version: 66.04
glider: 512
mission: 1
dive: 780
start: 2 22 111 16 59 13
data:
$ID,512
$MISSION,1
$DIVE,780
$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,-22789.27
$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,2640
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3140
$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
$GPS1,165149,2255.083,-15805.168,19,1.9,20,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.5
$GPS2,165820,2255.068,-15805.166,13,1.8,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.191,0.171
$KALMAN_X,-247352.5,-152.9,295.0,257284.8,-2274.7
$KALMAN_Y,-513681.9,681.3,-371.3,651899.8,-2151.9
$MHEAD_RNG_PITCHd_Wd,38.1,16746,-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,-45.22,0.000,2,0.000,0.000,50,2669,2869
$GC,69,-0.85,-146.0,3.4,-5.0,6,103,11.73,2.00,-17.05,0.000,4,0.251,0.072,2576,3865,3739
$GC,217,-0.85,-146.0,43.4,-19.1,25,225,0.00,1.83,0.00,0.000,6,0.000,0.025,2580,2648,3741
$GC,480,-0.85,-146.0,114.7,-25.5,50,484,0.00,2.08,0.00,0.000,4,0.000,0.026,2590,1217,3742
$GC,527,-0.85,-146.0,125.3,-18.8,54,531,0.00,2.30,0.00,0.000,6,0.000,0.064,2581,2610,3742
$GC,793,-0.85,-146.0,180.5,-20.6,78,796,0.00,2.10,0.00,0.000,4,0.000,0.067,2571,3897,3744
$GC,818,-0.85,-146.0,185.4,-17.6,80,822,0.00,1.85,0.00,0.000,6,0.000,0.023,2579,2619,3744
$GC,1108,-0.85,-146.0,236.0,-17.8,93,1112,0.00,2.12,0.00,0.000,4,0.000,0.067,2570,3907,3744
$GC,1149,-0.85,-146.0,243.3,-17.5,93,1155,0.00,1.85,0.00,0.000,6,0.000,0.024,2577,2638,3745
$GC,1400,-0.85,-146.0,280.7,-15.1,100,1404,0.00,2.05,0.00,0.000,4,0.000,0.025,2587,1233,3745
$GC,1448,-0.85,-146.0,286.4,-10.0,101,1452,0.00,2.30,0.00,0.000,6,0.000,0.060,2577,2644,3744
$GC,1734,-0.85,-146.0,321.5,-12.4,108,1738,0.00,2.08,0.00,0.000,4,0.000,0.071,2568,3899,3745
$GC,1786,-0.85,-146.0,328.1,-10.8,109,1789,0.00,1.85,0.00,0.000,6,0.000,0.024,2574,2624,3745
$GC,2073,-0.85,-146.0,363.5,-12.7,116,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2618,3744
$GC,2314,-0.85,-146.0,393.4,-12.3,122,2318,0.00,2.03,0.00,0.000,4,0.000,0.027,2584,1240,3742
$GC,2355,-0.85,-146.0,398.0,-9.9,122,2361,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2653,3743
$GC,2606,-0.85,-146.0,425.6,-11.5,129,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2653,3741
$GC,2850,-0.85,-146.0,454.1,-11.7,135,2854,0.00,2.08,0.00,0.000,4,0.000,0.027,2585,1242,3740
$GC,2898,-0.85,-146.0,458.8,-8.6,136,2902,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2637,3739
$GC,3183,-0.85,-146.0,491.0,-11.5,143,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2637,3737
$GC,3428,-0.85,-146.0,518.1,-11.1,149,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2637,3736
$GC,3671,-0.85,-146.0,545.4,-11.2,155,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2637,3734
$GC,3915,-0.85,-146.0,571.0,-10.6,161,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2637,3732
$GC,4158,-0.85,-146.0,596.3,-10.4,167,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2637,3731
