version: 66.04
glider: 512
mission: 1
dive: 1000
start: 3 18 111 20 9 29
data:
$ID,512
$MISSION,1
$DIVE,1000
$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,623.29712
$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,-27547.482
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2940
$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
$GPS1,192922,2255.488,-15800.103,11,2.6,31,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.6
$GPS2,200837,2255.408,-15800.339,31,1.3,31,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.187,0.175
$KALMAN_X,-399655.2,328.2,465.2,417235.2,-4221.7
$KALMAN_Y,-660633.9,222.7,371.9,799189.9,-1388.5
$MHEAD_RNG_PITCHd_Wd,36.8,8980,-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,18,-0.85,-146.0,0.0,0.0,0,81,0.00,0.00,-60.42,0.000,2,0.000,0.000,24,2701,2966
$GC,86,-0.85,-146.0,3.2,-4.8,8,112,11.40,0.00,-11.57,0.000,6,0.240,0.000,2590,2701,3538
$GC,376,-0.85,-146.0,78.9,-24.3,41,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2700,3539
$GC,641,-0.85,-146.0,137.5,-19.2,66,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2700,3540
$GC,907,-0.85,-146.0,185.9,-17.7,91,911,0.00,2.20,0.00,0.000,4,0.000,0.025,2600,1217,3541
$GC,956,-0.85,-146.0,193.7,-12.7,95,960,0.00,2.35,0.00,0.000,6,0.000,0.056,2590,2639,3540
$GC,1210,-0.85,-146.0,232.2,-15.7,104,1214,0.00,2.10,0.00,0.000,4,0.000,0.025,2599,1209,3540
$GC,1246,-0.85,-146.0,237.3,-13.2,104,1250,0.00,2.35,0.00,0.000,6,0.000,0.056,2589,2642,3540
$GC,1506,-0.85,-146.0,271.9,-13.9,111,1509,0.00,2.08,0.00,0.000,4,0.000,0.063,2580,3906,3540
$GC,1554,-0.85,-146.0,278.4,-11.3,112,1558,0.00,1.88,0.00,0.000,6,0.000,0.022,2587,2619,3540
$GC,1846,-0.85,-146.0,313.2,-11.7,119,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2612,3539
$GC,2090,-0.85,-146.0,341.2,-11.4,125,2093,0.00,2.15,0.00,0.000,4,0.000,0.064,2578,3893,3538
$GC,2165,-0.85,-146.0,349.7,-10.6,126,2169,0.00,1.85,0.00,0.000,6,0.000,0.023,2586,2628,3538
$GC,2428,-0.85,-146.0,378.8,-11.4,133,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2622,3536
$GC,2672,-0.85,-146.0,406.4,-11.3,139,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2621,3533
$GC,2916,-0.85,-146.0,432.0,-10.2,145,2920,0.00,2.15,0.00,0.000,4,0.000,0.064,2578,3900,3531
$GC,2997,-0.85,-146.0,440.0,-9.4,146,3001,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2642,3530
$GC,3255,-0.85,-146.0,465.8,-10.3,153,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2635,3527
$GC,3499,-0.85,-146.0,491.5,-10.5,159,3503,0.00,2.22,-0.08,0.000,4,0.000,0.077,2577,3902,3551
$GC,3557,-0.85,-146.0,497.9,-10.6,160,3560,0.00,1.88,0.00,0.000,6,0.000,0.025,2585,2639,3551
$GC,3838,-0.85,-146.0,526.7,-10.4,167,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2632,3549
$GC,4081,-0.85,-146.0,552.2,-10.5,173,4084,0.00,2.15,0.00,0.000,4,0.000,0.068,2577,3895,3547
$GC,4133,-0.85,-146.0,557.9,-9.8,174,4137,0.00,1.88,0.00,0.000,6,0.000,0.027,2584,2639,3545
