version: 66.04
glider: 512
mission: 1
dive: 624
start: 2 4 111 18 9 2
data:
$ID,512
$MISSION,1
$DIVE,624
$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,-19519.691
$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,63
$R_STBD_OVSHOOT,34
$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
$GPS1,175707,2249.273,-15755.586,28,1.9,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-77.2
$GPS2,180810,2249.314,-15755.573,9,2.1,28,10.1
$SPEED_LIMITS,0.167,0.248
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.045,-0.244
$KALMAN_X,-201070.2,-274.1,277.7,227634.0,-2666.9
$KALMAN_Y,-545957.2,578.9,-66.3,673317.8,1950.4
$MHEAD_RNG_PITCHd_Wd,180.3,5729,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.87,-136.3,0.0,0.0,0,64,0.00,0.00,-45.28,0.000,2,0.000,0.000,29,2675,2922
$GC,68,-0.87,-136.3,3.3,-4.6,6,102,10.32,2.17,-17.17,0.000,4,0.224,0.040,2519,1253,3758
$GC,148,-0.87,-136.3,27.8,-32.6,18,157,0.00,2.33,0.00,0.000,6,0.000,0.064,2510,2633,3759
$GC,413,-0.87,-136.3,118.1,-31.0,43,416,0.00,2.05,0.00,0.000,4,0.000,0.062,2500,3909,3761
$GC,496,-0.87,-136.3,140.4,-22.2,50,504,0.00,1.85,0.00,0.000,6,0.000,0.025,2501,2661,3760
$GC,757,-0.87,-136.3,212.2,-28.7,72,761,0.00,2.10,0.00,0.000,4,0.000,0.031,2512,1243,3762
$GC,864,-0.87,-136.3,237.3,-19.9,74,869,0.00,2.35,0.00,0.000,6,0.000,0.071,2503,2655,3762
$GC,1132,-0.87,-136.3,299.1,-23.4,81,1136,0.00,2.08,0.00,0.000,4,0.000,0.028,2506,1251,3762
$GC,1150,-0.87,-136.3,303.4,-22.1,81,1154,0.00,2.30,0.00,0.000,6,0.000,0.064,2497,2662,3763
$GC,1425,-0.87,-136.3,362.5,-21.5,88,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2663,3763
$GC,1667,-0.87,-136.3,413.6,-20.9,94,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2663,3762
$GC,1910,-0.87,-136.3,461.0,-19.2,100,1914,0.00,2.12,0.00,0.000,4,0.000,0.031,2497,1242,3761
$GC,1922,-0.87,-136.3,463.3,-18.9,100,1927,0.12,2.30,0.00,0.000,6,0.171,0.062,2516,2661,3760
$GC,2195,-0.87,-136.3,508.2,-16.6,107,2199,0.00,2.05,0.00,0.000,4,0.000,0.080,2508,3889,3759
$GC,2212,-0.87,-136.3,511.4,-16.8,107,2216,0.00,1.83,0.00,0.000,6,0.000,0.026,2508,2645,3759
$GC,2485,-0.87,-136.3,557.4,-17.0,114,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2637,3757
$GC,2729,-0.87,-136.3,596.8,-16.2,120,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2637,3754
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2777,-0.32,0.0,603.2,16.1,121,2896,0.60,0.00,115.25,1.035,6,0.137,0.000,2691,2546,3200
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2900,0.87,136.3,609.9,0.0,124,3023,1.05,0.00,118.38,1.015,6,0.054,0.000,3080,2546,2643
$GC,3267,0.87,136.3,599.4,10.5,133,3271,0.00,2.22,0.00,0.000,4,0.000,0.066,3080,3898,2636
$GC,3473,0.87,136.3,577.2,10.3,137,3476,0.00,2.00,0.00,0.000,6,0.000,0.028,3090,2553,2634
$GC,3741,0.87,136.3,551.0,9.8,144,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2546,2631
$GC,3984,0.88,145.5,528.5,9.2,150,3998,0.00,2.25,6.97,0.827,4,0.000,0.058,3089,3906,2606
$GC,4212,0.88,145.5,500.9,11.8,155,4216,0.00,2.03,0.00,0.000,6,0.000,0.030,3099,2548,2604
