version: 66.04
glider: 512
mission: 1
dive: 768
start: 2 21 111 7 46 30
data:
$ID,512
$MISSION,1
$DIVE,768
$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,-22481.424
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2680
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,28
$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
$GPS1,073455,2247.206,-15804.676,42,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.2
$GPS2,074537,2247.276,-15804.625,9,0.9,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.064,0.248
$KALMAN_X,-236717.2,-240.8,161.4,247809.3,660.3
$KALMAN_Y,-496370.8,-177.6,-20.1,620672.7,-2071.6
$MHEAD_RNG_PITCHd_Wd,335.5,11623,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,75,0.00,0.00,-52.75,0.000,2,0.000,0.000,45,2701,3034
$GC,80,-0.85,-146.0,3.6,-5.5,7,113,11.60,1.88,-13.55,0.000,4,0.247,0.064,2575,3888,3777
$GC,303,-0.85,-146.0,65.4,-19.5,31,311,0.00,1.83,0.00,0.000,6,0.000,0.024,2576,2661,3779
$GC,566,-0.85,-146.0,137.3,-27.0,56,570,0.00,2.03,0.00,0.000,4,0.000,0.027,2586,1272,3780
$GC,626,-0.85,-146.0,151.3,-19.0,61,630,0.00,2.25,0.00,0.000,6,0.000,0.057,2577,2673,3781
$GC,908,-0.85,-146.0,209.9,-20.8,84,912,0.00,1.95,0.00,0.000,4,0.000,0.060,2567,3897,3783
$GC,943,-0.85,-146.0,217.0,-19.3,84,947,0.00,1.77,0.00,0.000,6,0.000,0.022,2574,2666,3783
$GC,1200,-0.85,-146.0,259.1,-16.5,91,1204,0.00,2.03,0.00,0.000,4,0.000,0.025,2584,1273,3784
$GC,1257,-0.85,-146.0,266.3,-10.2,92,1261,0.00,2.28,0.00,0.000,6,0.000,0.055,2576,2682,3784
$GC,1532,-0.85,-146.0,304.0,-14.6,99,1535,0.00,1.95,0.00,0.000,4,0.000,0.063,2566,3893,3784
$GC,1555,-0.85,-146.0,307.7,-15.0,99,1559,0.00,1.75,0.00,0.000,6,0.000,0.022,2573,2674,3784
$GC,1824,-0.85,-146.0,344.1,-14.0,106,1828,0.00,2.03,0.00,0.000,4,0.000,0.026,2583,1284,3784
$GC,1871,-0.85,-146.0,350.1,-11.6,107,1875,0.00,2.25,0.00,0.000,6,0.000,0.054,2576,2683,3784
$GC,2158,-0.85,-146.0,385.1,-12.5,114,2161,0.00,1.95,0.00,0.000,4,0.000,0.063,2566,3895,3784
$GC,2187,-0.85,-146.0,389.3,-12.6,114,2191,0.00,1.77,0.00,0.000,6,0.000,0.023,2573,2688,3783
$GC,2451,-0.85,-146.0,421.3,-12.4,121,2454,0.00,2.05,0.00,0.000,4,0.000,0.027,2584,1284,3782
$GC,2508,-0.85,-146.0,427.5,-8.8,122,2512,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2691,3782
$GC,2782,-0.85,-146.0,457.7,-11.2,129,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2692,3779
$GC,3026,-0.85,-146.0,485.5,-11.5,135,3030,0.00,2.10,0.00,0.000,4,0.000,0.028,2585,1270,3777
$GC,3083,-0.85,-146.0,491.4,-8.6,136,3087,0.00,2.30,0.00,0.000,6,0.000,0.056,2576,2685,3777
$GC,3358,-0.85,-146.0,521.9,-11.3,143,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2685,3775
$GC,3601,-0.85,-146.0,547.8,-10.4,149,3604,0.00,2.08,0.00,0.000,4,0.000,0.028,2584,1286,3774
$GC,3636,-0.85,-146.0,551.2,-9.0,149,3640,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2682,3774
$GC,3888,-0.85,-146.0,574.5,-9.3,155,3891,0.00,2.00,0.00,0.000,4,0.000,0.067,2566,3905,3772
$GC,3939,-0.85,-146.0,579.4,-8.7,156,3943,0.00,1.83,0.00,0.000,6,0.000,0.026,2574,2672,3772
