version: 66.04
glider: 512
mission: 1
dive: 728
start: 2 16 111 10 39 1
data:
$ID,512
$MISSION,1
$DIVE,728
$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,150
$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,-21705.453
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$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,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,103206,2247.093,-15756.560,27,1.6,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.0
$GPS2,103808,2247.145,-15756.629,13,1.6,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.234,-0.105
$KALMAN_X,-206140.3,-335.4,106.0,231139.5,-660.7
$KALMAN_Y,-498976.5,-1260.3,-359.0,624457.1,4332.4
$MHEAD_RNG_PITCHd_Wd,235.8,10882,-16.9,-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,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,39,2720,2922
$GC,69,-0.85,-146.0,3.5,-5.0,6,102,11.10,2.17,-15.93,0.000,4,0.235,0.038,2596,1284,3757
$GC,202,-0.85,-146.0,35.5,-15.3,25,206,0.00,2.30,0.00,0.000,6,0.000,0.065,2587,2690,3759
$GC,471,-0.85,-146.0,101.3,-24.6,50,474,0.00,2.05,0.00,0.000,4,0.000,0.026,2587,1291,3760
$GC,496,-0.85,-146.0,106.9,-23.4,52,500,0.00,2.30,0.00,0.000,6,0.000,0.062,2577,2701,3760
$GC,761,-0.85,-146.0,160.3,-19.7,76,765,0.00,1.95,0.00,0.000,4,0.000,0.069,2567,3894,3761
$GC,835,-0.85,-146.0,173.5,-13.9,82,842,0.08,1.75,0.00,0.000,6,0.135,0.023,2591,2691,3762
$GC,1095,-0.85,-146.0,212.9,-15.3,101,1099,0.00,2.00,0.00,0.000,4,0.000,0.025,2601,1309,3763
$GC,1175,-0.85,-146.0,222.5,-9.4,102,1179,0.00,2.25,0.00,0.000,6,0.000,0.059,2593,2704,3763
$GC,1426,-0.85,-146.0,255.9,-13.9,108,1430,0.00,2.08,0.00,0.000,4,0.000,0.026,2593,1304,3763
$GC,1457,-0.85,-146.0,259.9,-13.7,108,1461,0.00,2.28,0.00,0.000,6,0.000,0.063,2589,2698,3764
$GC,1713,-0.85,-146.0,292.0,-12.5,115,1717,0.00,2.05,0.00,0.000,4,0.000,0.028,2590,1309,3763
$GC,1742,-0.85,-146.0,295.5,-11.9,115,1746,0.00,2.30,0.00,0.000,6,0.000,0.067,2589,2710,3764
$GC,1998,-0.85,-146.0,324.7,-11.8,122,2002,0.00,2.05,0.00,0.000,4,0.000,0.028,2589,1315,3764
$GC,2027,-0.85,-146.0,328.4,-12.5,122,2031,0.00,2.28,0.00,0.000,6,0.000,0.063,2589,2710,3764
$GC,2284,-0.85,-146.0,357.5,-11.4,129,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2711,3763
$GC,2527,-0.85,-146.0,382.4,-9.9,135,2531,0.00,2.08,0.00,0.000,4,0.000,0.029,2590,1313,3763
$GC,2584,-0.85,-146.0,387.9,-8.5,136,2588,0.00,2.28,0.00,0.000,6,0.000,0.062,2589,2711,3762
$GC,2857,-0.85,-146.0,415.1,-10.3,143,2861,0.00,1.95,0.00,0.000,4,0.000,0.072,2581,3893,3761
$GC,2880,-0.85,-146.0,417.5,-10.2,143,2884,0.00,1.73,0.00,0.000,6,0.000,0.025,2581,2704,3760
$GC,3149,-0.85,-146.0,446.0,-10.7,150,3152,0.00,2.08,0.00,0.000,4,0.000,0.031,2581,1307,3760
$GC,3189,-0.85,-146.0,450.4,-10.4,150,3196,0.00,2.30,0.00,0.000,6,0.000,0.062,2576,2697,3759
$GC,3440,-0.85,-146.0,477.4,-10.8,157,3444,0.00,2.00,0.00,0.000,4,0.000,0.075,2567,3901,3758
