version: 66.04
glider: 512
mission: 1
dive: 737
start: 2 17 111 12 55 7
data:
$ID,512
$MISSION,1
$DIVE,737
$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,-21857.643
$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,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3180
$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
$GPS1,124507,2252.176,-15806.161,27,1.6,27,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.8
$GPS2,125414,2252.205,-15806.168,11,1.4,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.083,0.228
$KALMAN_X,-206113.8,-168.8,-299.3,214942.4,106.2
$KALMAN_Y,-500596.2,-182.3,-377.2,634393.2,-460.3
$MHEAD_RNG_PITCHd_Wd,9.9,2655,-18.0,-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,-0.88,-129.7,0.0,0.0,0,64,0.00,0.00,-45.28,0.000,2,0.000,0.000,34,2705,2954
$GC,70,-0.90,-146.0,3.4,-5.4,6,103,10.95,1.90,-15.88,0.000,4,0.231,0.071,2567,3882,3774
$GC,203,-0.90,-146.0,41.2,-17.6,24,207,0.00,1.77,0.00,0.000,6,0.000,0.025,2567,2695,3776
$GC,474,-0.90,-146.0,116.5,-25.7,49,478,0.00,2.05,0.00,0.000,4,0.000,0.026,2567,1291,3776
$GC,576,-0.90,-146.0,139.0,-17.7,58,580,0.00,2.28,0.00,0.000,6,0.000,0.059,2557,2694,3777
$GC,840,-0.90,-146.0,196.4,-22.5,82,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2694,3778
$GC,1103,-0.90,-146.0,252.0,-20.6,90,1106,0.00,2.08,0.00,0.000,4,0.000,0.025,2560,1289,3779
$GC,1198,-0.90,-146.0,267.4,-12.9,92,1203,0.12,2.28,0.00,0.000,6,0.140,0.058,2583,2705,3780
$GC,1477,-0.90,-146.0,305.6,-13.8,99,1481,0.00,1.92,0.00,0.000,4,0.000,0.064,2576,3903,3780
$GC,1540,-0.90,-146.0,313.9,-11.5,100,1544,0.00,1.77,0.00,0.000,6,0.000,0.023,2576,2684,3780
$GC,1814,-0.90,-146.0,349.9,-13.4,107,1817,0.00,2.00,0.00,0.000,4,0.000,0.026,2576,1307,3779
$GC,1865,-0.90,-146.0,356.6,-11.6,108,1869,0.00,2.25,0.00,0.000,6,0.000,0.054,2576,2701,3779
$GC,2145,-0.90,-146.0,390.5,-12.2,115,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3778
$GC,2389,-0.90,-146.0,419.3,-11.7,121,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3777
$GC,2634,-0.90,-146.0,447.9,-11.7,127,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3775
$GC,2876,-0.90,-146.0,477.9,-12.6,133,2879,0.00,2.08,0.00,0.000,4,0.000,0.027,2576,1303,3774
$GC,2922,-0.90,-146.0,483.5,-10.8,134,2927,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2706,3774
$GC,3209,-0.90,-146.0,517.1,-11.8,141,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3772
$GC,3451,-0.90,-146.0,544.9,-11.3,147,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3771
$GC,3695,-0.90,-146.0,572.6,-11.2,153,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3769
$GC,3940,-0.90,-146.0,598.2,-10.4,159,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3767
$STATE,3975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3975,begin apogee
$GC,3985,-0.32,0.0,602.5,10.4,160,4111,0.60,0.00,123.25,1.030,6,0.114,0.000,2767,2586,3180
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4112,begin climb
$GC,4116,0.90,146.0,609.0,0.0,163,4254,1.08,2.30,128.07,1.008,4,0.048,0.034,3184,1174,2584
