version: 66.04
glider: 512
mission: 2
dive: 16
start: 8 13 111 18 15 17
data:
$ID,512
$MISSION,2
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$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,200
$T_MISSION,470
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32873.465
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$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,2640
$C_ROLL_CLIMB,2560
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2860
$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
$GPS1,173933,2143.848,-15813.271,10,1.5,17,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.0
$GPS2,181425,2143.954,-15813.594,36,1.9,36,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SECOND
$TGT_LATLONG,2151.000,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.134,0.223
$KALMAN_X,2975.2,-15.2,-684.8,-9627.1,-945.5
$KALMAN_Y,-9290.8,44.0,-364.8,14725.5,-741.0
$MHEAD_RNG_PITCHd_Wd,21.1,13789,-17.5,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-83.00,0.000,2,0.000,0.000,47,2733,3331
$GC,110,-0.76,-146.0,3.8,-6.6,11,127,8.02,1.70,-2.17,0.000,4,0.202,0.051,2234,3877,3457
$GC,153,-0.76,-146.0,28.5,-56.2,17,162,0.00,1.83,0.00,0.000,6,0.000,0.023,2234,2637,3458
$GC,418,-0.76,-146.0,105.5,-22.1,42,422,0.00,2.03,0.00,0.000,4,0.000,0.028,2234,1230,3459
$GC,511,-0.76,-146.0,123.7,-16.6,50,515,0.00,2.08,0.00,0.000,6,0.000,0.038,2224,2613,3459
$GC,781,-0.76,-146.0,176.7,-19.6,75,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2615,3459
$GC,1070,-0.76,-146.0,230.7,-18.5,91,1074,0.00,2.00,0.00,0.000,4,0.000,0.027,2225,1233,3459
$GC,1195,-0.76,-146.0,250.4,-13.5,93,1199,0.00,2.10,0.00,0.000,6,0.000,0.038,2223,2643,3459
$GC,1452,-0.76,-146.0,288.7,-14.3,100,1456,0.00,1.88,0.00,0.000,4,0.000,0.044,2213,3901,3458
$GC,1507,-0.76,-146.0,296.5,-13.7,101,1511,0.10,1.83,0.00,0.000,6,0.142,0.023,2240,2616,3458
$GC,1792,-0.76,-146.0,329.4,-11.2,108,1796,0.00,1.95,0.00,0.000,4,0.000,0.027,2244,1241,3456
$GC,1878,-0.76,-146.0,339.6,-11.3,109,1884,0.00,2.10,0.00,0.000,6,0.000,0.038,2236,2647,3456
$GC,2132,-0.76,-146.0,373.5,-13.7,116,2135,0.00,2.03,0.00,0.000,4,0.000,0.027,2236,1241,3454
$GC,2240,-0.76,-146.0,387.5,-12.0,118,2244,0.00,2.10,0.00,0.000,6,0.000,0.041,2236,2637,3453
$GC,2514,-0.76,-146.0,418.8,-11.2,125,2518,0.00,2.00,0.00,0.000,4,0.000,0.028,2236,1248,3451
$GC,2564,-0.76,-146.0,423.5,-9.6,126,2568,0.00,2.10,0.00,0.000,6,0.000,0.040,2227,2653,3450
$GC,2855,-0.76,-146.0,456.9,-11.7,133,2859,0.00,2.03,0.00,0.000,4,0.000,0.028,2228,1249,3447
$GC,2924,-0.76,-146.0,465.0,-11.2,134,2928,0.00,2.10,-0.08,0.000,6,0.000,0.041,2223,2640,3472
$GC,3196,-0.76,-146.0,496.8,-11.6,141,3199,0.00,1.90,0.00,0.000,4,0.000,0.051,2213,3899,3470
$GC,3231,-0.76,-146.0,501.8,-13.3,141,3235,0.05,1.85,0.00,0.000,6,0.138,0.028,2247,2638,3469
$GC,3489,-0.76,-146.0,526.5,-9.2,148,3493,0.00,2.00,0.00,0.000,4,0.000,0.031,2249,1249,3467
$GC,3587,-0.76,-146.0,535.8,-9.6,150,3591,0.00,2.10,0.00,0.000,6,0.000,0.043,2241,2642,3466
$GC,3873,-0.76,-146.0,565.9,-10.9,157,3877,0.00,2.03,0.00,0.000,4,0.000,0.031,2241,1249,3463
$GC,3914,-0.76,-146.0,570.8,-11.4,157,3920,0.00,2.12,0.00,0.000,6,0.000,0.044,2237,2646,3463