$GC,3475,-0.85,-146.0,481.3,-11.2,157,3479,0.12,1.75,0.00,0.000,6,0.133,0.026,2602,2707,3758
$GC,3731,-0.85,-146.0,502.9,-8.5,164,3735,0.00,2.10,0.00,0.000,4,0.000,0.032,2612,1296,3756
$GC,3788,-0.85,-146.0,507.7,-7.8,165,3793,0.00,2.28,0.00,0.000,6,0.000,0.058,2604,2706,3756
$GC,4063,-0.85,-146.0,530.7,-8.6,172,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2706,3754
$GC,4306,-0.85,-146.0,549.7,-7.6,178,4310,0.00,2.10,0.00,0.000,4,0.000,0.032,2612,1295,3752
$GC,4340,-0.85,-146.0,552.2,-6.8,178,4344,0.00,2.28,0.00,0.000,6,0.000,0.058,2603,2699,3752
$GC,4592,-0.85,-146.0,568.7,-6.6,184,4596,0.00,2.10,0.00,0.000,4,0.000,0.031,2611,1298,3750
$GC,4623,-0.85,-146.0,570.9,-6.9,184,4627,0.00,2.28,0.00,0.000,6,0.000,0.058,2603,2697,3750
$GC,4881,-0.85,-146.0,589.9,-7.7,191,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2698,3748
$STATE,5038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5038,begin apogee
$GC,5047,-0.32,0.0,602.5,7.7,195,5174,0.52,0.00,123.72,1.045,6,0.113,0.000,2770,2621,3160
$STATE,5175,end apogee,CONTROL_FINISHED_OK
$STATE,5175,begin climb
$GC,5179,0.85,146.0,609.2,0.0,198,5317,1.08,2.20,128.88,1.019,4,0.080,0.063,3137,3890,2563
$GC,5328,1.04,297.6,621.0,2.9,201,5472,0.20,1.95,133.65,1.001,6,0.102,0.030,3204,2639,1945
$GC,5717,1.04,297.6,490.1,39.0,211,5720,0.00,2.17,0.00,0.000,4,0.000,0.037,3215,1214,1938
$GC,5953,1.04,297.6,405.7,34.5,216,5957,0.00,2.28,0.00,0.000,6,0.000,0.052,3207,2633,1934
$GC,6226,1.04,297.6,310.7,35.2,223,6230,0.00,2.15,0.00,0.000,4,0.000,0.034,3215,1214,1932
$GC,6401,1.04,297.6,256.0,29.1,226,6408,0.00,2.25,0.00,0.000,6,0.000,0.048,3207,2637,1931
$GC,6655,1.04,297.6,174.7,31.6,236,6659,0.00,2.15,0.00,0.000,4,0.000,0.031,3215,1202,1930
$GC,6795,1.04,297.6,134.4,26.4,248,6803,0.00,2.30,0.00,0.000,6,0.000,0.054,3207,2621,1929
$GC,7059,1.04,297.6,63.4,25.6,273,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2621,1929
$STATE,7288,end climb,SURFACE_DEPTH_REACHED
$STATE,7288,begin surface coast
$FINISH,0.1,1.023788
$STATE,7306,end surface coast,CONTROL_FINISHED_OK
$STATE,7306,begin surface
$SM_CCo,7329,26.98,0.601,0,0,1732,350.04
$SM_GC,0.87,0.00,0.00,26.98,0.000,0.000,0.601,40,2745,1732,-8.86,1.27,350.04
$IRIDIUM_FIX,2239.35,-15757.16,120500,080829
$TT8_MAMPS,0.023777
$HUMID,1962
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.5,96.430
$10V_AH,10.6,54.354
$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,21.475,76.725,386.250,26.975,0.000,27.594,40.703,148.417,0.000,0.000,0.000,13.421,670.637,4958.579,429.857,1165.513,498.514,33.369,969.557,0.000,1158.178,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,75.166,1045.421,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,206.638,449.163,462.544,102.119,419.999,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25632,306
$CAP_FILE_SIZE,64861,0
$CFSIZE,260165632,232988672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,160211,124258,2246.951,-15757.944,17,3.8,36,10.1