version: 66.04
glider: 512
mission: 1
dive: 625
start: 2 4 111 20 40 8
data:
$ID,512
$MISSION,1
$DIVE,625
$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,-19535.078
$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,47
$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
$GPS1,203330,2248.533,-15755.656,39,1.2,45,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-79.0
$GPS2,203914,2248.559,-15755.645,14,1.4,14,10.1
$SPEED_LIMITS,0.167,0.248
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.035,-0.246
$KALMAN_X,-201680.5,725.7,496.7,226906.5,-2055.6
$KALMAN_Y,-544500.9,612.9,82.3,670284.1,1804.8
$MHEAD_RNG_PITCHd_Wd,161.8,4678,-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,-136.3,0.0,0.0,0,71,0.00,0.00,-53.40,0.000,2,0.000,0.000,27,2718,3202
$GC,76,-0.87,-136.3,3.7,-5.8,7,101,10.30,2.25,-10.05,0.000,4,0.223,0.039,2520,1238,3759
$GC,143,-0.87,-136.3,31.6,-38.1,17,147,0.00,2.35,0.00,0.000,6,0.000,0.070,2511,2643,3761
$GC,407,-0.87,-136.3,127.3,-31.3,41,411,0.00,2.05,0.00,0.000,4,0.000,0.071,2502,3893,3761
$GC,469,-0.87,-136.3,144.5,-23.1,46,477,0.00,1.88,0.00,0.000,6,0.000,0.025,2503,2634,3762
$GC,759,-0.87,-136.3,224.1,-27.4,68,763,0.00,2.03,0.00,0.000,4,0.000,0.028,2513,1251,3764
$GC,855,-0.87,-136.3,244.7,-17.0,70,859,0.00,2.30,0.00,0.000,6,0.000,0.064,2504,2665,3765
$GC,1133,-0.87,-136.3,307.9,-22.9,77,1137,0.00,2.03,0.00,0.000,4,0.000,0.071,2494,3895,3765
$GC,1184,-0.87,-136.3,320.0,-21.5,78,1188,0.00,1.80,0.00,0.000,6,0.000,0.025,2499,2656,3765
$GC,1469,-0.87,-136.3,382.2,-21.9,85,1473,0.00,2.05,0.00,0.000,4,0.000,0.027,2506,1243,3765
$GC,1530,-0.87,-136.3,394.5,-16.3,86,1535,0.00,2.30,0.00,0.000,6,0.000,0.061,2496,2656,3765
$GC,1798,-0.87,-136.3,448.2,-20.5,93,1802,0.00,2.03,0.00,0.000,4,0.000,0.069,2487,3895,3764
$GC,1827,-0.87,-136.3,454.3,-20.5,93,1831,0.10,1.83,0.00,0.000,6,0.170,0.025,2514,2639,3764
$GC,2088,-0.87,-136.3,500.2,-17.5,100,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2634,3761
$GC,2333,-0.87,-136.3,541.1,-16.8,106,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2634,3760
$GC,2576,-0.87,-136.3,582.4,-16.8,112,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2634,3758
$STATE,2694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2694,begin apogee
$GC,2703,-0.32,0.0,602.0,16.2,115,2822,0.57,0.00,115.97,1.041,6,0.136,0.000,2691,2548,3200
$STATE,2822,end apogee,CONTROL_FINISHED_OK
$STATE,2823,begin climb
$GC,2826,0.87,136.3,608.9,0.0,118,2951,1.08,0.00,119.00,1.025,6,0.048,0.000,3088,2548,2644
$GC,3225,0.87,136.3,596.2,10.3,128,3229,0.00,2.22,0.00,0.000,4,0.000,0.062,3084,3901,2636
$GC,3363,0.87,136.3,580.2,11.5,131,3367,0.00,2.00,0.00,0.000,6,0.000,0.029,3092,2563,2634
$GC,3655,0.88,145.8,552.7,9.2,138,3669,0.00,2.20,7.78,0.858,4,0.000,0.056,3092,3897,2605
$GC,3677,0.90,160.3,550.5,8.9,138,3698,0.00,2.03,14.40,0.941,6,0.000,0.028,3104,2534,2546
$GC,3943,0.90,160.3,515.0,13.8,145,3947,0.00,2.20,0.00,0.000,4,0.000,0.054,3097,3898,2542
$GC,4027,0.90,160.3,502.3,14.8,146,4034,0.00,2.00,0.00,0.000,6,0.000,0.028,3105,2567,2541
