version: 66.04
glider: 512
mission: 1
dive: 638
start: 2 6 111 1 44 1
data:
$ID,512
$MISSION,1
$DIVE,638
$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,150
$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,-19811.307
$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,49
$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,3180
$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
$GPS1,013730,2248.008,-15800.148,37,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.4
$GPS2,014308,2247.980,-15800.156,17,1.2,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.247,0.067
$KALMAN_X,-194517.9,409.8,361.4,212451.8,787.3
$KALMAN_Y,-551735.1,1286.9,132.3,675721.1,-3360.0
$MHEAD_RNG_PITCHd_Wd,275.1,5184,-16.9,-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,-0.85,-146.0,0.0,0.0,0,63,0.00,0.00,-45.22,0.000,2,0.000,0.000,31,2683,2898
$GC,68,-0.85,-146.0,3.2,-4.2,6,107,10.50,2.00,-18.02,0.000,4,0.222,0.086,2556,3858,3778
$GC,357,-0.85,-146.0,70.8,-20.6,39,361,0.00,1.80,0.00,0.000,6,0.000,0.026,2555,2658,3781
$GC,626,-0.85,-146.0,136.7,-23.1,64,630,0.00,2.10,0.00,0.000,4,0.000,0.031,2557,1238,3782
$GC,665,-0.85,-146.0,145.5,-19.9,67,672,0.00,2.35,0.00,0.000,6,0.000,0.077,2548,2609,3783
$GC,959,-0.85,-146.0,209.4,-22.3,92,963,0.00,2.15,0.00,0.000,4,0.000,0.077,2538,3902,3783
$GC,1021,-0.85,-146.0,222.7,-17.3,93,1026,0.12,1.85,0.00,0.000,6,0.156,0.026,2570,2642,3784
$GC,1294,-0.85,-146.0,268.1,-16.1,100,1298,0.00,2.08,0.00,0.000,4,0.000,0.030,2571,1235,3784
$GC,1317,-0.85,-146.0,271.7,-14.5,100,1321,0.00,2.38,0.00,0.000,6,0.000,0.075,2563,2652,3784
$GC,1579,-0.85,-146.0,310.2,-15.2,107,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2652,3784
$GC,1822,-0.85,-146.0,346.9,-15.0,113,1826,0.00,2.12,0.00,0.000,4,0.000,0.084,2553,3903,3784
$GC,1851,-0.85,-146.0,351.5,-15.9,113,1855,0.00,1.88,0.00,0.000,6,0.000,0.026,2553,2642,3784
$GC,2113,-0.85,-146.0,390.9,-15.1,120,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2637,3783
$GC,2357,-0.85,-146.0,426.5,-14.6,126,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2637,3782
$GC,2600,-0.85,-146.0,464.1,-15.6,132,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2637,3780
$GC,2844,-0.85,-146.0,499.9,-14.3,138,2847,0.00,2.08,0.00,0.000,4,0.000,0.033,2555,1247,3778
$GC,2872,-0.85,-146.0,503.9,-14.4,138,2877,0.00,2.35,0.00,0.000,6,0.000,0.071,2547,2661,3778
$GC,3129,-0.85,-146.0,537.0,-13.0,145,3133,0.00,2.05,0.00,0.000,4,0.000,0.078,2538,3889,3776
$GC,3165,-0.85,-146.0,541.8,-13.7,145,3169,0.12,1.83,0.00,0.000,6,0.144,0.028,2570,2652,3775
$GC,3420,-0.85,-146.0,567.9,-10.1,152,3424,0.00,2.10,0.00,0.000,4,0.000,0.032,2571,1245,3774
$GC,3450,-0.85,-146.0,571.0,-10.9,152,3454,0.00,2.35,0.00,0.000,6,0.000,0.071,2564,2656,3775
$GC,3708,-0.85,-146.0,599.4,-11.3,159,3711,0.00,2.08,0.00,0.000,4,0.000,0.081,2554,3892,3773
$STATE,3716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3716,begin apogee
$GC,3726,-0.32,0.0,601.1,11.4,159,3854,0.57,0.00,124.15,1.066,6,0.124,0.000,2741,2533,3180
$STATE,3854,end apogee,CONTROL_FINISHED_OK
$STATE,3854,begin climb
$GC,3859,0.85,146.0,607.7,0.0,162,3995,1.05,2.20,127.72,1.047,4,0.053,0.031,3138,1157,2583