$GC,4516,0.90,146.0,586.5,14.4,172,4520,0.00,2.22,0.00,0.000,6,0.000,0.047,3176,2581,2576
$GC,4800,0.90,146.0,546.7,13.2,179,4804,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,1164,2572
$GC,5059,0.90,146.0,516.2,11.5,184,5063,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2587,2570
$GC,5311,0.90,146.0,488.2,11.1,190,5314,0.00,2.12,0.00,0.000,4,0.000,0.031,3185,1168,2568
$GC,5570,0.90,146.0,462.1,10.0,195,5575,0.00,2.20,0.00,0.000,6,0.000,0.044,3176,2580,2567
$GC,5823,0.90,146.0,436.3,10.4,201,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2580,2566
$GC,6065,0.92,165.6,414.4,8.6,207,6083,0.00,0.00,15.55,0.887,6,0.000,0.000,3177,2580,2504
$GC,6309,0.92,165.6,388.5,11.1,213,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2580,2500
$GC,6554,0.92,165.6,362.1,10.8,219,6558,0.00,2.10,0.00,0.000,4,0.000,0.053,3175,3906,2500
$GC,6577,0.92,165.6,359.2,11.3,219,6581,0.00,1.98,0.00,0.000,6,0.000,0.027,3184,2570,2499
$GC,6849,0.92,165.6,329.7,10.7,226,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2562,2499
$GC,7090,0.96,193.3,308.3,8.2,232,7117,0.00,0.00,25.52,0.838,6,0.000,0.000,3184,2562,2390
$GC,7333,0.96,193.3,275.2,15.0,238,7337,0.00,2.12,0.00,0.000,4,0.000,0.048,3176,3901,2387
$GC,7435,0.96,193.3,261.6,12.9,240,7438,0.00,1.98,0.00,0.000,6,0.000,0.027,3184,2575,2385
$GC,7714,0.96,193.3,224.9,13.4,247,7718,0.00,2.08,0.00,0.000,4,0.000,0.029,3194,1158,2384
$GC,7897,0.96,193.3,203.9,10.7,251,7901,0.00,2.25,0.00,0.000,6,0.000,0.047,3192,2579,2385
$GC,8162,0.96,193.3,173.1,12.6,273,8165,0.00,2.08,0.00,0.000,4,0.000,0.050,3192,3906,2384
$GC,8421,0.96,193.3,138.6,11.3,296,8425,0.00,1.95,0.00,0.000,6,0.000,0.025,3200,2565,2384
$GC,8693,1.06,276.0,119.4,5.5,321,8766,0.00,0.00,70.80,0.683,6,0.000,0.000,3201,2557,2053
$GC,9020,1.06,276.0,54.0,24.0,351,9024,0.00,2.12,0.00,0.000,4,0.000,0.048,3200,3905,2047
$GC,9116,1.06,276.0,27.7,29.4,360,9124,0.00,2.00,0.00,0.000,6,0.000,0.026,3211,2570,2046
$STATE,9215,end climb,SURFACE_DEPTH_REACHED
$STATE,9215,begin surface coast
$FINISH,0.4,1.023765
$STATE,9227,end surface coast,CONTROL_FINISHED_OK
$STATE,9227,begin surface
$SM_CCo,9251,36.55,0.577,0,0,1753,350.04
$SM_GC,1.27,0.00,0.00,36.55,0.000,0.000,0.577,42,2728,1753,-8.86,0.82,350.04
$IRIDIUM_FIX,2244.02,-15806.70,130500,090939
$TT8_MAMPS,0.023777
$HUMID,1851
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.6,97.515
$10V_AH,10.7,55.171
$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,21.150,58.875,363.200,36.550,0.000,30.499,39.204,336.837,0.000,0.000,0.000,11.408,811.932,6428.505,418.864,1468.467,710.462,33.369,1041.091,0.000,1464.348,0.000,0.547,0.000
$DEVICE_MAMPS,230.867,71.331,1030.081,576.784,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.212,553.170,569.440,115.049,472.703,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31893,380
$CAP_FILE_SIZE,73478,0
$CFSIZE,260165632,232579072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,170211,153106,2253.201,-15806.423,10,1.6,27,10.1