$STATE,4179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4180,begin apogee
$GC,4189,-0.32,0.0,603.7,10.2,162,4316,0.65,0.00,123.88,1.039,6,0.152,0.000,2764,2531,3180
$STATE,4317,end apogee,CONTROL_FINISHED_OK
$STATE,4317,begin climb
$GC,4321,0.85,146.0,611.7,0.0,165,4459,1.10,2.22,128.52,1.033,4,0.082,0.028,3152,1108,2583
$GC,4721,0.85,146.0,596.6,12.8,174,4725,0.00,2.25,0.00,0.000,6,0.000,0.047,3150,2534,2576
$GC,5007,0.85,146.0,558.2,13.5,181,5011,0.00,2.12,0.00,0.000,4,0.000,0.028,3159,1092,2572
$GC,5268,0.85,146.0,526.3,11.4,186,5272,0.00,2.25,0.00,0.000,6,0.000,0.046,3151,2520,2570
$GC,5521,0.85,146.0,496.2,12.1,192,5525,0.00,2.10,0.00,0.000,4,0.000,0.028,3159,1095,2568
$GC,5708,0.86,150.7,476.8,9.4,196,5712,0.00,2.28,0.00,0.000,6,0.000,0.049,3151,2529,2568
$GC,5994,0.86,150.7,449.0,9.6,203,5998,0.00,2.12,0.00,0.000,4,0.000,0.029,3160,1091,2566
$GC,6254,0.92,195.0,427.2,7.6,208,6305,0.00,2.28,41.78,0.947,6,0.000,0.050,3160,2522,2383
$GC,6551,0.92,195.0,375.1,19.7,216,6555,0.00,2.12,0.00,0.000,4,0.000,0.030,3170,1096,2377
$GC,6715,0.92,195.0,343.2,17.6,219,6719,0.00,2.28,0.00,0.000,6,0.000,0.049,3163,2521,2376
$GC,6972,0.92,195.0,297.4,17.9,226,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2522,2374
$GC,7215,0.92,195.0,256.4,16.2,232,7219,0.00,2.22,0.00,0.000,4,0.000,0.061,3163,3902,2373
$GC,7416,0.92,195.0,223.0,15.3,236,7420,0.00,2.08,0.00,0.000,6,0.000,0.028,3171,2515,2371
$GC,7675,0.92,195.0,190.5,12.1,247,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2509,2371
$GC,7939,0.93,208.9,164.3,9.0,272,7955,0.00,2.25,11.32,0.703,4,0.000,0.051,3163,3908,2328
$GC,8097,0.93,208.9,143.8,16.2,285,8101,0.00,2.08,0.00,0.000,6,0.000,0.025,3172,2499,2326
$GC,8367,0.99,253.4,115.8,7.6,310,8417,0.00,2.10,39.55,0.706,4,0.000,0.028,3183,1123,2145
$GC,8666,0.99,253.4,67.6,17.9,336,8674,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2522,2141
$GC,8934,0.99,253.4,18.0,17.7,367,8942,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1116,2141
$STATE,9011,end climb,SURFACE_DEPTH_REACHED
$STATE,9011,begin surface coast
$FINISH,0.3,1.023737
$STATE,9023,end surface coast,CONTROL_FINISHED_OK
$STATE,9024,begin surface
$SM_CCo,9050,53.78,0.601,0,0,1752,350.04
$SM_GC,2.38,0.00,0.00,53.78,0.000,0.000,0.601,49,2692,1752,-8.81,0.34,350.04
$IRIDIUM_FIX,2239.35,-15802.37,170500,050502
$TT8_MAMPS,0.023777
$HUMID,1874
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.6,101.539
$10V_AH,10.6,57.949
$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,22.225,84.400,345.050,53.775,0.000,28.464,35.761,443.477,0.000,0.000,0.000,14.671,845.438,6006.122,435.259,1631.563,837.301,33.374,1134.676,0.000,1615.765,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,67.496,1039.285,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.811,577.884,595.374,124.001,510.930,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32154,383
$CAP_FILE_SIZE,79941,0
$CFSIZE,260165632,231186432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,210211,101937,2248.131,-15805.046,36,1.3,36,10.1