version: 66.04
glider: 512
mission: 1
dive: 633
start: 2 5 111 14 11 41
data:
$ID,512
$MISSION,1
$DIVE,633
$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,-19706.301
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,51
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3190
$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
$GPS1,140514,2245.877,-15759.091,12,1.5,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-79.0
$GPS2,141046,2245.848,-15759.093,12,4.0,31,10.1
$SPEED_LIMITS,0.167,0.248
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.102,0.227
$KALMAN_X,-193998.1,-1394.9,-212.5,216146.5,3725.1
$KALMAN_Y,-544576.6,-486.5,-338.9,666868.2,-1236.7
$MHEAD_RNG_PITCHd_Wd,325.7,3070,-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,-136.3,0.0,0.0,0,71,0.00,0.00,-53.00,0.000,2,0.000,0.000,28,2685,3163
$GC,76,-0.87,-136.3,3.8,-6.3,7,108,10.68,2.22,-10.57,0.000,4,0.231,0.041,2569,1230,3748
$GC,247,-0.87,-136.3,52.3,-18.7,26,255,0.00,2.30,0.00,0.000,6,0.000,0.064,2560,2613,3750
$GC,511,-0.87,-136.3,119.1,-23.5,51,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2613,3752
$GC,776,-0.87,-136.3,178.8,-21.7,76,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2613,3753
$GC,1042,-0.87,-136.3,232.4,-19.3,90,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2613,3754
$GC,1286,-0.87,-136.3,275.7,-17.6,96,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2613,3755
$GC,1529,-0.87,-136.3,315.8,-16.1,102,1533,0.00,2.10,0.00,0.000,4,0.000,0.067,2550,3903,3755
$GC,1568,-0.87,-136.3,322.5,-15.8,102,1574,0.00,1.85,0.00,0.000,6,0.000,0.025,2550,2634,3755
$GC,1819,-0.87,-136.3,364.3,-17.1,109,1823,0.00,2.05,0.00,0.000,4,0.000,0.028,2550,1235,3755
$GC,1870,-0.87,-136.3,372.3,-13.0,110,1875,0.10,2.30,0.00,0.000,6,0.146,0.059,2564,2657,3755
$GC,2150,-0.87,-136.3,411.1,-14.4,117,2153,0.00,2.03,0.00,0.000,4,0.000,0.070,2557,3892,3754
$GC,2206,-0.87,-136.3,419.5,-13.1,118,2210,0.00,1.83,0.00,0.000,6,0.000,0.025,2557,2637,3753
$GC,2485,-0.87,-136.3,461.4,-15.3,125,2489,0.00,2.03,0.00,0.000,4,0.000,0.028,2558,1255,3752
$GC,2519,-0.87,-136.3,466.6,-13.3,125,2524,0.00,2.25,0.00,0.000,6,0.000,0.058,2549,2647,3752
$GC,2771,-0.87,-136.3,502.7,-14.7,131,2775,0.00,2.10,0.00,0.000,4,0.000,0.080,2540,3903,3751
$GC,2817,-0.87,-136.3,509.2,-12.2,132,2821,0.00,1.83,0.00,0.000,6,0.000,0.027,2540,2652,3751
$GC,3110,-0.87,-136.3,548.8,-13.5,139,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2643,3749
$GC,3351,-0.87,-136.3,581.4,-13.5,145,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2643,3747
$STATE,3510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3510,begin apogee
$GC,3519,-0.32,0.0,604.8,14.4,149,3640,0.65,0.00,118.10,1.144,6,0.132,0.000,2742,2556,3190
$STATE,3641,end apogee,CONTROL_FINISHED_OK
$STATE,3641,begin climb
$GC,3645,0.87,136.3,612.4,0.0,152,3772,1.08,2.30,120.03,1.068,4,0.064,0.061,3124,3909,2633
$GC,3860,0.87,136.3,619.0,12.1,157,3864,0.00,2.05,0.00,0.000,6,0.000,0.028,3133,2550,2629
$GC,4147,0.87,136.3,584.3,12.0,164,4150,0.00,2.10,0.00,0.000,4,0.000,0.030,3144,1133,2625
$GC,4158,0.87,136.3,582.8,11.6,164,4163,0.00,2.25,0.00,0.000,6,0.000,0.051,3144,2554,2624