$GC,4168,-0.76,-146.0,597.7,-10.6,164,4172,0.00,1.90,0.00,0.000,4,0.000,0.054,2227,3894,3460
$STATE,4187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4187,begin apogee
$GC,4201,-0.27,0.0,600.6,10.5,164,4325,0.50,0.00,120.57,1.068,6,0.117,0.000,2398,2558,2860
$STATE,4325,end apogee,CONTROL_FINISHED_OK
$STATE,4326,begin climb
$GC,4331,0.76,146.0,605.4,0.0,167,4472,0.90,2.22,128.55,1.018,4,0.044,0.047,2755,3894,2263
$GC,4659,0.76,146.0,551.3,26.8,174,4663,0.00,2.00,0.00,0.000,6,0.000,0.029,2764,2569,2256
$GC,4929,0.76,146.0,488.8,23.1,181,4933,0.00,2.10,0.00,0.000,4,0.000,0.033,2775,1145,2252
$GC,4953,0.76,146.0,482.7,23.7,181,4958,0.15,2.17,0.00,0.000,6,0.202,0.040,2741,2568,2251
$GC,5217,0.76,146.0,427.8,20.9,188,5220,0.00,2.05,0.00,0.000,4,0.000,0.049,2741,3898,2249
$GC,5241,0.76,146.0,421.8,23.3,188,5245,0.00,2.00,0.00,0.000,6,0.000,0.030,2750,2547,2249
$GC,5510,0.76,146.0,371.7,18.1,195,5514,0.00,2.10,0.00,0.000,4,0.000,0.050,2751,3894,2248
$GC,5528,0.76,146.0,367.8,18.6,195,5532,0.00,1.98,0.00,0.000,6,0.000,0.029,2761,2551,2247
$GC,5805,0.76,146.0,311.8,19.4,202,5808,0.00,2.05,0.00,0.000,4,0.000,0.032,2771,1148,2247
$GC,5969,0.76,146.0,281.9,18.2,205,5974,0.12,2.12,0.00,0.000,6,0.195,0.041,2740,2562,2245
$GC,6233,0.76,146.0,239.4,15.6,212,6237,0.00,2.08,0.00,0.000,4,0.000,0.032,2749,1151,2244
$GC,6297,0.76,146.0,227.9,17.9,213,6301,0.00,2.12,0.00,0.000,6,0.000,0.041,2748,2562,2244
$GC,6556,0.76,146.0,187.2,15.8,224,6559,0.00,2.05,0.00,0.000,4,0.000,0.031,2760,1155,2244
$GC,6641,0.76,146.0,175.1,13.3,231,6650,0.00,2.15,0.00,0.000,6,0.000,0.041,2760,2563,2243
$GC,6906,0.76,146.0,139.4,11.4,256,6909,0.00,2.05,0.00,0.000,4,0.000,0.030,2770,1147,2243
$GC,6976,0.76,146.0,130.6,13.3,262,6981,0.12,2.12,0.00,0.000,6,0.189,0.038,2738,2571,2243
$GC,7245,0.79,165.8,102.5,9.1,286,7264,0.00,2.00,14.05,0.661,4,0.000,0.044,2738,3894,2183
$GC,7283,0.79,165.8,97.7,11.8,288,7291,0.00,1.98,0.00,0.000,6,0.000,0.027,2748,2555,2182
$GC,7549,0.96,306.3,74.0,3.5,313,7666,0.15,2.17,110.75,0.660,4,0.085,0.041,2794,3893,1610
$GC,7821,0.96,306.3,12.4,31.0,341,7830,0.00,2.00,0.00,0.000,6,0.000,0.024,2802,2554,1606
$STATE,7857,end climb,SURFACE_DEPTH_REACHED
$STATE,7857,begin surface coast
$FINISH,0.1,1.023249
$STATE,7869,end surface coast,CONTROL_FINISHED_OK
$STATE,7869,begin surface
$SM_CCo,7894,48.05,0.580,0,0,1146,420.19
$SM_GC,0.77,0.00,0.00,48.05,0.000,0.000,0.580,45,2664,1146,-7.64,0.68,420.19
$IRIDIUM_FIX,2136.49,-15812.78,061100,181857
$TT8_MAMPS,0.023777
$HUMID,2174
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.70
$XPDR_PINGS,5
$24V_AH,24.4,2.209
$10V_AH,10.8,2.051
$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,17.225,89.375,373.925,48.050,0.000,137.791,196.445,1304.472,1.250,0.000,0.000,41.100,750.537,5390.600,437.962,1421.096,2039.942,33.331,1089.543,0.000,1383.279,0.000,0.546,0.000
$DEVICE_MAMPS,201.721,65.195,1068.431,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,233.857,548.749,562.835,104.005,483.246,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28987,349
$CAP_FILE_SIZE,92486,0
$CFSIZE,260165632,216821760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,130811,202907,2145.052,-15813.219,38,1.1,39,9.9