$STATE,4195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4195,begin apogee
$GC,4205,-0.32,0.0,600.4,10.4,168,4332,0.65,0.00,124.03,1.022,6,0.153,0.000,2764,2526,3140
$STATE,4333,end apogee,CONTROL_FINISHED_OK
$STATE,4333,begin climb
$GC,4337,0.85,146.0,606.8,0.0,171,4474,1.10,2.22,128.77,1.016,4,0.080,0.028,3153,1107,2543
$GC,4737,0.85,146.0,578.1,15.9,180,4741,0.00,2.25,0.00,0.000,6,0.000,0.044,3150,2537,2535
$GC,5021,0.85,146.0,532.8,15.4,187,5025,0.00,2.15,0.00,0.000,4,0.000,0.028,3159,1087,2531
$GC,5281,0.85,146.0,497.3,13.2,192,5285,0.00,2.28,0.00,0.000,6,0.000,0.046,3159,2531,2530
$GC,5538,0.85,146.0,463.7,13.1,199,5541,0.00,2.12,0.00,0.000,4,0.000,0.028,3168,1093,2527
$GC,5728,0.85,146.0,442.6,10.6,203,5732,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2528,2527
$GC,6007,0.85,146.0,414.1,9.7,210,6011,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1093,2525
$GC,6189,0.85,146.0,396.3,10.6,214,6193,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2521,2525
$GC,6475,0.85,146.0,366.6,10.9,221,6479,0.00,2.22,0.00,0.000,4,0.000,0.058,3162,3905,2524
$GC,6733,0.85,146.0,334.9,11.5,226,6737,0.00,2.08,0.00,0.000,6,0.000,0.028,3171,2506,2523
$GC,6990,0.85,146.0,308.4,10.0,233,6993,0.00,2.25,0.00,0.000,4,0.000,0.051,3163,3901,2523
$GC,7249,0.92,202.2,287.5,7.1,238,7302,0.00,2.05,47.17,0.831,6,0.000,0.028,3172,2512,2315
$GC,7547,0.92,202.2,239.6,17.4,246,7551,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1106,2308
$GC,7571,0.92,202.2,235.2,17.1,246,7575,0.00,2.22,0.00,0.000,6,0.000,0.044,3175,2518,2307
$GC,7825,0.92,202.2,193.0,17.4,255,7829,0.00,2.22,0.00,0.000,4,0.000,0.055,3176,3905,2306
$GC,8084,0.92,202.2,148.0,17.3,278,8088,0.00,2.05,0.00,0.000,6,0.000,0.026,3185,2517,2305
$GC,8355,0.92,202.2,112.2,13.0,303,8359,0.00,2.05,0.00,0.000,4,0.000,0.026,3195,1097,2305
$GC,8564,0.92,202.2,85.4,12.0,321,8571,0.00,2.25,0.00,0.000,6,0.000,0.042,3192,2522,2305
$GC,8829,1.01,274.9,60.9,6.4,346,8898,0.00,0.00,61.03,0.640,6,0.000,0.000,3191,2523,2020
$STATE,9115,end climb,SURFACE_DEPTH_REACHED
$STATE,9116,begin surface coast
$FINISH,0.3,1.023801
$STATE,9128,end surface coast,CONTROL_FINISHED_OK
$STATE,9128,begin surface
$SM_CCo,9153,38.65,0.593,0,0,1712,350.04
$SM_GC,2.11,0.00,0.00,38.65,0.000,0.000,0.593,53,2666,1712,-8.81,0.74,350.04
$IRIDIUM_FIX,2248.70,-15803.66,180500,141411
$TT8_MAMPS,0.023777
$HUMID,1851
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.5,102.957
$10V_AH,10.6,58.978
$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,22.375,72.550,361.000,38.650,0.000,33.075,35.572,175.820,0.250,0.000,0.000,13.828,830.796,6171.250,418.035,1597.838,569.030,33.370,1094.692,0.000,1583.080,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,72.098,1022.411,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,260.052,571.175,589.230,127.289,528.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31862,385
$CAP_FILE_SIZE,74087,0
$CFSIZE,260165632,230682624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,220211,193336,2255.359,-15804.342,25,1.7,25,10.1