version: 66.04
glider: 512
mission: 1
dive: 621
start: 2 4 111 11 43 9
data:
$ID,512
$MISSION,1
$DIVE,621
$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,140
$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,-19444.803
$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,63
$R_STBD_OVSHOOT,61
$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
$GPS1,113650,2251.982,-15756.038,11,1.7,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.3
$GPS2,114214,2251.975,-15756.066,14,1.5,14,10.1
$SPEED_LIMITS,0.167,0.248
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.152,-0.197
$KALMAN_X,-201265.2,1667.5,749.8,224557.6,-8027.1
$KALMAN_Y,-550833.0,1091.1,652.9,681877.3,-2628.5
$MHEAD_RNG_PITCHd_Wd,132.2,9677,-17.5,-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,-0.87,-136.3,0.0,0.0,0,64,0.00,0.00,-45.33,0.000,2,0.000,0.000,27,2700,2932
$GC,68,-0.87,-136.3,3.1,-4.4,6,101,10.32,2.22,-17.12,0.000,4,0.225,0.039,2521,1244,3757
$GC,132,-0.87,-136.3,23.0,-36.9,15,140,0.00,2.22,0.00,0.000,6,0.000,0.054,2512,2607,3758
$GC,400,-0.87,-136.3,116.3,-32.3,41,403,0.00,2.10,0.00,0.000,4,0.000,0.064,2502,3906,3760
$GC,470,-0.87,-136.3,135.9,-25.1,47,474,0.00,1.83,0.00,0.000,6,0.000,0.025,2507,2654,3761
$GC,760,-0.87,-136.3,213.7,-26.7,71,764,0.00,2.08,0.00,0.000,4,0.000,0.029,2517,1239,3762
$GC,879,-0.87,-136.3,238.0,-16.7,73,883,0.00,2.30,0.00,0.000,6,0.000,0.058,2508,2661,3763
$GC,1135,-0.87,-136.3,294.8,-22.6,80,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2661,3763
$GC,1381,-0.87,-136.3,346.4,-21.1,86,1385,0.00,2.10,0.00,0.000,4,0.000,0.034,2512,1245,3762
$GC,1415,-0.87,-136.3,353.8,-19.2,86,1419,0.00,2.30,0.00,0.000,6,0.000,0.064,2504,2654,3762
$GC,1671,-0.87,-136.3,403.7,-19.8,93,1675,0.00,2.03,0.00,0.000,4,0.000,0.070,2494,3896,3762
$GC,1728,-0.87,-136.3,415.2,-19.1,94,1731,0.00,1.83,0.00,0.000,6,0.000,0.025,2499,2638,3762
$GC,2007,-0.87,-136.3,472.3,-20.5,101,2011,0.00,2.03,0.00,0.000,4,0.000,0.028,2508,1253,3761
$GC,2031,-0.87,-136.3,477.0,-19.2,101,2035,0.00,2.28,0.00,0.000,6,0.000,0.061,2499,2657,3761
$GC,2292,-0.87,-136.3,525.4,-19.0,108,2296,0.00,2.03,0.00,0.000,4,0.000,0.072,2490,3894,3759
$GC,2309,-0.87,-136.3,528.9,-19.3,108,2313,0.00,1.83,0.00,0.000,6,0.000,0.027,2491,2638,3759
$GC,2582,-0.87,-136.3,580.6,-18.8,115,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2633,3757
$STATE,2701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2701,begin apogee
$GC,2710,-0.32,0.0,602.6,18.1,118,2829,0.68,0.00,116.10,1.034,6,0.148,0.000,2693,2553,3200
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin climb
$GC,2833,0.87,136.3,608.7,0.0,121,2960,1.02,2.20,118.53,1.019,4,0.039,0.031,3101,1163,2644
$GC,3174,0.87,136.3,596.5,12.4,128,3181,0.00,2.25,0.00,0.000,6,0.000,0.054,3097,2549,2637
$GC,3425,0.87,136.3,567.1,11.4,135,3429,0.00,2.17,0.00,0.000,4,0.000,0.061,3097,3900,2634
$GC,3504,0.87,136.3,557.8,11.1,136,3508,0.00,2.00,0.00,0.000,6,0.000,0.028,3106,2550,2633
