version: 66.04
glider: 512
mission: 1
dive: 615
start: 2 3 111 22 46 41
data:
$ID,512
$MISSION,1
$DIVE,615
$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,-19299.801
$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,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,222607,2254.278,-15759.267,33,1.0,33,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.4
$GPS2,224550,2254.324,-15759.390,12,1.7,12,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.254,0.074
$KALMAN_X,-194755.5,1172.8,193.6,213385.2,-10541.0
$KALMAN_Y,-549417.1,758.6,175.0,685618.4,-6514.3
$MHEAD_RNG_PITCHd_Wd,63.7,6809,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.84,-155.7,0.0,0.0,0,74,0.00,0.00,-53.30,0.000,2,0.000,0.000,39,2709,2857
$GC,78,-0.84,-155.7,3.2,-4.4,7,119,10.27,1.95,-20.77,0.000,4,0.226,0.072,2511,3885,3837
$GC,202,-0.84,-155.7,38.7,-27.3,25,206,0.00,1.85,0.00,0.000,6,0.000,0.025,2514,2653,3838
$GC,471,-0.84,-155.7,126.7,-31.6,50,475,0.00,2.08,0.00,0.000,4,0.000,0.028,2524,1229,3838
$GC,521,-0.84,-155.7,141.4,-23.8,54,529,0.00,2.35,0.00,0.000,6,0.000,0.065,2523,2638,3839
$GC,802,-0.84,-155.7,210.8,-23.8,78,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2639,3840
$GC,1046,-0.84,-155.7,266.2,-22.2,84,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2638,3840
$GC,1290,-0.84,-155.7,318.2,-21.3,90,1293,0.00,2.08,0.00,0.000,4,0.000,0.033,2525,1238,3840
$GC,1341,-0.84,-155.7,327.6,-16.0,91,1345,0.00,2.33,0.00,0.000,6,0.000,0.064,2523,2661,3840
$GC,1619,-0.84,-155.7,380.5,-19.1,98,1623,0.00,2.03,0.00,0.000,4,0.000,0.077,2514,3900,3839
$GC,1687,-0.84,-155.7,392.9,-17.2,99,1691,0.00,1.83,0.00,0.000,6,0.000,0.025,2514,2637,3839
$GC,1956,-0.84,-155.7,442.7,-18.9,106,1960,0.00,2.03,0.00,0.000,4,0.000,0.028,2521,1250,3837
$GC,2002,-0.84,-155.7,450.8,-14.8,107,2006,0.00,2.28,0.00,0.000,6,0.000,0.061,2512,2656,3837
$GC,2289,-0.84,-155.7,501.1,-17.8,114,2292,0.00,2.03,0.00,0.000,4,0.000,0.074,2502,3897,3835
$GC,2373,-0.84,-155.7,515.2,-14.2,115,2381,0.00,1.83,0.00,0.000,6,0.000,0.025,2505,2662,3834
$GC,2624,-0.84,-155.7,557.7,-17.1,122,2628,0.00,2.08,0.00,0.000,4,0.000,0.031,2512,1250,3833
$GC,2658,-0.84,-155.7,563.3,-15.8,122,2662,0.00,2.30,0.00,0.000,6,0.000,0.066,2503,2653,3833
$STATE,2905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2905,begin apogee
$GC,2914,-0.32,0.0,605.0,17.0,128,3048,0.62,0.00,130.48,1.018,6,0.139,0.000,2693,2537,3200
$STATE,3048,end apogee,CONTROL_FINISHED_OK
$STATE,3048,begin climb
$GC,3052,0.84,155.7,612.1,0.0,131,3194,1.05,2.15,134.50,1.012,4,0.059,0.030,3086,1157,2565
$GC,3453,0.84,155.7,593.0,13.3,140,3457,0.00,2.25,0.00,0.000,6,0.000,0.054,3083,2550,2557
$GC,3732,0.84,155.7,556.5,12.7,147,3736,0.00,2.08,0.00,0.000,4,0.000,0.030,3092,1153,2552
$GC,3824,0.84,155.7,545.5,12.1,149,3828,0.00,2.22,0.00,0.000,6,0.000,0.052,3092,2552,2552
$GC,4114,0.84,155.7,508.2,12.7,156,4118,0.00,2.08,0.00,0.000,4,0.000,0.028,3103,1149,2549
