version: 66.04
glider: 512
mission: 2
dive: 5
start: 8 12 111 20 34 45
data:
$ID,512
$MISSION,2
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,200
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$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,420
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32601.959
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2530
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,90
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,202607,2142.469,-15808.094,12,1.5,30,9.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.0
$GPS2,203355,2142.513,-15808.047,20,1.4,31,9.9
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,FIRST
$TGT_LATLONG,2145.500,-15813.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.213,-0.075
$KALMAN_X,1682.4,681.6,503.7,-688.0,1328.5
$KALMAN_Y,727.1,357.0,293.1,1073.1,415.9
$MHEAD_RNG_PITCHd_Wd,240.6,10158,-20.7,-10.000
$D_GRID,300
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.82,-107.1,0.0,0.0,0,107,0.00,0.00,-81.90,0.000,6,0.000,0.000,42,2499,3437
$GC,113,-0.82,-107.1,4.6,-9.7,11,130,8.80,1.95,0.00,0.000,4,0.201,0.021,2478,1145,3438
$GC,264,-0.82,-107.1,34.4,-7.3,32,268,0.00,2.08,0.00,0.000,6,0.000,0.035,2478,2536,3439
$GC,535,-0.82,-107.1,54.6,-7.4,57,539,0.00,2.00,0.00,0.000,4,0.000,0.026,2478,1146,3438
$GC,609,-0.82,-107.1,60.7,-8.2,63,617,0.00,2.08,0.00,0.000,6,0.000,0.035,2478,2535,3438
$GC,873,-0.82,-107.1,81.7,-8.4,88,877,0.00,2.00,0.00,0.000,4,0.000,0.026,2478,1144,3439
$GC,922,-0.82,-107.1,85.7,-8.2,92,926,0.00,2.05,0.00,0.000,6,0.000,0.033,2478,2548,3439
$GC,1194,-0.82,-107.1,104.7,-7.0,117,1197,0.00,2.00,0.00,0.000,4,0.000,0.045,2478,3891,3439
$GC,1225,-0.82,-107.1,106.7,-6.2,119,1232,0.00,1.92,0.00,0.000,6,0.000,0.023,2478,2533,3439
$GC,1490,-0.82,-107.1,123.0,-6.9,144,1494,0.00,2.05,0.00,0.000,4,0.000,0.045,2478,3889,3439
$GC,1583,-0.82,-107.1,130.6,-8.5,152,1587,0.00,1.88,0.00,0.000,6,0.000,0.022,2488,2549,3438
$GC,1855,-0.82,-107.1,148.0,-6.7,177,1858,0.00,2.00,0.00,0.000,4,0.000,0.027,2495,1131,3438
$GC,1887,-0.82,-107.1,150.2,-6.5,179,1894,0.00,2.08,0.00,0.000,6,0.000,0.035,2495,2526,3438
$GC,2151,-0.82,-107.1,166.3,-6.9,204,2155,0.00,1.98,0.00,0.000,4,0.000,0.027,2499,1137,3437
$GC,2257,-0.82,-107.1,173.7,-7.4,213,2260,0.00,2.08,0.00,0.000,6,0.000,0.035,2499,2538,3437
$GC,2528,-0.82,-107.1,192.7,-6.2,238,2532,0.00,2.03,0.00,0.000,4,0.000,0.047,2499,3895,3437
$GC,2544,-0.82,-107.1,193.7,-6.4,239,2547,0.00,1.95,0.00,0.000,6,0.000,0.023,2506,2517,3437
$GC,2818,-0.82,-107.1,211.2,-6.5,253,2822,0.00,1.95,0.00,0.000,4,0.000,0.026,2508,1136,3436
$GC,2871,-0.82,-107.1,215.2,-8.2,254,2875,0.00,2.08,0.00,0.000,6,0.000,0.035,2508,2537,3436
$GC,3160,-0.82,-107.1,234.1,-6.5,261,3163,0.00,2.03,0.00,0.000,4,0.000,0.027,2518,1121,3435
