version: 66.04
glider: 512
mission: 1
dive: 527
start: 1 29 111 2 49 23
data:
$ID,512
$MISSION,1
$DIVE,527
$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,-17300.326
$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,45
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,024325,2253.571,-15757.448,79,0.9,80,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.9
$GPS2,024832,2253.574,-15757.462,14,1.7,14,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.243,0.103
$KALMAN_X,-176009.4,1529.9,195.4,197596.9,-7178.7
$KALMAN_Y,-520145.8,145.9,232.3,655516.9,-4585.8
$MHEAD_RNG_PITCHd_Wd,57.0,3350,-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,15,-0.84,-155.7,0.0,0.0,0,55,0.00,0.00,-37.67,0.000,2,0.000,0.000,31,2676,2903
$GC,59,-0.84,-155.7,3.3,-6.3,5,98,10.50,1.95,-20.48,0.000,4,0.233,0.074,2509,3859,3962
$GC,128,-0.84,-155.7,28.0,-42.1,15,137,0.00,1.85,0.00,0.000,6,0.000,0.031,2514,2657,3963
$GC,391,-0.84,-155.7,124.9,-34.3,40,395,0.00,2.12,0.00,0.000,4,0.000,0.031,2524,1225,3964
$GC,460,-0.84,-155.7,145.0,-22.6,46,464,0.00,2.30,0.00,0.000,6,0.000,0.065,2516,2619,3965
$GC,749,-0.84,-155.7,224.8,-28.4,67,753,0.00,2.10,0.00,0.000,4,0.000,0.070,2506,3906,3967
$GC,779,-0.84,-155.7,233.5,-29.3,67,783,0.00,1.88,0.00,0.000,6,0.000,0.027,2508,2635,3967
$GC,1042,-0.84,-155.7,297.9,-24.9,74,1045,0.00,2.05,0.00,0.000,4,0.000,0.029,2518,1238,3968
$GC,1069,-0.84,-155.7,305.5,-24.6,74,1074,0.00,2.33,0.00,0.000,6,0.000,0.064,2510,2659,3968
$GC,1326,-0.84,-155.7,362.2,-22.8,81,1330,0.00,2.03,0.00,0.000,4,0.000,0.075,2500,3890,3968
$GC,1411,-0.84,-155.7,379.3,-18.1,82,1417,0.00,1.83,0.00,0.000,6,0.000,0.025,2504,2643,3968
$GC,1663,-0.84,-155.7,434.6,-22.6,89,1666,0.00,2.08,0.00,0.000,4,0.000,0.031,2514,1239,3967
$GC,1710,-0.84,-155.7,444.0,-17.2,90,1715,0.00,2.28,0.00,0.000,6,0.000,0.061,2506,2647,3967
$GC,1995,-0.84,-155.7,502.3,-21.1,97,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2647,3965
$GC,2238,-0.84,-155.7,549.0,-18.6,103,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2648,3965
$GC,2482,-0.84,-155.7,591.8,-17.4,109,2486,0.00,2.10,0.00,0.000,4,0.000,0.031,2514,1242,3964
$GC,2504,-0.84,-155.7,595.9,-18.0,109,2508,0.00,2.30,0.00,0.000,6,0.000,0.060,2505,2664,3963
$STATE,2561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2561,begin apogee
$GC,2569,-0.32,0.0,605.0,16.0,111,2694,0.65,0.00,122.68,1.029,6,0.168,0.000,2689,2538,3367
$STATE,2695,end apogee,CONTROL_FINISHED_OK
$STATE,2695,begin climb
$GC,2698,0.84,155.7,612.7,0.0,114,2840,1.25,2.22,132.30,1.013,4,0.145,0.037,3068,1165,2732
$GC,3099,0.92,221.5,618.8,6.9,123,3163,0.12,2.25,56.90,1.016,6,0.216,0.056,3086,2555,2463
$GC,3422,0.92,221.5,564.6,19.0,131,3426,0.00,2.15,0.00,0.000,4,0.000,0.038,3096,1154,2454
$GC,3681,0.92,221.5,520.8,15.9,136,3685,0.00,2.25,0.00,0.000,6,0.000,0.056,3088,2558,2452
