version: 66.04
glider: 512
mission: 1
dive: 639
start: 2 6 111 4 26 43
data:
$ID,512
$MISSION,1
$DIVE,639
$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,-19826.367
$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,57
$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,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
$GPS1,041901,2247.830,-15801.242,37,1.8,38,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.6
$GPS2,042550,2247.840,-15801.247,14,1.7,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.209,0.148
$KALMAN_X,-193077.6,510.3,54.0,209333.5,831.9
$KALMAN_Y,-553310.8,1702.9,356.7,676383.9,-4253.8
$MHEAD_RNG_PITCHd_Wd,295.1,3373,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-52.88,0.000,2,0.000,0.000,27,2678,3143
$GC,76,-0.85,-146.0,3.4,-4.7,7,108,10.57,2.00,-11.82,0.000,4,0.224,0.076,2553,3877,3777
$GC,351,-0.85,-146.0,75.5,-19.9,37,359,0.00,1.83,0.00,0.000,6,0.000,0.025,2553,2655,3779
$GC,614,-0.85,-146.0,141.7,-23.5,62,618,0.00,2.08,0.00,0.000,4,0.000,0.026,2555,1232,3781
$GC,664,-0.85,-146.0,152.8,-17.4,66,673,0.00,2.38,0.00,0.000,6,0.000,0.070,2546,2634,3781
$GC,935,-0.85,-146.0,210.2,-22.0,89,939,0.00,2.10,0.00,0.000,4,0.000,0.077,2537,3895,3782
$GC,986,-0.85,-146.0,221.4,-20.9,90,990,0.15,1.83,0.00,0.000,6,0.150,0.025,2576,2632,3782
$GC,1270,-0.85,-146.0,265.0,-15.3,97,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2624,3783
$GC,1514,-0.85,-146.0,300.6,-14.7,103,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2623,3783
$GC,1758,-0.85,-146.0,333.2,-13.2,109,1762,0.00,2.00,0.00,0.000,4,0.000,0.026,2577,1252,3783
$GC,1788,-0.85,-146.0,337.2,-12.8,109,1792,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2658,3783
$GC,2046,-0.85,-146.0,368.5,-12.7,116,2049,0.00,2.03,0.00,0.000,4,0.000,0.074,2566,3886,3783
$GC,2085,-0.85,-146.0,373.7,-11.6,116,2091,0.00,1.80,0.00,0.000,6,0.000,0.026,2566,2645,3783
$GC,2338,-0.85,-146.0,407.2,-13.7,123,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2638,3782
$GC,2580,-0.85,-146.0,438.1,-12.5,129,2583,0.00,2.03,0.00,0.000,4,0.000,0.027,2566,1257,3779
$GC,2608,-0.85,-146.0,441.5,-12.5,129,2613,0.00,2.30,0.00,0.000,6,0.000,0.066,2563,2647,3780
$GC,2866,-0.85,-146.0,472.4,-12.4,136,2869,0.00,2.08,0.00,0.000,4,0.000,0.077,2553,3890,3778
$GC,2900,-0.85,-146.0,477.2,-13.3,136,2904,0.00,1.80,0.00,0.000,6,0.000,0.027,2553,2654,3778
$GC,3156,-0.85,-146.0,512.5,-14.1,143,3160,0.00,2.08,0.00,0.000,4,0.000,0.031,2553,1253,3776
$GC,3203,-0.85,-146.0,518.7,-11.6,144,3208,0.12,2.33,0.00,0.000,6,0.138,0.070,2576,2654,3776
$GC,3489,-0.85,-146.0,548.3,-10.2,151,3492,0.00,2.08,0.00,0.000,4,0.000,0.081,2568,3889,3774
$GC,3535,-0.85,-146.0,552.9,-9.2,152,3539,0.00,1.83,0.00,0.000,6,0.000,0.028,2568,2648,3774
$GC,3826,-0.85,-146.0,582.9,-10.4,159,3829,0.00,2.08,0.00,0.000,4,0.000,0.033,2568,1256,3773