$GC,3247,-0.82,-107.1,240.0,-6.1,262,3254,0.12,2.08,0.00,0.000,6,0.114,0.036,2479,2527,3434
$GC,3499,-0.82,-107.1,257.9,-7.0,269,3503,0.00,2.05,0.00,0.000,4,0.000,0.046,2479,3900,3433
$GC,3663,-0.82,-107.1,269.1,-5.3,272,3667,0.00,1.92,0.00,0.000,6,0.000,0.024,2487,2533,3432
$GC,3928,-0.82,-107.1,283.0,-5.2,279,3932,0.00,2.00,0.00,0.000,4,0.000,0.028,2490,1123,3431
$GC,3986,-0.82,-107.1,286.2,-6.2,280,3990,0.00,2.08,0.00,0.000,6,0.000,0.037,2490,2538,3431
$STATE,4261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4261,begin apogee
$GC,4273,-0.27,0.0,302.2,6.1,287,4358,0.43,0.00,82.10,0.798,6,0.040,0.000,2684,2406,3000
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4364,0.82,107.1,311.5,0.0,289,4461,0.85,2.08,89.22,0.797,4,0.055,0.025,3010,1038,2562
$GC,4570,0.82,107.1,315.6,14.1,293,4574,0.00,2.10,0.00,0.000,6,0.000,0.031,3010,2444,2557
$GC,4828,0.82,107.1,284.4,10.9,300,4831,0.00,2.08,0.00,0.000,4,0.000,0.036,3010,3838,2553
$GC,4841,0.82,107.1,282.9,10.2,300,4845,0.00,2.00,0.00,0.000,6,0.000,0.023,3021,2443,2553
$GC,5121,0.89,160.3,262.2,6.7,307,5171,0.00,2.20,42.65,0.771,4,0.000,0.036,3013,3841,2345
$GC,5427,0.89,160.3,203.5,22.6,313,5434,0.00,2.05,0.00,0.000,6,0.000,0.025,3022,2424,2339
$GC,5691,0.89,160.3,157.8,16.2,335,5695,0.00,2.15,0.00,0.000,4,0.000,0.037,3022,3847,2337
$GC,5896,0.89,160.3,121.2,15.3,353,5900,0.00,2.03,0.00,0.000,6,0.000,0.023,3033,2424,2336
$GC,6167,0.89,160.3,88.1,14.9,378,6170,0.00,1.98,0.00,0.000,4,0.000,0.025,3044,1021,2335
$GC,6214,0.93,194.1,82.7,7.9,382,6252,0.00,2.05,26.58,0.643,6,0.000,0.031,3040,2437,2207
$GC,6508,0.93,194.1,41.4,15.9,409,6512,0.00,2.08,0.00,0.000,4,0.000,0.038,3040,3844,2203
$STATE,6758,end climb,SURFACE_DEPTH_REACHED
$STATE,6758,begin surface coast
$FINISH,0.1,1.023071
$STATE,6775,end surface coast,CONTROL_FINISHED_OK
$STATE,6775,begin surface
$SM_CCo,6803,105.85,0.574,0,0,1286,420.19
$SM_GC,1.04,0.00,0.00,105.85,0.000,0.000,0.574,42,2520,1286,-8.43,-0.28,420.19
$IRIDIUM_FIX,2136.49,-15810.62,051100,191932
$TT8_MAMPS,0.023777
$HUMID,2171
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,23.80
$XPDR_PINGS,8
$24V_AH,24.9,0.939
$10V_AH,10.9,1.038
$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,18.475,73.100,240.550,105.850,0.000,30.980,36.323,201.188,2.000,0.000,0.000,31.439,885.205,3684.919,399.457,1758.199,656.401,33.329,1010.937,0.000,1745.706,0.000,0.547,0.000
$DEVICE_MAMPS,200.954,48.321,798.447,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,304.305,897.332,922.467,191.899,879.619,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38313,452
$CAP_FILE_SIZE,70161,0
$CFSIZE,260165632,217276416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,120811,223125,2142.819,-15807.472,24,1.0,42,9.9