version: 66.04
glider: 512
mission: 1
dive: 999
start: 3 18 111 17 12 17
data:
$ID,512
$MISSION,1
$DIVE,999
$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,150
$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,380
$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,-27514.887
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2640
$C_ROLL_CLIMB,2460
$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,2940
$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
$GPS1,170004,2255.768,-15800.786,13,2.3,33,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.1
$GPS2,171125,2255.781,-15800.917,13,1.1,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.252,-0.045
$KALMAN_X,-397347.2,261.1,255.2,414213.3,-4056.5
$KALMAN_Y,-660579.9,183.3,372.3,799862.4,-1836.6
$MHEAD_RNG_PITCHd_Wd,90.0,10162,-16.9,-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,18,-0.85,-146.0,0.0,0.0,0,89,0.00,0.00,-67.95,0.000,2,0.000,0.000,29,2683,3223
$GC,94,-0.85,-146.0,3.9,-3.8,9,119,11.48,0.00,-5.53,0.000,6,0.245,0.000,2591,2682,3537
$GC,387,-0.85,-146.0,92.9,-26.5,40,391,0.00,2.17,0.00,0.000,4,0.000,0.025,2601,1222,3539
$GC,436,-0.85,-146.0,104.6,-18.6,44,440,0.00,2.30,0.00,0.000,6,0.000,0.056,2592,2610,3540
$GC,700,-0.85,-146.0,155.9,-18.7,68,704,0.00,2.15,0.00,0.000,4,0.000,0.064,2581,3902,3540
$GC,785,-0.85,-146.0,172.1,-15.9,75,794,0.00,1.90,0.00,0.000,6,0.000,0.024,2589,2625,3541
$GC,1046,-0.85,-146.0,216.7,-18.6,94,1049,0.00,2.03,0.00,0.000,4,0.000,0.025,2599,1234,3542
$GC,1076,-0.85,-146.0,222.1,-17.0,94,1080,0.00,2.33,0.00,0.000,6,0.000,0.058,2590,2638,3542
$GC,1334,-0.85,-146.0,261.0,-15.2,101,1338,0.00,2.10,0.00,0.000,4,0.000,0.065,2580,3901,3542
$GC,1386,-0.85,-146.0,268.7,-12.5,102,1390,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2636,3541
$GC,1675,-0.85,-146.0,306.7,-13.3,109,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2630,3541
$GC,1916,-0.85,-146.0,336.2,-12.1,115,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2630,3541
$GC,2161,-0.85,-146.0,365.6,-12.0,121,2164,0.00,2.12,0.00,0.000,4,0.000,0.062,2579,3902,3540
$GC,2219,-0.85,-146.0,372.8,-11.1,122,2223,0.00,1.88,0.00,0.000,6,0.000,0.024,2586,2649,3540
$GC,2501,-0.85,-146.0,405.8,-12.0,129,2505,0.00,2.12,0.00,0.000,4,0.000,0.067,2578,3898,3539
$GC,2526,-0.85,-146.0,409.2,-12.2,129,2530,0.00,1.88,0.00,0.000,6,0.000,0.025,2586,2642,3539
$GC,2796,-0.85,-146.0,439.1,-10.9,136,2800,0.00,2.15,0.00,0.000,4,0.000,0.067,2577,3899,3536
$GC,2855,-0.85,-146.0,445.8,-10.7,137,2859,0.00,1.88,0.00,0.000,6,0.000,0.025,2585,2630,3536
$GC,3135,-0.85,-146.0,475.1,-10.5,144,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2622,3534
$GC,3380,-0.85,-146.0,500.4,-10.3,150,3383,0.00,2.17,0.00,0.000,4,0.000,0.065,2577,3905,3532
$GC,3454,-0.85,-146.0,508.5,-10.3,151,3458,0.00,1.88,0.00,0.000,6,0.000,0.026,2584,2642,3531
$GC,3719,-0.85,-146.0,535.4,-10.2,158,3722,0.00,2.17,0.00,0.000,4,0.000,0.067,2576,3908,3528
$GC,3760,-0.85,-146.0,540.2,-10.9,158,3766,0.00,1.90,0.00,0.000,6,0.000,0.027,2581,2638,3527
$GC,4012,-0.85,-146.0,567.3,-11.0,165,4016,0.00,2.17,0.00,0.000,4,0.000,0.067,2573,3908,3525
