version: 66.04
glider: 512
mission: 1
dive: 392
start: 1 15 111 20 10 4
data:
$ID,512
$MISSION,1
$DIVE,392
$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,160
$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,-13320.753
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,200450,2247.668,-15756.574,14,1.8,14,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.6
$GPS2,200913,2247.654,-15756.575,15,1.5,20,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,0.241
$KALMAN_X,-158499.1,1019.7,-116.1,182438.0,-7184.8
$KALMAN_Y,-349820.3,5109.9,-412.2,469912.9,-12620.3
$MHEAD_RNG_PITCHd_Wd,14.0,2417,-16.2,-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,15,-0.84,-155.7,0.0,0.0,0,79,0.00,0.00,-61.38,0.000,2,0.000,0.000,50,2550,2992
$GC,82,-0.84,-155.7,3.1,-5.0,8,122,11.05,2.50,-19.15,0.000,4,0.258,0.132,2506,3887,3962
$GC,262,-0.84,-155.7,62.4,-27.1,29,270,0.00,2.05,0.00,0.000,6,0.000,0.033,2510,2561,3965
$GC,524,-0.84,-155.7,165.1,-35.7,54,528,0.00,2.17,0.00,0.000,4,0.000,0.046,2519,1147,3967
$GC,571,-0.84,-155.7,180.8,-32.1,58,576,0.00,2.62,0.00,0.000,6,0.000,0.131,2510,2540,3968
$GC,844,-0.84,-155.7,262.8,-29.5,69,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2540,3969
$GC,1088,-0.84,-155.7,326.1,-25.5,75,1092,0.00,2.15,0.00,0.000,4,0.000,0.048,2515,1144,3971
$GC,1148,-0.84,-155.7,339.0,-17.7,76,1153,0.00,2.65,0.00,0.000,6,0.000,0.130,2506,2561,3972
$GC,1415,-0.84,-155.7,398.1,-22.2,83,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2561,3971
$GC,1659,-0.84,-155.7,452.0,-22.3,89,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2561,3972
$GC,1903,-0.84,-155.7,505.3,-21.7,95,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2561,3971
$GC,2147,-0.84,-155.7,557.3,-21.3,101,2151,0.00,2.22,0.00,0.000,4,0.000,0.053,2506,1146,3969
$GC,2186,-0.84,-155.7,565.8,-20.9,101,2192,0.00,2.70,0.00,0.000,6,0.000,0.139,2499,2540,3969
$STATE,2354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2354,begin apogee
$GC,2361,-0.32,0.0,601.6,21.6,106,2487,0.90,0.00,122.82,1.078,6,0.281,0.000,2685,2553,3367
$STATE,2487,end apogee,CONTROL_FINISHED_OK
$STATE,2488,begin climb
$GC,2491,0.84,155.7,610.8,0.0,109,2628,1.62,0.00,132.45,1.052,6,0.240,0.000,3058,2552,2732
$GC,2861,0.94,234.9,615.5,6.3,118,2936,0.17,2.33,67.85,1.039,4,0.223,0.045,3110,1146,2408
$GC,2981,0.94,234.9,596.5,21.7,120,2988,0.00,2.42,0.00,0.000,6,0.000,0.070,3101,2553,2404
$GC,3231,0.94,234.9,540.8,22.5,127,3235,0.00,2.22,0.00,0.000,4,0.000,0.044,3109,1133,2399
$GC,3382,0.94,234.9,509.6,19.5,130,3386,0.00,2.38,0.00,0.000,6,0.000,0.071,3101,2560,2398
$GC,3648,0.94,234.9,458.3,18.9,137,3652,0.00,2.20,0.00,0.000,4,0.000,0.045,3110,1145,2395
$GC,3681,0.94,234.9,452.2,18.0,137,3686,0.00,2.33,0.00,0.000,6,0.000,0.070,3103,2549,2395
$GC,3931,0.94,234.9,403.5,19.7,143,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2549,2393
$GC,4175,0.94,234.9,358.7,18.1,149,4179,0.00,2.20,0.00,0.000,4,0.000,0.047,3112,1139,2391
$GC,4214,0.94,234.9,352.6,15.9,149,4220,0.00,2.38,0.00,0.000,6,0.000,0.077,3110,2553,2391
$GC,4465,0.94,234.9,312.8,16.0,156,4469,0.00,2.20,0.00,0.000,4,0.000,0.048,3117,1146,2390
$GC,4723,0.94,234.9,275.8,14.6,161,4727,0.00,2.30,0.00,0.000,6,0.000,0.067,3110,2549,2389
$GC,4973,0.94,234.9,238.1,15.4,167,4976,0.00,2.17,0.00,0.000,4,0.000,0.044,3118,1143,2389
$GC,5084,0.94,234.9,222.9,11.5,169,5089,0.00,2.33,0.00,0.000,6,0.000,0.068,3110,2561,2388
$GC,5341,0.94,234.9,190.3,12.4,181,5345,0.00,2.17,0.00,0.000,4,0.000,0.041,3119,1132,2387
$GC,5423,0.94,234.9,181.5,9.7,188,5430,0.00,2.33,0.00,0.000,6,0.000,0.066,3111,2542,2387
$GC,5685,0.94,234.9,155.5,9.7,213,5689,0.00,2.15,0.00,0.000,4,0.000,0.041,3119,1138,2387
$GC,5754,0.98,269.9,149.9,8.2,219,5791,0.00,2.28,26.83,0.752,6,0.000,0.063,3110,2549,2266
$GC,6047,0.98,269.9,110.7,16.4,246,6051,0.00,2.17,0.00,0.000,4,0.000,0.038,3119,1138,2262
$GC,6283,0.98,269.9,83.4,11.8,267,6287,0.00,2.30,0.00,0.000,6,0.000,0.064,3111,2548,2261
$GC,6547,0.98,269.9,50.6,13.7,291,6551,0.00,2.15,0.00,0.000,4,0.000,0.035,3119,1139,2261
$GC,6681,0.98,269.9,31.8,14.2,303,6685,0.00,2.33,0.00,0.000,6,0.000,0.071,3119,2547,2261
$STATE,6867,end climb,SURFACE_DEPTH_REACHED
$STATE,6867,begin surface coast
$FINISH,0.3,1.024007
$STATE,6890,end surface coast,CONTROL_FINISHED_OK
$STATE,6890,begin surface
$SM_CCo,6909,44.83,0.613,0,0,1940,350.04
$SM_GC,0.92,0.00,0.00,44.83,0.000,0.000,0.613,42,2555,1940,-8.62,0.14,350.04
$IRIDIUM_FIX,2239.35,-15800.20,100400,191912
$TT8_MAMPS,0.024544
$HUMID,1795
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.0,50.624
$10V_AH,10.7,29.727
$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,22.225,64.400,349.950,44.825,0.000,24.418,33.428,102.167,0.000,0.000,0.000,20.765,688.302,4470.968,434.132,1309.895,327.715,33.327,972.515,0.000,1298.691,0.000,0.541,0.000
$DEVICE_MAMPS,280.722,138.827,1078.402,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,229.437,566.535,583.803,132.044,549.134,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28799,340
$CAP_FILE_SIZE,58534,0
$CFSIZE,260165632,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,1
$GPS,150111,220725,2247.838,-15756.331,49,1.6,49,10.1