version: 66.04
glider: 512
mission: 6
dive: 2
start: 4 30 115 21 0 20
data:
$ID,512
$MISSION,6
$DIVE,2
$D_SURF,3
$D_FLARE,2
$D_TGT,99
$D_ABORT,250
$D_NO_BLEED,95
$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,33
$T_MISSION,50
$T_ABORT,1440
$T_TURN,500
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0225
$MASS,53008
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-119214.37
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,104
$PITCH_MAX,3773
$C_PITCH,2904
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,30
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,127
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2632
$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,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.744877
$PRESSURE_SLOPE,0.00011652685
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$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,0.0042929249
$SEABIRD_T_H,0.0006276457
$SEABIRD_T_I,2.2695744e-05
$SEABIRD_T_J,2.2945567e-06
$SEABIRD_C_G,-9.8031359
$SEABIRD_C_H,1.0988656
$SEABIRD_C_I,-0.0017219956
$SEABIRD_C_J,0.00017834625
$GPS1,205539,4805.678,-12221.378,8,3.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-81.1
$GPS2,210003,4805.663,-12221.308,15,3.6,34,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,301.5,3242,-18.2,-10.000
$D_GRID,99
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.79,-146.7,0.0,0.0,0,83,0.00,0.00,-62.70,0.000,2,0.000,0.000,96,2043,2150
$GC,89,-0.79,-146.7,2.3,-2.7,7,134,9.68,1.52,-25.83,0.000,4,0.214,0.054,2641,1026,3229
$GC,195,-0.79,-146.7,13.8,-8.9,21,206,0.00,1.45,0.00,0.000,6,0.000,0.025,2636,2016,3229
$GC,252,-0.79,-146.7,19.3,-9.8,28,262,0.00,1.48,0.00,0.000,4,0.000,0.038,2633,3025,3229
$GC,308,-0.79,-146.7,24.9,-9.8,35,318,0.00,1.38,0.00,0.000,6,0.000,0.024,2633,2051,3229
$GC,404,-0.79,-146.7,34.8,-10.7,48,414,0.00,1.50,0.00,0.000,4,0.000,0.035,2633,1030,3229
$GC,566,-0.79,-146.7,52.8,-11.6,71,572,0.00,1.42,0.00,0.000,6,0.000,0.027,2633,2003,3229
$GC,723,-0.79,-146.7,69.1,-9.5,96,731,0.00,1.48,0.00,0.000,4,0.000,0.035,2633,1026,3229
$GC,838,-0.79,-146.7,81.3,-10.1,114,848,0.00,1.42,0.00,0.000,6,0.000,0.025,2626,2002,3228
$GC,1001,-0.79,-146.7,98.6,-10.7,139,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2002,3229
$STATE,1013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1013,begin apogee
$GC,1024,-0.17,0.0,100.5,10.8,141,1146,0.65,0.00,116.40,0.738,6,0.114,0.000,2843,2002,2631
$STATE,1147,end apogee,CONTROL_FINISHED_OK
$STATE,1147,begin climb
$GC,1152,0.79,146.7,103.9,0.0,157,1278,0.85,0.00,119.18,0.706,6,0.057,0.000,3164,2002,2033
$GC,1437,0.79,146.7,68.2,15.8,197,1443,0.00,1.50,0.00,0.000,4,0.000,0.032,3171,1027,2026
$GC,1531,0.79,146.7,52.3,16.9,211,1537,0.00,1.45,0.00,0.000,6,0.000,0.026,3171,1992,2025
$GC,1704,0.79,146.7,24.5,15.0,236,1714,0.00,1.48,0.00,0.000,4,0.000,0.044,3175,1030,2024
$GC,1781,0.79,146.7,12.7,15.1,246,1792,0.00,1.45,0.00,0.000,6,0.000,0.027,3175,2005,2023
$GC,1838,0.82,172.8,6.2,8.8,253,1869,0.00,1.50,20.42,0.657,4,0.000,0.033,3176,1033,1926
$STATE,2005,end climb,NO_VERTICAL_VELOCITY
$STATE,2005,begin surface
$SM_CCo,2011,267.75,0.608,12,0,500,522.97
$SM_CCo,2397,0.00,0.000,0,0,496,523.95
$SM_CCo,2403,0.00,0.000,0,0,495,524.20
$SM_CCo,2409,0.00,0.000,0,0,496,524.20
$SM_GC,1.52,0.00,0.00,0.00,0.000,0.000,0.000,90,2022,496,-8.80,0.62,524.20
$IRIDIUM_FIX,4745.30,-12221.84,210597,101042
$TT8_MAMPS,0.024544
$HUMID,2357
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,14.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,90.1,36.0
$24V_AH,24.7,3.762
$10V_AH,10.7,1.902
$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,19.350,20.550,256.000,267.750,0.000,0.000,0.000,0.000,3.000,0.000,0.000,35.302,474.139,156.674,578.878,1056.496,240.301,0.000,983.691,0.000,1094.000,0.000,7.157,0.000
$DEVICE_MAMPS,213.993,53.690,737.854,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,204.115,673.252,702.032,144.764,877.639,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25615,276
$CAP_FILE_SIZE,57393,0
$CFSIZE,260165632,225869824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$CURRENT,0.090,347.1,1
$GPS,300415,214148,4805.958,-12221.598,17,1.3,30,18.3