version: 66.04
glider: 512
mission: 1
dive: 623
start: 2 4 111 15 35 55
data:
$ID,512
$MISSION,1
$DIVE,623
$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,140
$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,-19489.684
$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,57
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,152949,2249.953,-15756.011,38,1.9,50,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.1
$GPS2,153500,2249.927,-15756.038,14,1.9,30,10.1
$SPEED_LIMITS,0.167,0.248
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.131,-0.211
$KALMAN_X,-201422.6,43.2,519.9,226627.5,-6987.1
$KALMAN_Y,-547546.5,569.4,-29.9,676004.9,987.7
$MHEAD_RNG_PITCHd_Wd,138.0,6199,-17.5,-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,-0.87,-136.3,0.0,0.0,0,64,0.00,0.00,-45.35,0.000,2,0.000,0.000,42,2689,2929
$GC,68,-0.87,-136.3,3.2,-5.1,6,101,10.35,1.92,-16.62,0.000,4,0.229,0.084,2500,3856,3757
$GC,111,-0.87,-136.3,16.5,-28.4,11,119,0.00,1.80,0.00,0.000,6,0.000,0.025,2507,2641,3758
$GC,384,-0.87,-136.3,113.0,-30.7,39,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2635,3760
$GC,648,-0.87,-136.3,186.8,-28.0,64,652,0.00,2.03,0.00,0.000,4,0.000,0.028,2514,1257,3762
$GC,695,-0.87,-136.3,199.4,-22.6,68,700,0.00,2.22,0.00,0.000,6,0.000,0.065,2506,2622,3762
$GC,946,-0.87,-136.3,260.3,-24.0,74,950,0.00,2.03,0.00,0.000,4,0.000,0.027,2510,1257,3763
$GC,981,-0.87,-136.3,268.6,-22.1,74,985,0.00,2.30,0.00,0.000,6,0.000,0.064,2502,2661,3763
$GC,1231,-0.87,-136.3,322.7,-21.7,80,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2661,3764
$GC,1476,-0.87,-136.3,374.4,-21.5,86,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2661,3764
$GC,1719,-0.87,-136.3,426.4,-21.4,92,1722,0.00,2.08,0.00,0.000,4,0.000,0.028,2508,1258,3763
$GC,1747,-0.87,-136.3,432.9,-21.7,92,1751,0.00,2.28,0.00,0.000,6,0.000,0.062,2499,2656,3764
$GC,2009,-0.87,-136.3,485.2,-19.9,99,2013,0.00,2.05,0.00,0.000,4,0.000,0.076,2489,3894,3763
$GC,2043,-0.87,-136.3,491.8,-18.3,99,2047,0.00,1.80,0.00,0.000,6,0.000,0.026,2496,2659,3762
$GC,2301,-0.87,-136.3,536.0,-17.3,106,2304,0.00,2.08,0.00,0.000,4,0.000,0.028,2507,1247,3762
$GC,2313,-0.87,-136.3,538.3,-17.3,106,2317,0.00,2.22,0.00,0.000,6,0.000,0.054,2498,2652,3762
$GC,2591,-0.87,-136.3,587.3,-17.8,113,2595,0.00,2.05,0.00,0.000,4,0.000,0.074,2488,3892,3760
$GC,2653,-0.87,-136.3,598.7,-16.2,114,2657,0.00,1.83,0.00,0.000,6,0.000,0.027,2495,2643,3760
$STATE,2661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2661,begin apogee
$GC,2670,-0.32,0.0,600.6,16.6,114,2790,0.62,0.00,116.53,1.025,6,0.144,0.000,2689,2546,3200
$STATE,2791,end apogee,CONTROL_FINISHED_OK
$STATE,2791,begin climb
$GC,2794,0.87,136.3,606.8,0.0,117,2917,1.10,0.00,119.20,1.013,6,0.055,0.000,3085,2546,2644
$GC,3133,0.87,136.3,598.4,11.5,126,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2546,2636
$GC,3376,0.87,136.3,571.3,10.9,132,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2546,2635
$GC,3619,0.87,136.3,546.8,10.3,138,3623,0.00,2.17,0.00,0.000,4,0.000,0.058,3084,3899,2632