$GC,3937,0.92,221.5,480.6,15.4,143,3940,0.00,2.12,0.00,0.000,4,0.000,0.035,3096,1151,2450
$GC,4194,0.92,221.5,442.8,13.9,148,4198,0.00,2.25,0.00,0.000,6,0.000,0.057,3093,2551,2448
$GC,4445,0.92,221.5,407.4,14.0,154,4448,0.00,2.10,0.00,0.000,4,0.000,0.035,3102,1155,2446
$GC,4658,0.92,221.5,379.5,13.1,158,4662,0.00,2.25,0.00,0.000,6,0.000,0.054,3094,2562,2446
$GC,4910,0.92,221.5,344.5,13.8,164,4913,0.00,2.17,0.00,0.000,4,0.000,0.064,3093,3902,2444
$GC,4977,0.92,221.5,334.0,14.4,165,4981,0.00,2.00,0.00,0.000,6,0.000,0.031,3102,2567,2444
$GC,5245,0.92,221.5,297.7,13.2,172,5248,0.00,2.15,0.00,0.000,4,0.000,0.035,3113,1137,2444
$GC,5284,0.92,221.5,292.8,12.0,172,5290,0.00,2.28,0.00,0.000,6,0.000,0.057,3110,2556,2444
$GC,5534,0.92,221.5,263.4,11.6,179,5538,0.00,2.17,0.00,0.000,4,0.000,0.061,3110,3905,2443
$GC,5646,0.92,221.5,249.9,13.5,181,5650,0.00,2.03,0.00,0.000,6,0.000,0.029,3118,2550,2443
$GC,5914,0.92,221.5,219.7,10.7,188,5917,0.00,2.12,0.00,0.000,4,0.000,0.033,3129,1127,2443
$GC,6076,0.92,221.5,203.4,10.9,191,6081,0.00,2.25,0.00,0.000,6,0.000,0.048,3124,2557,2443
$GC,6345,0.92,221.5,176.1,9.8,213,6348,0.00,2.12,0.00,0.000,4,0.000,0.056,3124,3897,2442
$GC,6506,0.92,221.5,159.6,10.5,227,6514,0.12,2.03,0.00,0.000,6,0.237,0.028,3104,2542,2442
$GC,6772,1.01,289.0,137.7,6.8,252,6834,0.00,2.15,54.83,0.729,4,0.000,0.030,3113,1148,2188
$GC,6860,1.01,289.0,128.4,16.1,259,6864,0.00,2.28,0.00,0.000,6,0.000,0.049,3110,2554,2185
$GC,7124,1.01,289.0,81.8,15.4,283,7128,0.00,2.12,0.00,0.000,4,0.000,0.028,3120,1135,2181
$GC,7215,1.01,289.0,68.8,14.2,291,7219,0.00,2.22,0.00,0.000,6,0.000,0.046,3120,2554,2181
$GC,7478,1.01,289.0,26.5,15.9,317,7487,0.00,2.10,0.00,0.000,4,0.000,0.027,3131,1145,2180
$GC,7560,1.01,289.0,13.6,17.1,331,7568,0.00,2.25,0.00,0.000,6,0.000,0.047,3131,2552,2180
$STATE,7621,end climb,SURFACE_DEPTH_REACHED
$STATE,7621,begin surface coast
$FINISH,0.2,1.024074
$STATE,7639,end surface coast,CONTROL_FINISHED_OK
$STATE,7639,begin surface
$SM_CCo,7659,34.62,0.600,0,0,1939,350.04
$SM_GC,1.79,0.00,0.00,34.62,0.000,0.000,0.600,32,2678,1939,-8.65,0.79,350.04
$IRIDIUM_FIX,2244.02,-15756.28,240400,000046
$TT8_MAMPS,0.023777
$HUMID,1836
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.9,69.172
$10V_AH,10.7,40.095
$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,20.600,81.525,366.700,34.625,0.000,30.053,33.694,122.701,0.250,0.000,0.000,14.242,760.803,4952.136,421.403,1456.799,418.335,33.332,1055.979,0.000,1448.550,0.000,0.543,0.000
$DEVICE_MAMPS,237.003,75.166,1028.547,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,233.178,546.394,562.850,120.406,496.061,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28926,345
$CAP_FILE_SIZE,70043,0
$CFSIZE,260165632,240365568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,1
$GPS,290111,045832,2253.602,-15756.944,12,1.6,13,10.1