$GC,4061,-0.85,-146.0,572.6,-10.8,166,4064,0.00,1.90,0.00,0.000,6,0.000,0.028,2581,2638,3526
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4360,-0.32,0.0,601.5,9.5,173,4485,0.68,0.00,121.93,1.068,6,0.150,0.000,2773,2476,2940
$STATE,4485,end apogee,CONTROL_FINISHED_OK
$STATE,4486,begin climb
$GC,4491,0.85,146.0,605.7,0.0,176,4628,1.08,2.40,129.60,1.040,4,0.069,0.056,3149,3880,2343
$GC,4705,0.85,146.0,580.8,26.9,181,4709,0.00,2.20,0.00,0.000,6,0.000,0.029,3159,2449,2337
$GC,4990,0.85,146.0,504.7,26.5,188,4994,0.00,2.10,0.00,0.000,4,0.000,0.029,3170,1048,2332
$GC,5042,0.85,146.0,491.9,23.4,189,5046,0.00,2.28,0.00,0.000,6,0.000,0.047,3163,2469,2331
$GC,5329,0.85,146.0,424.9,23.5,196,5333,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1031,2328
$GC,5437,0.85,146.0,400.7,20.3,198,5442,0.00,2.30,0.00,0.000,6,0.000,0.045,3168,2463,2328
$GC,5707,0.85,146.0,344.0,20.7,205,5710,0.00,2.15,0.00,0.000,4,0.000,0.030,3177,1032,2326
$GC,5804,0.85,146.0,326.0,17.2,207,5809,0.00,2.30,0.00,0.000,6,0.000,0.046,3176,2462,2326
$GC,6085,0.85,146.0,275.3,17.9,214,6089,0.00,2.15,0.00,0.000,4,0.000,0.029,3184,1039,2325
$GC,6170,0.85,146.0,261.7,17.0,215,6177,0.00,2.30,0.00,0.000,6,0.000,0.044,3176,2455,2324
$GC,6423,0.85,146.0,225.1,13.7,222,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2454,2324
$GC,6669,0.85,146.0,193.8,14.0,231,6673,0.00,2.12,0.00,0.000,4,0.000,0.029,3184,1041,2323
$GC,6901,0.85,146.0,163.1,11.2,251,6908,0.00,2.30,0.00,0.000,6,0.000,0.041,3176,2461,2323
$GC,7165,0.85,146.0,133.0,10.3,276,7169,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1035,2323
$GC,7314,0.85,146.0,118.1,9.7,289,7318,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2472,2323
$GC,7581,0.95,220.9,91.1,6.3,313,7646,0.00,2.20,59.88,0.678,4,0.000,0.026,3184,1040,2039
$GC,7685,0.95,220.9,79.0,18.9,321,7689,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2466,2036
$GC,7956,0.95,220.9,21.6,23.8,348,7964,0.00,2.15,0.00,0.000,4,0.000,0.028,3185,1048,2034
$GC,7980,0.95,220.9,14.4,23.9,351,7988,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2453,2033
$STATE,8031,end climb,SURFACE_DEPTH_REACHED
$STATE,8031,begin surface coast
$FINISH,0.4,1.023920
$STATE,8044,end surface coast,CONTROL_FINISHED_OK
$STATE,8044,begin surface
$SM_CCo,8072,72.22,0.600,0,0,1389,380.21
$SM_GC,1.25,0.00,0.00,72.22,0.000,0.000,0.600,41,2701,1389,-8.87,1.72,380.21
$IRIDIUM_FIX,2246.36,-15801.49,110600,141433
$TT8_MAMPS,0.023777
$HUMID,1936
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.6,130.402
$10V_AH,10.6,78.514
$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,22.350,81.575,311.400,72.225,0.000,22.783,38.298,440.454,0.000,0.000,0.000,18.709,755.381,5384.464,426.274,1366.921,892.390,33.374,1015.098,0.000,1354.689,0.000,0.543,0.000
$DEVICE_MAMPS,244.673,67.496,1068.431,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,244.312,571.157,589.049,121.125,497.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28743,362
$CAP_FILE_SIZE,71345,0
$CFSIZE,260165632,221679616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,1
$GPS,180311,192922,2255.488,-15800.103,11,2.6,31,10.1