$GC,3763,0.87,139.0,533.5,9.5,143,3766,0.00,2.20,0.00,0.000,4,0.000,0.061,3106,3902,2630
$GC,3836,0.87,139.0,525.7,10.5,144,3840,0.15,2.00,0.00,0.000,6,0.246,0.028,3086,2551,2630
$GC,4098,0.91,165.6,503.1,8.4,151,4128,0.00,2.15,24.23,0.958,4,0.000,0.032,3095,1150,2525
$GC,4163,0.91,165.6,496.2,11.6,152,4167,0.00,2.25,0.00,0.000,6,0.000,0.051,3095,2551,2524
$GC,4425,0.91,165.6,460.1,14.0,159,4429,0.00,2.17,0.00,0.000,4,0.000,0.061,3096,3901,2520
$GC,4562,0.91,165.6,440.4,12.8,162,4566,0.00,2.03,0.00,0.000,6,0.000,0.029,3105,2547,2519
$GC,4852,0.91,165.6,406.1,11.5,169,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2540,2517
$GC,5095,0.91,165.6,378.0,11.4,175,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2540,2515
$GC,5342,0.91,165.6,350.8,10.8,181,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2540,2514
$GC,5583,0.92,177.1,328.0,9.1,187,5598,0.00,2.10,10.18,0.800,4,0.000,0.031,3116,1131,2477
$GC,5851,0.92,177.1,297.9,12.2,193,5855,0.00,2.25,0.00,0.000,6,0.000,0.046,3111,2563,2476
$GC,6130,0.92,177.1,263.0,11.8,200,6133,0.00,2.15,0.00,0.000,4,0.000,0.029,3120,1127,2474
$GC,6388,0.93,185.0,237.6,9.2,205,6401,0.00,2.25,8.25,0.716,6,0.000,0.047,3120,2551,2445
$GC,6644,0.98,227.4,216.3,7.6,212,6694,0.00,2.15,39.92,0.761,4,0.000,0.029,3130,1124,2273
$GC,6763,0.98,227.4,202.4,14.1,214,6767,0.00,2.28,0.00,0.000,6,0.000,0.047,3130,2553,2269
$GC,7025,0.98,227.4,158.2,17.0,235,7029,0.00,2.12,0.00,0.000,4,0.000,0.028,3140,1123,2267
$GC,7051,0.98,227.4,154.0,16.1,237,7055,0.00,2.25,0.00,0.000,6,0.000,0.044,3140,2558,2267
$GC,7315,0.98,227.4,107.2,17.4,261,7319,0.00,2.12,0.00,0.000,4,0.000,0.027,3150,1119,2266
$GC,7508,0.98,227.4,78.8,12.0,278,7512,0.12,2.25,0.00,0.000,6,0.199,0.043,3122,2556,2266
$GC,7774,0.98,227.4,47.9,12.3,302,7778,0.00,2.10,0.00,0.000,4,0.000,0.050,3123,3897,2266
$GC,7800,0.98,227.4,44.0,14.0,304,7804,0.00,2.00,0.00,0.000,6,0.000,0.024,3131,2534,2265
$GC,8066,0.98,227.4,3.2,16.9,344,8074,0.00,2.17,0.00,0.000,4,0.000,0.048,3132,3892,2265
$STATE,8080,end climb,SURFACE_DEPTH_REACHED
$STATE,8080,begin surface coast
$FINISH,0.3,1.024234
$STATE,8087,end surface coast,CONTROL_FINISHED_OK
$STATE,8087,begin surface
$SM_CCo,8111,64.53,0.602,0,0,1772,350.04
$SM_GC,2.10,0.00,0.00,64.53,0.000,0.000,0.602,47,2617,1772,-8.60,-0.93,350.04
$IRIDIUM_FIX,2244.02,-15751.94,300400,090920
$TT8_MAMPS,0.023777
$HUMID,1841
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.7,82.732
$10V_AH,10.7,45.332
$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,20.500,80.725,317.200,64.525,0.000,25.235,40.444,127.274,0.250,0.000,0.000,17.332,769.634,5455.271,416.548,1411.019,457.682,33.334,1019.524,0.000,1398.626,0.000,0.542,0.000
$DEVICE_MAMPS,246.207,84.370,1033.916,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,235.355,519.398,534.887,122.800,503.942,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28999,347
$CAP_FILE_SIZE,70820,0
$CFSIZE,260165632,237453312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,040211,140036,2250.870,-15756.034,28,1.7,29,10.1