$GC,4420,-0.85,-146.0,587.4,-10.4,181,4424,0.00,2.15,0.00,0.000,4,0.000,0.067,2576,3894,3544
$GC,4462,-0.85,-146.0,592.2,-11.5,181,4468,0.00,1.88,0.00,0.000,6,0.000,0.027,2581,2639,3543
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4560,-0.32,0.0,601.4,10.4,184,4688,0.68,0.00,125.25,1.068,6,0.152,0.000,2773,2476,2940
$STATE,4689,end apogee,CONTROL_FINISHED_OK
$STATE,4689,begin climb
$GC,4694,0.85,146.0,608.0,0.0,187,4838,1.08,2.28,130.93,1.030,4,0.069,0.028,3160,1025,2343
$GC,5102,0.85,146.0,546.6,23.1,196,5106,0.00,2.35,0.00,0.000,6,0.000,0.052,3160,2461,2333
$GC,5383,0.85,146.0,478.5,23.9,203,5386,0.00,2.17,0.00,0.000,4,0.000,0.031,3170,1027,2330
$GC,5497,0.85,146.0,451.0,22.9,205,5501,0.00,2.33,0.00,0.000,6,0.000,0.048,3163,2468,2329
$GC,5760,0.85,146.0,390.6,23.2,212,5763,0.00,2.17,0.00,0.000,4,0.000,0.029,3172,1027,2327
$GC,5863,0.85,146.0,368.5,20.9,214,5867,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2468,2327
$GC,6139,0.85,146.0,313.0,20.0,221,6142,0.00,2.17,0.00,0.000,4,0.000,0.028,3172,1028,2325
$GC,6242,0.85,146.0,294.0,18.8,223,6246,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2464,2325
$GC,6516,0.85,146.0,248.0,16.7,230,6520,0.00,2.17,0.00,0.000,4,0.000,0.030,3172,1027,2324
$GC,6777,0.85,146.0,211.4,12.8,235,6781,0.00,2.30,0.00,0.000,6,0.000,0.044,3164,2460,2323
$GC,7040,0.85,146.0,173.2,14.1,253,7043,0.00,2.17,0.00,0.000,4,0.000,0.029,3172,1030,2322
$GC,7213,0.85,146.0,154.7,12.0,268,7218,0.00,2.33,0.00,0.000,6,0.000,0.046,3164,2469,2322
$GC,7479,0.85,146.0,126.9,10.6,292,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2469,2322
$GC,7745,0.91,187.5,105.8,7.8,317,7782,0.00,2.35,32.53,0.686,4,0.000,0.051,3162,3882,2174
$GC,7915,0.91,187.5,80.1,18.9,331,7919,0.00,2.17,0.00,0.000,6,0.000,0.025,3172,2436,2172
$GC,8186,0.91,187.5,34.0,16.1,356,8189,0.00,2.05,0.00,0.000,4,0.000,0.028,3182,1048,2170
$GC,8223,0.91,187.5,27.7,17.3,360,8232,0.00,2.28,0.00,0.000,6,0.000,0.045,3176,2455,2170
$STATE,8359,end climb,SURFACE_DEPTH_REACHED
$STATE,8359,begin surface coast
$FINISH,0.7,1.023859
$STATE,8378,end surface coast,CONTROL_FINISHED_OK
$STATE,8378,begin surface
$SM_CCo,8406,220.75,0.594,0,0,398,623.30
$SM_GC,1.23,0.00,0.00,220.75,0.000,0.000,0.594,45,2676,398,-8.86,1.02,623.30
$IRIDIUM_FIX,2248.70,-15800.62,110600,202040
$TT8_MAMPS,0.023777
$HUMID,1871
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,130.631
$10V_AH,10.6,78.624
$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,22.275,69.550,288.700,220.750,0.000,140.171,184.096,1579.387,0.500,0.000,0.000,31.965,804.793,5787.555,559.500,1518.467,2314.444,33.378,1168.523,0.000,1492.685,0.000,0.544,0.000
$DEVICE_MAMPS,240.071,76.700,1067.664,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.856,622.876,641.581,137.106,566.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32061,387
$CAP_FILE_SIZE,77909,0
$CFSIZE,260165632,221609984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,180311,223440,2255.693,-15759.586,14,2.3,34,10.1