$GC,4196,0.85,146.0,593.4,14.5,169,4200,0.00,2.28,0.00,0.000,6,0.000,0.056,3137,2550,2577
$GC,4447,0.85,146.0,556.8,14.4,175,4450,0.00,2.17,0.00,0.000,4,0.000,0.057,3137,3913,2572
$GC,4514,0.85,146.0,547.0,13.3,176,4519,0.00,2.03,0.00,0.000,6,0.000,0.027,3146,2540,2571
$GC,4782,0.85,146.0,513.6,12.4,183,4786,0.00,2.08,0.00,0.000,4,0.000,0.029,3157,1139,2569
$GC,5040,0.85,146.0,484.1,11.5,188,5044,0.00,2.25,0.00,0.000,6,0.000,0.051,3151,2561,2569
$GC,5291,0.85,146.0,456.7,10.9,194,5294,0.00,2.10,0.00,0.000,4,0.000,0.029,3159,1146,2567
$GC,5347,0.85,146.0,451.0,9.7,195,5352,0.15,2.20,0.00,0.000,6,0.219,0.047,3128,2552,2567
$GC,5622,0.89,171.7,427.4,8.5,202,5648,0.00,2.15,20.92,0.929,4,0.000,0.029,3137,1131,2479
$GC,5901,0.89,171.7,396.0,12.2,208,5905,0.00,2.28,0.00,0.000,6,0.000,0.049,3137,2554,2476
$GC,6168,0.89,171.7,364.5,12.0,215,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2555,2473
$GC,6413,0.89,171.7,333.2,12.8,221,6416,0.00,2.15,0.00,0.000,4,0.000,0.056,3137,3908,2473
$GC,6621,0.89,171.7,304.1,14.6,225,6624,0.00,2.03,0.00,0.000,6,0.000,0.028,3146,2542,2471
$GC,6883,0.89,171.7,272.4,11.5,232,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2534,2471
$GC,7128,0.89,171.7,246.6,10.4,238,7132,0.00,2.20,0.00,0.000,4,0.000,0.055,3146,3901,2470
$GC,7220,0.89,171.7,237.9,9.8,240,7224,0.00,2.03,0.00,0.000,6,0.000,0.028,3157,2540,2470
$GC,7510,0.90,179.9,211.7,9.3,247,7524,0.00,2.25,7.20,0.684,4,0.000,0.053,3151,3905,2446
$GC,7615,0.90,179.9,201.1,11.2,249,7619,0.00,2.03,0.00,0.000,6,0.000,0.027,3159,2535,2445
$GC,7879,0.90,179.9,173.5,10.2,272,7883,0.00,2.17,0.00,0.000,4,0.000,0.051,3160,3900,2446
$GC,8143,0.90,179.9,142.9,10.3,295,8147,0.12,2.00,0.00,0.000,6,0.230,0.027,3146,2540,2445
$GC,8414,0.98,244.4,121.2,6.8,320,8475,0.00,2.10,56.55,0.722,4,0.000,0.027,3154,1144,2183
$GC,8532,0.98,244.4,105.2,20.4,330,8541,0.00,2.28,0.00,0.000,6,0.000,0.044,3150,2549,2179
$GC,8796,0.98,244.4,59.8,16.6,355,8800,0.00,2.10,0.00,0.000,4,0.000,0.027,3159,1134,2177
$GC,8844,0.98,244.4,52.1,15.8,359,8848,0.00,2.25,0.00,0.000,6,0.000,0.050,3158,2555,2176
$GC,9110,0.98,244.4,3.6,19.3,396,9119,0.00,2.10,0.00,0.000,4,0.000,0.028,3168,1148,2176
$STATE,9125,end climb,SURFACE_DEPTH_REACHED
$STATE,9125,begin surface coast
$FINISH,0.2,1.019385
$STATE,9142,end surface coast,CONTROL_FINISHED_OK
$STATE,9142,begin surface
$SM_CCo,9167,51.67,0.623,0,0,1752,350.04
$SM_GC,2.25,0.00,0.00,51.67,0.000,0.000,0.623,30,2674,1752,-8.81,0.68,350.04
$IRIDIUM_FIX,2241.69,-15759.32,010500,232328
$TT8_MAMPS,0.024544
$HUMID,1841
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.6,84.717
$10V_AH,10.7,46.622
$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,20.975,89.400,336.550,51.675,0.000,27.141,33.595,138.256,0.000,0.000,0.000,17.267,869.597,6165.028,411.412,1616.821,498.392,33.348,1097.984,0.000,1601.998,0.000,0.542,0.000
$DEVICE_MAMPS,230.100,85.904,1066.130,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,271.806,613.857,631.887,133.859,554.965,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31935,401
$CAP_FILE_SIZE,78166,0
$CFSIZE,260165632,236802048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,060211,041901,2247.830,-15801.242,37,1.8,38,10.1