$GC,4498,0.89,156.2,473.9,9.1,162,4513,0.00,2.20,10.35,0.886,4,0.000,0.058,3097,3899,2563
$GC,4524,0.89,156.2,471.2,10.3,162,4528,0.00,2.03,0.00,0.000,6,0.000,0.028,3106,2541,2563
$GC,4783,0.90,162.6,445.6,9.3,169,4796,0.00,2.25,7.20,0.815,4,0.000,0.057,3106,3897,2537
$GC,4911,0.90,162.6,431.7,11.4,171,4917,0.00,2.03,0.00,0.000,6,0.000,0.028,3116,2540,2536
$GC,5164,0.90,162.6,406.3,10.3,178,5167,0.00,2.20,0.00,0.000,4,0.000,0.054,3111,3903,2533
$GC,5372,0.90,162.6,383.1,10.0,182,5376,0.00,2.03,0.00,0.000,6,0.000,0.029,3119,2549,2533
$GC,5636,0.90,162.6,356.7,10.3,189,5639,0.00,2.20,0.00,0.000,4,0.000,0.058,3119,3900,2532
$GC,5715,0.90,162.6,347.3,12.0,190,5719,0.17,2.03,0.00,0.000,6,0.236,0.028,3093,2533,2532
$GC,5966,0.90,162.6,321.2,10.1,196,5970,0.00,2.05,0.00,0.000,4,0.000,0.030,3102,1150,2530
$GC,6001,0.90,162.6,317.7,9.8,196,6005,0.00,2.20,0.00,0.000,6,0.000,0.048,3097,2549,2530
$GC,6252,0.93,186.8,295.5,8.5,202,6286,0.00,2.20,23.92,0.797,4,0.000,0.058,3097,3879,2438
$GC,6351,0.93,186.8,283.0,15.6,204,6355,0.00,2.00,0.00,0.000,6,0.000,0.028,3105,2551,2436
$GC,6631,0.93,186.8,244.6,12.7,211,6635,0.00,2.17,0.00,0.000,4,0.000,0.055,3106,3899,2434
$GC,6744,0.93,186.8,228.8,13.5,213,6748,0.00,2.03,0.00,0.000,6,0.000,0.027,3116,2536,2433
$GC,7012,0.94,192.6,202.3,9.3,220,7022,0.00,2.08,6.07,0.653,4,0.000,0.028,3126,1133,2414
$GC,7040,0.95,205.8,199.9,9.0,220,7064,0.00,2.25,13.30,0.746,6,0.000,0.047,3124,2564,2360
$GC,7322,0.95,205.8,165.5,13.5,246,7325,0.00,2.15,0.00,0.000,4,0.000,0.028,3133,1131,2356
$GC,7584,0.95,205.8,132.8,13.6,269,7588,0.00,2.25,0.00,0.000,6,0.000,0.045,3134,2560,2356
$GC,7849,0.95,205.8,99.6,9.7,293,7852,0.00,2.12,0.00,0.000,4,0.000,0.027,3144,1125,2356
$GC,8109,1.04,272.5,78.8,6.4,316,8175,0.00,2.22,56.88,0.677,6,0.000,0.044,3144,2555,2089
$GC,8431,1.04,272.5,20.8,22.5,348,8439,0.00,2.15,0.00,0.000,4,0.000,0.028,3154,1139,2084
$GC,8469,1.04,272.5,11.9,23.4,354,8477,0.00,2.25,0.00,0.000,6,0.000,0.042,3151,2551,2083
$STATE,8510,end climb,SURFACE_DEPTH_REACHED
$STATE,8510,begin surface coast
$FINISH,0.2,1.024063
$STATE,8522,end surface coast,CONTROL_FINISHED_OK
$STATE,8522,begin surface
$SM_CCo,8544,36.20,0.604,0,0,1772,350.04
$SM_GC,1.61,0.00,0.00,36.20,0.000,0.000,0.604,27,2717,1772,-8.67,1.89,350.04
$IRIDIUM_FIX,2239.35,-15754.99,300400,181857
$TT8_MAMPS,0.023777
$HUMID,1841
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.7,83.092
$10V_AH,10.7,45.549
$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,20.425,81.325,358.325,36.200,0.000,51.246,82.383,315.069,0.250,0.000,0.000,29.375,796.588,5832.969,431.138,1455.689,732.991,33.350,1065.470,0.000,1431.276,0.000,0.543,0.000
$DEVICE_MAMPS,236.236,79.768,1035.450,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,245.535,545.932,561.805,115.640,478.954,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28804,363
$CAP_FILE_SIZE,78663,0
$CFSIZE,260165632,237334528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,040211,203330,2248.533,-15755.656,39,1.2,45,10.1