$GC,4367,0.84,155.7,479.0,10.9,161,4371,0.00,2.22,0.00,0.000,6,0.000,0.047,3097,2557,2548
$GC,4623,0.84,155.7,451.8,10.2,168,4626,0.00,2.15,0.00,0.000,4,0.000,0.057,3097,3906,2546
$GC,4853,0.84,155.7,425.6,11.1,173,4857,0.15,2.00,0.00,0.000,6,0.231,0.027,3074,2554,2544
$GC,5137,0.88,189.0,400.9,8.2,180,5179,0.00,2.17,28.77,0.858,4,0.000,0.030,3084,1140,2428
$GC,5309,0.88,189.0,381.0,13.8,183,5313,0.00,2.25,0.00,0.000,6,0.000,0.051,3083,2548,2425
$GC,5561,0.88,189.0,344.8,14.3,189,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2548,2422
$GC,5803,0.88,189.0,311.3,13.6,195,5807,0.00,2.17,0.00,0.000,4,0.000,0.061,3081,3897,2421
$GC,5842,0.88,189.0,305.3,15.4,195,5849,0.00,2.03,0.00,0.000,6,0.000,0.028,3090,2553,2421
$GC,6093,0.88,189.0,272.9,13.1,202,6097,0.00,2.10,0.00,0.000,4,0.000,0.029,3100,1131,2420
$GC,6351,0.88,189.0,243.0,12.4,207,6355,0.00,2.22,0.00,0.000,6,0.000,0.047,3097,2551,2420
$GC,6604,0.88,189.0,216.9,10.2,213,6607,0.00,2.10,0.00,0.000,4,0.000,0.029,3106,1127,2418
$GC,6677,0.88,189.0,209.2,10.5,214,6682,0.00,2.25,0.00,0.000,6,0.000,0.048,3106,2557,2419
$GC,6942,0.88,189.0,180.2,10.1,233,6946,0.00,2.12,0.00,0.000,4,0.000,0.057,3106,3896,2419
$GC,7201,0.88,189.0,153.1,10.3,256,7205,0.12,1.98,0.00,0.000,6,0.232,0.025,3091,2541,2418
$GC,7473,0.93,224.8,130.5,8.1,281,7522,0.00,2.25,32.60,0.674,4,0.000,0.055,3083,3896,2281
$GC,7559,0.93,224.8,120.9,14.0,288,7563,0.00,2.00,0.00,0.000,6,0.000,0.026,3092,2563,2281
$GC,7829,0.93,224.8,82.7,13.7,313,7833,0.00,2.10,0.00,0.000,4,0.000,0.028,3103,1134,2278
$GC,7857,0.93,224.8,78.8,12.3,315,7865,0.00,2.25,0.00,0.000,6,0.000,0.045,3097,2546,2277
$GC,8121,0.93,224.8,50.0,11.0,340,8125,0.00,2.17,0.00,0.000,4,0.000,0.061,3097,3899,2277
$GC,8292,0.93,224.8,27.1,14.4,357,8301,0.00,2.03,0.00,0.000,6,0.000,0.025,3106,2539,2278
$STATE,8483,end climb,SURFACE_DEPTH_REACHED
$STATE,8483,begin surface coast
$FINISH,0.2,1.024173
$STATE,8506,end surface coast,CONTROL_FINISHED_OK
$STATE,8506,begin surface
$SM_CCo,8528,68.68,0.597,0,0,1772,350.04
$SM_GC,2.11,0.00,0.00,68.68,0.000,0.000,0.597,35,2677,1772,-8.65,0.76,350.04
$IRIDIUM_FIX,2244.02,-15759.32,290400,222220
$TT8_MAMPS,0.023777
$HUMID,1849
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.8,82.038
$10V_AH,10.7,44.885
$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,20.250,80.675,326.350,68.675,0.000,113.960,212.542,535.080,0.250,0.000,0.000,12.453,846.511,5679.354,446.322,1662.695,1155.122,33.331,1133.065,0.000,1650.327,0.000,0.543,0.000
$DEVICE_MAMPS,232.401,76.700,1017.809,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.130,638.543,654.739,148.019,615.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32031,396
$CAP_FILE_SIZE,81911,0
$CFSIZE,260165632,237674496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,040211,011112,2254.126,-15758.695,11,2.1,31,10.1