version: 66.04
glider: 512
mission: 1
dive: 580
start: 2 1 111 20 6 44
data:
$ID,512
$MISSION,1
$DIVE,580
$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,-18529.932
$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,59
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3420
$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
$GPS1,200019,2249.924,-15759.231,11,2.0,16,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-79.9
$GPS2,200552,2249.903,-15759.253,13,2.3,32,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.231,-0.129
$KALMAN_X,-178795.2,-4093.1,-5.5,203157.8,6958.8
$KALMAN_Y,-535310.0,1640.8,168.1,662457.2,-2871.3
$MHEAD_RNG_PITCHd_Wd,230.7,5921,-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,-45.78,0.000,2,0.000,0.000,33,2699,2958
$GC,68,-0.84,-155.7,3.4,-5.6,6,106,10.52,2.20,-19.50,0.000,4,0.235,0.041,2524,1254,3959
$GC,266,-0.84,-155.7,61.2,-24.8,29,270,0.00,2.25,0.00,0.000,6,0.000,0.071,2516,2604,3961
$GC,534,-0.84,-155.7,148.3,-31.4,54,538,0.00,2.10,0.00,0.000,4,0.000,0.067,2506,3893,3963
$GC,606,-0.84,-155.7,168.5,-21.9,60,614,0.00,1.83,0.00,0.000,6,0.000,0.024,2506,2674,3963
$GC,865,-0.84,-155.7,235.6,-26.8,76,869,0.00,2.12,0.00,0.000,4,0.000,0.028,2515,1224,3966
$GC,972,-0.84,-155.7,259.1,-16.4,78,976,0.00,2.33,0.00,0.000,6,0.000,0.060,2506,2657,3966
$GC,1239,-0.84,-155.7,321.6,-24.0,85,1243,0.00,2.10,0.00,0.000,4,0.000,0.025,2508,1223,3967
$GC,1256,-0.84,-155.7,325.7,-23.3,85,1260,0.00,2.28,0.00,0.000,6,0.000,0.053,2500,2656,3967
$GC,1525,-0.84,-155.7,386.0,-23.0,92,1528,0.00,2.00,0.00,0.000,4,0.000,0.067,2490,3893,3967
$GC,1575,-0.84,-155.7,397.9,-20.7,93,1580,0.12,1.83,0.00,0.000,6,0.151,0.024,2527,2634,3967
$GC,1859,-0.84,-155.7,451.2,-18.6,100,1863,0.00,2.03,0.00,0.000,4,0.000,0.027,2530,1248,3966
$GC,1894,-0.84,-155.7,457.1,-15.9,100,1898,0.00,2.28,0.00,0.000,6,0.000,0.062,2523,2650,3967
$GC,2145,-0.84,-155.7,499.5,-17.3,106,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2651,3965
$GC,2389,-0.84,-155.7,540.7,-16.9,112,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2650,3965
$GC,2631,-0.84,-155.7,581.8,-16.7,118,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2651,3963
$STATE,2751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2751,begin apogee
$GC,2760,-0.32,0.0,601.8,16.4,121,2875,0.55,0.00,112.28,1.028,6,0.134,0.000,2692,2541,3420
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin climb
$GC,2879,0.84,155.7,609.8,0.0,124,3016,1.02,0.00,132.48,1.009,6,0.053,0.000,3073,2541,2784
$GC,3293,1.15,407.0,632.8,-0.8,134,3520,0.25,2.20,217.02,1.013,4,0.072,0.030,3180,1149,1760
$GC,3693,1.15,407.0,514.4,40.0,143,3697,0.00,2.25,0.00,0.000,6,0.000,0.048,3178,2557,1752
$GC,3965,1.15,407.0,397.3,42.6,150,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2557,1750
$GC,4210,1.15,407.0,293.5,42.5,156,4214,0.00,2.10,0.00,0.000,4,0.000,0.031,3187,1152,1749
$GC,4307,1.15,407.0,258.1,35.5,158,4311,0.00,2.20,0.00,0.000,6,0.000,0.047,3187,2553,1748
$GC,4573,1.15,407.0,156.5,38.2,172,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2553,1747
$GC,4837,1.15,407.0,57.4,35.7,197,4841,0.00,2.10,0.00,0.000,4,0.000,0.048,3187,3899,1746
$GC,4865,1.15,407.0,48.2,35.1,199,4869,0.00,2.00,0.00,0.000,6,0.000,0.028,3196,2545,1745
$STATE,4993,end climb,SURFACE_DEPTH_REACHED
$STATE,4993,begin surface coast
$FINISH,0.1,1.024074
$STATE,5000,end surface coast,CONTROL_FINISHED_OK
$STATE,5000,begin surface
$SM_CCo,5082,0.00,0.000,0,0,1741,411.85
$SM_GC,1.30,8.38,0.00,0.00,0.048,0.000,0.000,38,2679,1741,-8.55,0.82,411.85
$IRIDIUM_FIX,2244.02,-15756.28,270400,181849
$TT8_MAMPS,0.02301
$HUMID,2027
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.8,76.651
$10V_AH,10.7,43.085
$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,20.850,38.450,461.775,0.000,0.000,31.324,36.302,130.389,0.250,0.000,0.000,33.562,474.208,3252.953,428.271,894.545,371.159,33.356,861.046,0.000,870.183,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,71.331,1027.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,147.417,332.790,342.471,75.917,314.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19382,219
$CAP_FILE_SIZE,44053,0
$CFSIZE,260165632,238743552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,010211,213234,2249.383,-15759.991,11,6.3,30,10.1