version: 66.04
glider: 512
mission: 1
dive: 600
start: 2 3 111 0 40 35
data:
$ID,512
$MISSION,1
$DIVE,600
$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,-18990.619
$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,69
$R_STBD_OVSHOOT,36
$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
$GPS1,003143,2250.098,-15805.549,12,1.5,12,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.1
$GPS2,003944,2250.084,-15805.586,14,1.6,14,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.125,0.233
$KALMAN_X,-175538.3,-1194.0,-744.2,186853.4,8923.9
$KALMAN_Y,-543541.8,926.2,-245.7,672159.9,-10023.9
$MHEAD_RNG_PITCHd_Wd,321.6,6327,-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,-75.62,0.000,2,0.000,0.000,39,2666,3140
$GC,98,-0.84,-155.7,3.3,-4.3,10,131,10.35,1.95,-15.07,0.000,4,0.232,0.073,2507,3882,3963
$GC,287,-0.84,-155.7,71.4,-27.2,31,295,0.00,1.83,0.00,0.000,6,0.000,0.026,2509,2667,3964
$GC,550,-0.84,-155.7,160.9,-32.9,56,554,0.00,2.10,0.00,0.000,4,0.000,0.026,2520,1227,3966
$GC,600,-0.84,-155.7,176.7,-24.9,60,608,0.00,2.33,0.00,0.000,6,0.000,0.063,2512,2630,3966
$GC,865,-0.84,-155.7,247.2,-27.2,74,869,0.00,2.05,0.00,0.000,4,0.000,0.067,2502,3896,3968
$GC,899,-0.84,-155.7,256.8,-26.6,74,903,0.00,1.83,0.00,0.000,6,0.000,0.023,2504,2633,3968
$GC,1156,-0.84,-155.7,326.8,-28.3,81,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2625,3968
$GC,1400,-0.84,-155.7,385.8,-23.7,87,1404,0.00,2.00,0.00,0.000,4,0.000,0.025,2509,1248,3968
$GC,1439,-0.84,-155.7,394.6,-18.3,87,1446,0.00,2.25,0.00,0.000,6,0.000,0.055,2500,2661,3968
$GC,1690,-0.84,-155.7,443.2,-19.8,94,1694,0.00,2.00,0.00,0.000,4,0.000,0.065,2490,3904,3968
$GC,1724,-0.84,-155.7,450.2,-20.0,94,1729,0.12,1.83,0.00,0.000,6,0.150,0.024,2528,2638,3968
$GC,1982,-0.84,-155.7,491.4,-16.4,101,1985,0.00,2.03,0.00,0.000,4,0.000,0.026,2530,1250,3967
$GC,2010,-0.84,-155.7,496.5,-16.9,101,2014,0.00,2.25,0.00,0.000,6,0.000,0.054,2523,2653,3967
$GC,2266,-0.84,-155.7,538.2,-16.6,108,2270,0.00,2.00,0.00,0.000,4,0.000,0.064,2514,3896,3965
$GC,2334,-0.84,-155.7,548.4,-13.3,109,2338,0.00,1.80,0.00,0.000,6,0.000,0.025,2515,2654,3964
$GC,2604,-0.84,-155.7,590.3,-15.8,116,2608,0.00,2.05,0.00,0.000,4,0.000,0.026,2518,1250,3962
$GC,2644,-0.84,-155.7,597.0,-14.2,116,2650,0.00,2.25,0.00,0.000,6,0.000,0.056,2510,2651,3962
$STATE,2688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2688,begin apogee
$GC,2696,-0.32,0.0,603.3,13.7,118,2812,0.60,0.00,112.10,1.013,6,0.142,0.000,2691,2540,3420
$STATE,2813,end apogee,CONTROL_FINISHED_OK
$STATE,2813,begin climb
$GC,2816,0.84,155.7,610.8,0.0,121,2958,1.02,2.20,132.35,0.996,4,0.054,0.028,3085,1141,2784
$GC,2990,1.27,503.8,628.8,-4.8,125,3297,0.35,2.28,297.90,0.979,6,0.066,0.046,3205,2555,1366
$GC,3562,1.27,503.8,407.3,50.5,139,3566,0.00,2.15,0.00,0.000,4,0.000,0.036,3215,1159,1360
$GC,3681,1.27,503.8,349.1,45.3,141,3685,0.00,2.20,0.00,0.000,6,0.000,0.048,3216,2553,1357
$GC,3939,1.27,503.8,216.2,53.3,148,3942,0.00,2.10,0.00,0.000,4,0.000,0.034,3226,1154,1357
$GC,4009,1.27,503.8,179.1,49.3,151,4013,0.00,2.22,0.00,0.000,6,0.000,0.048,3226,2559,1356
$GC,4274,1.27,503.8,51.8,44.5,175,4278,0.00,2.10,0.00,0.000,4,0.000,0.032,3236,1153,1355
$STATE,4387,end climb,SURFACE_DEPTH_REACHED
$STATE,4387,begin surface coast
$FINISH,0.1,1.023972
$STATE,4394,end surface coast,CONTROL_FINISHED_OK
$STATE,4394,begin surface
$SM_CCo,4478,0.00,0.000,0,0,1350,507.76
$SM_GC,1.03,8.38,0.00,0.00,0.043,0.000,0.000,41,2665,1350,-8.53,0.42,507.76
$IRIDIUM_FIX,2241.69,-15806.70,290400,000015
$TT8_MAMPS,0.023777
$HUMID,2048
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.8,79.783
$10V_AH,10.7,44.080
$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,20.825,50.325,542.350,0.000,0.000,51.384,66.934,181.007,0.500,0.000,0.000,15.033,416.974,2761.856,501.981,807.167,477.992,33.324,950.058,0.000,796.873,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,72.865,1013.207,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,128.087,290.081,297.396,67.720,281.538,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16175,192
$CAP_FILE_SIZE,45854,0
$CFSIZE,260165632,238166016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,030211,015621,2250.675,-15806.128,11,4.3,30,10.1