version: 66.04
glider: 512
mission: 1
dive: 449
start: 1 20 111 18 54 41
data:
$ID,512
$MISSION,1
$DIVE,449
$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,-14651.771
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,43
$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
$GPS1,184541,2248.628,-15802.710,13,2.2,33,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.3
$GPS2,185352,2248.605,-15802.670,16,2.5,35,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.161,0.210
$KALMAN_X,-161978.9,-1448.3,122.8,177679.6,66.0
$KALMAN_Y,-409898.9,574.1,963.2,534897.7,-6483.3
$MHEAD_RNG_PITCHd_Wd,27.4,10271,-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,16,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-38.12,0.000,2,0.000,0.000,46,2680,2911
$GC,59,-0.84,-155.7,3.1,-4.9,5,99,11.43,2.05,-21.20,0.000,4,0.255,0.101,2560,3867,3961
$GC,134,-0.84,-155.7,26.6,-36.8,16,143,0.00,1.80,0.00,0.000,6,0.000,0.027,2566,2679,3961
$GC,405,-0.84,-155.7,117.4,-34.5,42,409,0.00,2.15,0.00,0.000,4,0.000,0.031,2577,1231,3962
$GC,464,-0.84,-155.7,134.1,-24.6,47,468,0.00,2.40,0.00,0.000,6,0.000,0.086,2567,2637,3963
$GC,726,-0.84,-155.7,195.4,-21.3,71,730,0.00,2.08,0.00,0.000,4,0.000,0.027,2569,1218,3965
$GC,786,-0.84,-155.7,206.4,-14.0,74,790,0.00,2.42,0.00,0.000,6,0.000,0.080,2563,2655,3965
$GC,1053,-0.84,-155.7,257.5,-20.3,81,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2656,3965
$GC,1296,-0.84,-155.7,302.5,-18.0,87,1299,0.00,2.10,0.00,0.000,4,0.000,0.027,2569,1224,3966
$GC,1318,-0.84,-155.7,306.5,-17.4,87,1322,0.00,2.38,0.00,0.000,6,0.000,0.072,2559,2659,3966
$GC,1578,-0.84,-155.7,349.7,-17.2,94,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2660,3966
$GC,1822,-0.84,-155.7,387.8,-15.2,100,1826,0.00,2.10,0.00,0.000,4,0.000,0.028,2566,1227,3965
$GC,1861,-0.84,-155.7,393.0,-11.5,100,1868,0.00,2.42,0.00,0.000,6,0.000,0.077,2563,2652,3965
$GC,2111,-0.84,-155.7,424.8,-13.2,107,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2652,3963
$GC,2354,-0.84,-155.7,456.1,-12.8,113,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2652,3962
$GC,2598,-0.84,-155.7,488.1,-13.4,119,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2652,3960
$GC,2842,-0.84,-155.7,519.8,-12.8,125,2846,0.00,2.12,0.00,0.000,4,0.000,0.093,2553,3894,3958
$GC,2875,-0.84,-155.7,524.4,-12.6,125,2879,0.00,1.85,0.00,0.000,6,0.000,0.031,2560,2628,3958
$GC,3131,-0.84,-155.7,555.6,-12.4,132,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2622,3956
$GC,3376,-0.84,-155.7,584.8,-11.8,138,3380,0.00,2.25,0.00,0.000,4,0.000,0.100,2552,3888,3954
$GC,3404,-0.84,-155.7,588.5,-12.3,138,3408,0.00,1.85,0.00,0.000,6,0.000,0.031,2559,2653,3954
$STATE,3534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3535,begin apogee
$GC,3542,-0.32,0.0,604.0,11.7,142,3665,0.62,0.00,120.57,1.065,6,0.156,0.000,2743,2544,3367
$STATE,3666,end apogee,CONTROL_FINISHED_OK
$STATE,3666,begin climb
$GC,3669,0.84,155.7,611.5,0.0,145,3811,1.12,2.42,132.27,1.043,4,0.100,0.073,3109,3894,2731
$GC,3847,1.19,441.0,630.4,-2.2,149,4103,0.35,2.08,246.82,1.016,6,0.097,0.030,3228,2536,1570
$GC,4370,1.19,441.0,407.1,54.0,162,4374,0.00,2.10,0.00,0.000,4,0.000,0.035,3239,1155,1563
$GC,4437,1.19,441.0,372.4,50.3,163,4441,0.00,2.28,0.00,0.000,6,0.000,0.055,3231,2558,1562
$GC,4698,1.19,441.0,240.3,51.7,170,4701,0.00,2.12,0.00,0.000,4,0.000,0.034,3239,1155,1561
$GC,4765,1.19,441.0,208.0,43.4,171,4769,0.00,2.28,0.00,0.000,6,0.000,0.057,3240,2560,1561
$GC,5034,1.19,441.0,84.0,42.9,195,5038,0.00,2.10,0.00,0.000,4,0.000,0.031,3249,1147,1559
$GC,5052,1.19,441.0,74.7,45.2,196,5060,0.00,2.22,0.00,0.000,6,0.000,0.045,3244,2550,1559
$STATE,5217,end climb,SURFACE_DEPTH_REACHED
$STATE,5217,begin surface coast
$FINISH,0.2,1.023986
$STATE,5224,end surface coast,CONTROL_FINISHED_OK
$STATE,5224,begin surface
$SM_CCo,5305,0.00,0.000,0,0,1553,444.97
$SM_GC,1.05,8.98,0.00,0.00,0.077,0.000,0.000,49,2666,1553,-8.70,0.48,444.97
$IRIDIUM_FIX,2241.69,-15804.53,150400,161622
$TT8_MAMPS,0.023777
$HUMID,2013
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,16.80
$XPDR_PINGS,1
$24V_AH,23.7,58.481
$10V_AH,10.7,33.619
$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,22.500,47.825,499.675,0.000,0.000,31.278,44.567,278.536,0.250,0.000,0.000,36.921,460.761,3544.374,459.017,824.701,510.427,33.357,885.222,0.000,797.439,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,101.244,1064.596,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,147.307,314.438,324.739,70.691,287.765,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16160,219
$CAP_FILE_SIZE,47576,0
$CFSIZE,260165632,243609600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,200111,202424,2249.405,-15802.069,25,1.4,42,10.1