version: 66.04
glider: 512
mission: 1
dive: 597
start: 2 2 111 20 8 56
data:
$ID,512
$MISSION,1
$DIVE,597
$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,-18941.076
$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,64
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3420
$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
$GPS1,200252,2249.144,-15803.002,13,4.1,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.4
$GPS2,200804,2249.141,-15803.027,14,4.8,33,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.226,0.137
$KALMAN_X,-173418.5,-4987.7,438.1,191734.1,12112.8
$KALMAN_Y,-534321.9,-5303.9,410.6,666759.2,-1893.7
$MHEAD_RNG_PITCHd_Wd,291.3,9109,-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,-155.7,0.0,0.0,0,94,0.00,0.00,-75.88,0.000,2,0.000,0.000,37,2700,2997
$GC,98,-0.84,-155.7,3.2,-5.0,10,138,10.40,1.88,-18.38,0.000,4,0.236,0.068,2508,3850,3964
$GC,334,-0.84,-155.7,75.8,-24.9,36,337,0.00,1.75,0.00,0.000,6,0.000,0.024,2509,2651,3966
$GC,604,-0.84,-155.7,162.5,-29.8,61,607,0.00,2.05,0.00,0.000,4,0.000,0.025,2520,1231,3968
$GC,643,-0.84,-155.7,174.1,-23.3,64,650,0.00,2.28,0.00,0.000,6,0.000,0.064,2512,2605,3968
$GC,919,-0.84,-155.7,243.8,-25.8,79,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2605,3970
$GC,1162,-0.84,-155.7,302.5,-23.4,85,1166,0.00,2.08,0.00,0.000,4,0.000,0.066,2501,3893,3970
$GC,1264,-0.84,-155.7,322.5,-17.5,87,1268,0.00,1.83,0.00,0.000,6,0.000,0.024,2506,2634,3970
$GC,1543,-0.84,-155.7,380.0,-20.8,94,1546,0.00,2.03,0.00,0.000,4,0.000,0.026,2515,1237,3970
$GC,1605,-0.84,-155.7,390.7,-14.1,95,1609,0.00,2.28,0.00,0.000,6,0.000,0.057,2506,2656,3970
$GC,1872,-0.84,-155.7,441.6,-19.9,102,1876,0.00,1.98,0.00,0.000,4,0.000,0.063,2496,3889,3969
$GC,1934,-0.84,-155.7,453.7,-18.0,103,1938,0.00,1.80,0.00,0.000,6,0.000,0.025,2503,2643,3969
$GC,2208,-0.84,-155.7,504.9,-19.2,110,2211,0.00,2.03,0.00,0.000,4,0.000,0.027,2513,1251,3968
$GC,2258,-0.84,-155.7,514.1,-15.0,111,2263,0.00,2.25,0.00,0.000,6,0.000,0.060,2507,2653,3968
$GC,2537,-0.84,-155.7,564.1,-18.2,118,2541,0.00,2.03,0.00,0.000,4,0.000,0.071,2497,3903,3966
$GC,2633,-0.84,-155.7,579.5,-14.1,120,2636,0.00,1.83,0.00,0.000,6,0.000,0.025,2504,2651,3965
$STATE,2792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2792,begin apogee
$GC,2800,-0.32,0.0,605.3,16.3,124,2916,0.60,0.00,113.10,1.023,6,0.136,0.000,2691,2532,3420
$STATE,2917,end apogee,CONTROL_FINISHED_OK
$STATE,2917,begin climb
$GC,2921,0.84,155.7,612.1,0.0,127,3059,1.08,0.00,133.27,1.022,6,0.058,0.000,3076,2532,2785
$GC,3327,1.15,407.2,632.5,-0.8,137,3554,0.22,2.28,216.05,1.033,4,0.080,0.054,3163,3898,1760
$GC,3605,1.15,407.2,561.0,39.5,143,3609,0.00,2.05,0.00,0.000,6,0.000,0.028,3170,2563,1756
$GC,3866,1.15,407.2,454.1,40.6,150,3870,0.00,2.15,0.00,0.000,4,0.000,0.031,3181,1130,1751
$GC,3968,1.15,407.2,416.0,34.9,152,3972,0.00,2.28,0.00,0.000,6,0.000,0.048,3179,2561,1748
$GC,4241,1.15,407.2,309.2,39.0,159,4245,0.00,2.12,0.00,0.000,4,0.000,0.030,3187,1134,1747
$GC,4337,1.15,407.2,274.4,34.4,161,4341,0.00,2.22,0.00,0.000,6,0.000,0.048,3187,2551,1746
$GC,4600,1.15,407.2,172.1,38.2,172,4604,0.00,2.10,0.00,0.000,4,0.000,0.049,3187,3899,1745
$GC,4658,1.15,407.2,149.1,38.7,177,4663,0.00,2.03,0.00,0.000,6,0.000,0.028,3197,2539,1744
$GC,4928,1.15,407.2,54.1,34.1,202,4932,0.00,2.08,0.00,0.000,4,0.000,0.030,3208,1135,1744
$GC,5034,1.15,407.2,20.3,30.7,214,5043,0.10,2.22,0.00,0.000,6,0.203,0.044,3178,2541,1743
$STATE,5086,end climb,SURFACE_DEPTH_REACHED
$STATE,5086,begin surface coast
$FINISH,0.7,1.024014
$STATE,5093,end surface coast,CONTROL_FINISHED_OK
$STATE,5093,begin surface
$SM_CCo,5175,0.00,0.000,0,0,1737,412.83
$SM_GC,1.32,8.30,0.00,0.00,0.048,0.000,0.000,45,2702,1737,-8.53,1.47,412.83
$IRIDIUM_FIX,2241.69,-15800.20,280400,181804
$TT8_MAMPS,0.023777
$HUMID,2027
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.8,79.301
$10V_AH,10.7,43.930
$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,20.700,49.850,462.425,0.000,0.000,24.243,36.926,115.281,0.000,0.000,0.000,34.262,489.376,3224.520,454.081,966.516,360.073,33.329,931.004,0.000,938.638,0.000,0.541,0.000
$DEVICE_MAMPS,236.236,70.564,1033.149,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,150.376,341.690,350.464,78.033,325.594,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19283,224
$CAP_FILE_SIZE,47879,0
$CFSIZE,260165632,238247936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,020211,213602,2249.546,-15803.897,14,1.8,14,10.1