2823.483,479.846,791.549,347.399,33.332,903.644,0.000,785.386,0.000,0.541,0.000
$DEVICE_MAMPS,227.032,81.302,1036.217,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,128.307,283.301,292.259,65.321,267.607,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16217,191
$CAP_FILE_SIZE,41992,0
$CFSIZE,260165632,239800320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,300111,110908,2246.532,-15753.797,9,1.6,9,10.1