$GC,4434,0.87,136.3,550.9,11.3,171,4438,0.00,2.12,0.00,0.000,4,0.000,0.053,3138,3900,2622
$GC,4485,0.87,136.3,545.1,10.8,172,4489,0.00,2.00,0.00,0.000,6,0.000,0.028,3146,2549,2622
$GC,4770,0.87,136.3,517.4,9.7,179,4774,0.00,2.20,0.00,0.000,4,0.000,0.059,3147,3902,2621
$GC,5028,0.90,158.3,492.6,8.6,184,5053,0.00,2.00,18.30,0.987,6,0.000,0.028,3157,2540,2544
$GC,5328,0.90,158.3,455.2,13.5,192,5331,0.00,2.20,0.00,0.000,4,0.000,0.057,3157,3903,2539
$GC,5586,0.90,158.3,421.8,12.2,197,5590,0.00,2.00,0.00,0.000,6,0.000,0.029,3167,2556,2538
$GC,5842,0.90,158.3,394.4,10.7,204,5846,0.00,2.15,0.00,0.000,4,0.000,0.051,3166,3901,2537
$GC,6101,0.90,158.3,366.3,10.1,209,6105,0.15,2.03,0.00,0.000,6,0.244,0.029,3145,2541,2536
$GC,6358,0.91,166.1,343.2,9.2,216,6367,0.00,0.00,7.07,0.798,6,0.000,0.000,3144,2533,2512
$GC,6650,0.91,166.1,310.9,11.5,223,6653,0.00,2.20,0.00,0.000,4,0.000,0.055,3138,3903,2511
$GC,6838,0.91,166.1,288.5,12.1,227,6842,0.00,2.00,0.00,0.000,6,0.000,0.028,3146,2545,2511
$GC,7122,0.93,186.4,261.2,8.6,234,7153,0.00,2.15,21.33,0.815,4,0.000,0.029,3156,1143,2430
$GC,7221,0.93,186.4,250.7,10.8,236,7226,0.00,2.25,0.00,0.000,6,0.000,0.046,3150,2557,2428
$GC,7489,0.93,186.4,219.2,11.8,243,7493,0.00,2.12,0.00,0.000,4,0.000,0.055,3150,3897,2427
$GC,7529,0.93,186.4,214.5,11.4,243,7535,0.00,2.00,0.00,0.000,6,0.000,0.027,3159,2542,2426
$GC,7786,0.93,186.4,187.9,10.1,256,7789,0.00,2.05,0.00,0.000,4,0.000,0.028,3169,1135,2426
$GC,7847,0.93,186.4,181.3,10.4,261,7856,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2554,2426
$GC,8112,0.93,186.4,154.8,9.7,286,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2554,2426
$GC,8377,0.97,221.1,129.3,8.0,311,8414,0.00,2.17,31.08,0.784,4,0.000,0.053,3163,3911,2289
$GC,8509,0.97,221.1,110.1,16.9,322,8518,0.00,2.05,0.00,0.000,6,0.000,0.025,3172,2545,2287
$GC,8774,0.97,221.1,79.3,12.0,347,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2544,2285
$GC,9039,0.97,221.1,45.5,13.8,372,9042,0.00,2.05,0.00,0.000,4,0.000,0.026,3182,1138,2285
$GC,9238,0.97,221.1,16.4,15.0,398,9246,0.00,2.25,0.00,0.000,6,0.000,0.043,3179,2560,2285
$STATE,9321,end climb,SURFACE_DEPTH_REACHED
$STATE,9321,begin surface coast
$FINISH,0.3,1.024062
$STATE,9338,end surface coast,CONTROL_FINISHED_OK
$STATE,9338,begin surface
$SM_CCo,9361,70.38,0.659,0,0,1762,350.04
$SM_GC,1.56,0.00,0.00,70.38,0.000,0.000,0.659,39,2680,1762,-8.78,0.85,350.04
$IRIDIUM_FIX,2234.68,-15758.03,010500,121233
$TT8_MAMPS,0.023777
$HUMID,1810
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.6,84.128
$10V_AH,10.7,46.237
$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,20.950,76.075,315.900,70.375,0.000,23.555,40.175,131.294,0.000,0.000,0.000,32.864,877.440,6320.284,437.937,1668.578,472.649,33.392,1126.033,0.000,1638.046,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,79.768,1143.597,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,281.382,643.072,661.301,140.057,583.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35175,416
$CAP_FILE_SIZE,76368,0
$CFSIZE,260165632,236994560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,050211,165006,2246.591,-15759.753,30,1.0,31,10.1