version: 66.04
glider: 512
mission: 1
dive: 509
start: 1 27 111 18 24 8
data:
$ID,512
$MISSION,1
$DIVE,509
$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,-16927.891
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,48
$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
$GPS1,181508,2248.418,-15803.229,11,1.3,11,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.3
$GPS2,182319,2248.341,-15803.245,12,1.3,17,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.039,0.261
$KALMAN_X,-159766.7,-86.7,-62.5,173300.9,-840.2
$KALMAN_Y,-505676.0,-337.0,346.5,631722.5,-10771.9
$MHEAD_RNG_PITCHd_Wd,341.4,10299,-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,-155.7,0.0,0.0,0,86,0.00,0.00,-68.30,0.000,2,0.000,0.000,48,2696,3086
$GC,90,-0.84,-155.7,3.6,-5.7,9,123,10.85,1.92,-16.02,0.000,4,0.248,0.067,2509,3871,3963
$GC,295,-0.84,-155.7,68.8,-24.6,31,303,0.00,1.85,0.00,0.000,6,0.000,0.028,2516,2649,3965
$GC,557,-0.84,-155.7,157.3,-32.9,56,561,0.00,2.10,0.00,0.000,4,0.000,0.029,2526,1226,3966
$GC,596,-0.84,-155.7,169.7,-28.2,59,603,0.00,2.28,0.00,0.000,6,0.000,0.060,2517,2610,3967
$GC,882,-0.84,-155.7,245.1,-26.8,75,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2611,3968
$GC,1127,-0.84,-155.7,306.9,-25.1,81,1130,0.00,2.03,0.00,0.000,4,0.000,0.029,2523,1234,3968
$GC,1188,-0.84,-155.7,321.0,-18.7,82,1192,0.00,2.30,0.00,0.000,6,0.000,0.059,2514,2656,3968
$GC,1455,-0.84,-155.7,378.4,-22.6,89,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2655,3968
$GC,1699,-0.84,-155.7,429.4,-20.7,95,1703,0.00,2.10,0.00,0.000,4,0.000,0.029,2519,1224,3968
$GC,1746,-0.84,-155.7,437.7,-15.9,96,1750,0.00,2.30,0.00,0.000,6,0.000,0.058,2509,2654,3968
$GC,2029,-0.84,-155.7,490.1,-18.8,103,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2655,3966
$GC,2273,-0.84,-155.7,535.3,-18.3,109,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2655,3965
$GC,2517,-0.84,-155.7,578.4,-17.7,115,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2655,3964
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2676,begin apogee
$GC,2684,-0.32,0.0,606.9,17.5,119,2809,0.65,0.00,122.22,1.037,6,0.171,0.000,2692,2535,3367
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin climb
$GC,2813,0.84,155.7,615.2,0.0,122,2953,1.12,2.40,132.88,1.019,4,0.082,0.071,3067,3887,2732
$GC,3016,1.10,363.7,633.1,1.0,127,3206,0.22,2.05,178.45,1.012,6,0.095,0.028,3148,2530,1884
$GC,3457,1.10,363.7,494.5,38.9,138,3460,0.00,2.08,0.00,0.000,4,0.000,0.031,3158,1155,1875
$GC,3507,1.10,363.7,476.5,35.3,139,3511,0.00,2.25,0.00,0.000,6,0.000,0.050,3158,2556,1874
$GC,3786,1.10,363.7,374.2,36.0,146,3790,0.00,2.10,0.00,0.000,4,0.000,0.031,3168,1149,1872
$GC,3808,1.10,363.7,365.1,37.7,146,3812,0.00,2.22,0.00,0.000,6,0.000,0.048,3162,2552,1872
$GC,4070,1.10,363.7,274.6,34.1,153,4074,0.00,2.10,0.00,0.000,4,0.000,0.033,3171,1149,1870
$GC,4154,1.10,363.7,246.0,31.4,154,4160,0.00,2.22,0.00,0.000,6,0.000,0.050,3172,2550,1869
$GC,4410,1.10,363.7,156.8,33.8,167,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2551,1869
$GC,4666,1.10,363.7,73.9,30.1,191,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2551,1868
$STATE,4905,end climb,SURFACE_DEPTH_REACHED
$STATE,4905,begin surface coast
$FINISH,0.1,1.024029
$STATE,4920,end surface coast,CONTROL_FINISHED_OK
$STATE,4920,begin surface
$SM_CCo,5001,0.00,0.000,0,0,1861,369.42
$SM_GC,1.28,8.77,0.00,0.00,0.077,0.000,0.000,54,2678,1861,-8.54,0.79,369.42
$IRIDIUM_FIX,2241.69,-15806.70,220400,181835
$TT8_MAMPS,0.023777
$HUMID,1980
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.40
$XPDR_PINGS,1
$24V_AH,23.9,66.857
$10V_AH,10.7,38.910
$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,21.625,34.600,433.550,0.000,0.000,57.926,150.462,108.801,0.250,0.000,0.000,18.061,455.609,3305.811,454.212,813.904,468.918,33.337,831.215,0.000,809.191,0.000,0.541,0.000
$DEVICE_MAMPS,247.741,71.331,1036.984,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,151.111,346.222,356.898,83.429,346.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19324,225
$CAP_FILE_SIZE,41016,0
$CFSIZE,260165632,241004544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,270111,194836,2248.760,-15803.646,14,1.7,30,10.1