$GC,4280,0.90,160.3,469.6,12.7,153,4283,0.00,2.12,0.00,0.000,4,0.000,0.030,3117,1133,2539
$GC,4371,0.90,160.3,458.8,11.5,155,4376,0.00,2.25,0.00,0.000,6,0.000,0.049,3117,2558,2538
$GC,4662,0.90,160.3,426.9,10.8,162,4665,0.00,2.12,0.00,0.000,4,0.000,0.029,3128,1121,2537
$GC,4897,0.90,160.3,401.7,10.5,167,4902,0.15,2.25,0.00,0.000,6,0.220,0.046,3091,2552,2536
$GC,5170,0.90,160.3,374.1,10.1,174,5174,0.00,2.15,0.00,0.000,4,0.000,0.056,3091,3899,2534
$GC,5339,0.90,160.3,355.8,10.3,177,5343,0.00,2.03,0.00,0.000,6,0.000,0.028,3100,2533,2533
$GC,5596,0.93,185.8,334.3,8.4,184,5620,0.00,0.00,22.20,0.885,6,0.000,0.000,3101,2527,2442
$GC,5839,0.93,185.8,305.8,12.4,190,5842,0.00,2.05,0.00,0.000,4,0.000,0.030,3111,1138,2437
$GC,5890,0.93,185.8,299.6,12.7,191,5894,0.00,2.22,0.00,0.000,6,0.000,0.048,3112,2546,2437
$GC,6169,0.93,185.8,264.0,12.4,198,6173,0.00,2.17,0.00,0.000,4,0.000,0.058,3111,3908,2435
$GC,6197,0.93,185.8,260.2,13.2,198,6201,0.00,2.03,0.00,0.000,6,0.000,0.028,3119,2541,2435
$GC,6459,0.93,185.8,228.7,11.7,205,6462,0.00,2.20,0.00,0.000,4,0.000,0.054,3120,3901,2435
$GC,6472,0.93,185.8,227.3,10.9,205,6475,0.00,2.00,0.00,0.000,6,0.000,0.028,3130,2553,2435
$GC,6751,0.93,185.8,199.7,9.9,212,6755,0.12,2.08,0.00,0.000,4,0.228,0.028,3115,1144,2434
$GC,6924,0.94,191.6,183.8,9.3,227,6935,0.00,2.25,5.57,0.628,6,0.000,0.048,3115,2550,2418
$GC,7204,0.94,191.6,156.7,10.4,253,7207,0.00,2.10,0.00,0.000,4,0.000,0.029,3124,1139,2417
$GC,7251,0.94,191.6,151.3,10.6,257,7255,0.00,2.25,0.00,0.000,6,0.000,0.048,3124,2557,2417
$GC,7516,0.94,195.0,125.2,9.5,281,7528,0.00,2.15,4.80,0.548,4,0.000,0.028,3134,1133,2405
$GC,7779,0.98,226.9,98.6,8.1,304,7813,0.00,2.22,29.25,0.696,6,0.000,0.044,3134,2541,2275
$GC,8070,0.98,226.9,66.7,11.2,331,8074,0.00,2.08,0.00,0.000,4,0.000,0.026,3145,1127,2271
$GC,8163,0.98,226.9,56.3,11.1,339,8167,0.00,2.22,0.00,0.000,6,0.000,0.044,3145,2551,2270
$GC,8430,0.98,226.9,21.5,14.5,368,8438,0.00,2.12,0.00,0.000,4,0.000,0.026,3155,1131,2270
$GC,8449,0.98,226.9,18.1,14.9,370,8458,0.10,2.22,0.00,0.000,6,0.191,0.043,3126,2546,2270
$STATE,8543,end climb,SURFACE_DEPTH_REACHED
$STATE,8543,begin surface coast
$FINISH,0.4,1.024051
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8564,begin surface
$SM_CCo,8585,68.05,0.611,0,0,1773,350.04
$SM_GC,2.25,0.00,0.00,68.05,0.000,0.000,0.611,42,2693,1773,-8.62,1.22,350.04
$IRIDIUM_FIX,2241.69,-15754.11,300400,181829
$TT8_MAMPS,0.023777
$HUMID,1828
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.8,83.203
$10V_AH,10.7,45.634
$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,20.500,85.075,318.975,68.050,0.000,26.048,35.311,147.375,0.000,0.000,0.000,14.757,838.677,5728.026,447.605,1501.495,488.927,33.352,1062.265,0.000,1491.955,0.000,0.542,0.000
$DEVICE_MAMPS,227.799,71.331,1040.819,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.216,613.749,630.524,133.338,556.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32154,390
$CAP_FILE_SIZE,74869,0
$CFSIZE,260165632,237301760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,040211,230534,2247.470,-15755.385,9,3.1,29,10.1