$GC,3877,0.87,136.3,517.7,10.5,143,3881,0.00,1.98,0.00,0.000,6,0.000,0.028,3091,2567,2630
$GC,4135,0.91,172.7,496.1,7.9,150,4170,0.00,2.22,31.08,0.971,4,0.000,0.059,3091,3902,2495
$GC,4199,0.91,172.7,489.9,12.1,150,4203,0.00,2.05,0.00,0.000,6,0.000,0.029,3102,2549,2493
$GC,4461,0.91,172.7,454.5,13.2,157,4465,0.00,2.20,0.00,0.000,4,0.000,0.058,3098,3895,2489
$GC,4512,0.91,172.7,447.5,14.6,158,4516,0.00,2.03,0.00,0.000,6,0.000,0.028,3106,2541,2489
$GC,4797,0.91,172.7,409.3,13.7,165,4801,0.00,2.08,0.00,0.000,4,0.000,0.031,3117,1140,2486
$GC,4921,0.91,172.7,393.6,12.3,167,4925,0.00,2.25,0.00,0.000,6,0.000,0.052,3117,2546,2486
$GC,5172,0.91,172.7,361.9,12.7,173,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2546,2484
$GC,5415,0.91,172.7,333.0,11.7,179,5419,0.00,2.10,0.00,0.000,4,0.000,0.030,3128,1130,2483
$GC,5443,0.91,172.7,329.4,12.3,179,5447,0.00,2.28,0.00,0.000,6,0.000,0.051,3124,2552,2483
$GC,5701,0.91,172.7,298.5,12.1,186,5704,0.00,2.15,0.00,0.000,4,0.000,0.056,3124,3903,2482
$GC,5864,0.91,172.7,277.7,11.6,189,5869,0.17,2.03,0.00,0.000,6,0.234,0.028,3096,2538,2483
$GC,6121,0.91,172.7,251.9,10.3,196,6125,0.00,2.22,0.00,0.000,4,0.000,0.060,3096,3900,2482
$GC,6379,0.96,210.5,227.8,7.8,201,6416,0.00,2.00,31.88,0.805,6,0.000,0.028,3106,2540,2342
$GC,6668,0.96,210.5,191.8,13.5,211,6672,0.00,2.08,0.00,0.000,4,0.000,0.029,3116,1147,2337
$GC,6705,0.96,210.5,186.3,14.6,214,6710,0.00,2.25,0.00,0.000,6,0.000,0.048,3110,2560,2337
$GC,6970,0.96,210.5,149.0,12.6,238,6974,0.00,2.12,0.00,0.000,4,0.000,0.028,3119,1136,2336
$GC,7139,0.96,210.5,128.3,12.1,253,7144,0.00,2.22,0.00,0.000,6,0.000,0.048,3119,2548,2335
$GC,7404,0.96,210.5,96.6,10.1,277,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2548,2335
$GC,7669,0.97,214.9,73.8,9.4,302,7677,0.00,0.00,4.70,0.497,6,0.000,0.000,3119,2548,2323
$GC,7934,0.97,214.9,46.5,11.1,327,7938,0.00,2.15,0.00,0.000,4,0.000,0.057,3119,3900,2323
$GC,7964,0.97,214.9,43.1,11.9,329,7972,0.00,2.03,0.00,0.000,6,0.000,0.027,3129,2537,2323
$GC,8229,0.97,214.9,9.9,13.5,368,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2537,2323
$STATE,8280,end climb,SURFACE_DEPTH_REACHED
$STATE,8280,begin surface coast
$FINISH,0.4,1.024116
$STATE,8303,end surface coast,CONTROL_FINISHED_OK
$STATE,8303,begin surface
$SM_CCo,8324,75.65,0.604,0,0,1772,350.04
$SM_GC,1.97,0.00,0.00,75.65,0.000,0.000,0.604,32,2674,1772,-8.65,0.68,350.04
$IRIDIUM_FIX,2239.35,-15759.32,300400,141422
$TT8_MAMPS,0.023777
$HUMID,1800
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,82.968
$10V_AH,10.7,45.467
$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,20.350,71.550,303.375,75.650,0.000,26.917,37.105,113.457,0.250,0.000,0.000,30.147,796.978,5620.060,435.588,1438.957,433.370,33.346,1007.002,0.000,1419.337,0.000,0.541,0.000
$DEVICE_MAMPS,233.935,84.370,1025.479,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.159,604.817,623.767,143.462,590.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31917,381
$CAP_FILE_SIZE,69013,0
$CFSIZE,260165632,237387776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,040211,175707,2249.273,-15755.586,28,1.9,29,10.1