$GC,3849,-0.85,-146.0,585.4,-10.6,159,3853,0.00,2.33,0.00,0.000,6,0.000,0.073,2563,2648,3773
$STATE,3985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3985,begin apogee
$GC,3994,-0.32,0.0,600.1,10.8,163,4121,0.57,0.00,124.10,1.068,6,0.121,0.000,2745,2545,3180
$STATE,4122,end apogee,CONTROL_FINISHED_OK
$STATE,4122,begin climb
$GC,4126,0.85,146.0,606.5,0.0,166,4263,1.02,2.22,127.95,1.048,4,0.044,0.031,3149,1145,2583
$GC,4524,0.85,146.0,587.0,14.2,175,4528,0.00,2.25,0.00,0.000,6,0.000,0.050,3149,2559,2576
$GC,4808,0.85,146.0,547.9,13.2,182,4812,0.00,2.10,0.00,0.000,4,0.000,0.029,3158,1137,2571
$GC,4997,0.85,146.0,524.0,13.0,186,5001,0.12,2.25,0.00,0.000,6,0.222,0.051,3133,2554,2570
$GC,5276,0.85,146.0,487.9,12.7,193,5279,0.00,2.10,0.00,0.000,4,0.000,0.029,3142,1134,2568
$GC,5367,0.85,146.0,477.9,11.4,195,5371,0.00,2.25,0.00,0.000,6,0.000,0.050,3137,2559,2568
$GC,5651,0.85,146.0,448.0,10.1,202,5655,0.00,2.10,0.00,0.000,4,0.000,0.029,3146,1142,2567
$GC,5910,0.89,172.2,425.6,8.5,207,5936,0.00,2.22,21.27,0.940,6,0.000,0.048,3146,2555,2477
$GC,6204,0.89,172.2,388.5,12.9,215,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2555,2473
$GC,6449,0.89,172.2,355.6,13.9,221,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2555,2471
$GC,6691,0.89,172.2,321.5,14.1,227,6695,0.00,2.12,0.00,0.000,4,0.000,0.053,3146,3900,2470
$GC,6733,0.89,172.2,315.4,16.2,227,6739,0.00,2.03,0.00,0.000,6,0.000,0.029,3156,2540,2469
$GC,6985,0.89,172.2,282.7,12.1,234,6989,0.00,2.05,0.00,0.000,4,0.000,0.028,3167,1139,2469
$GC,7244,0.90,184.9,255.6,9.0,239,7260,0.00,2.22,11.35,0.782,6,0.000,0.048,3167,2558,2426
$GC,7539,0.90,184.9,220.8,12.3,247,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2558,2423
$GC,7787,0.90,184.9,193.5,10.5,256,7791,0.00,2.10,0.00,0.000,4,0.000,0.051,3164,3894,2423
$GC,7983,0.90,184.9,170.3,11.1,273,7991,0.10,2.03,0.00,0.000,6,0.229,0.026,3149,2537,2423
$GC,8249,0.96,229.5,148.8,7.6,298,8299,0.00,2.15,39.53,0.742,4,0.000,0.028,3157,1147,2243
$GC,8403,0.96,229.5,125.6,18.1,311,8407,0.00,2.22,0.00,0.000,6,0.000,0.044,3157,2559,2240
$GC,8668,0.96,229.5,82.3,15.1,335,8672,0.00,2.10,0.00,0.000,4,0.000,0.026,3168,1150,2238
$GC,8826,0.96,229.5,59.9,15.3,349,8830,0.00,2.17,0.00,0.000,6,0.000,0.044,3164,2547,2238
$GC,9095,0.96,229.5,17.2,16.8,380,9103,0.00,2.10,0.00,0.000,4,0.000,0.027,3172,1148,2238
$STATE,9177,end climb,SURFACE_DEPTH_REACHED
$STATE,9178,begin surface coast
$FINISH,0.3,1.024042
$STATE,9195,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9219,68.85,0.610,0,0,1752,350.04
$SM_GC,2.17,0.00,0.00,68.85,0.000,0.000,0.610,27,2649,1752,-8.82,-0.03,350.04
$IRIDIUM_FIX,2241.69,-15759.32,020500,010121
$TT8_MAMPS,0.023777
$HUMID,1815
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.6,84.836
$10V_AH,10.7,46.709
$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,20.975,84.625,324.200,68.850,0.000,33.146,36.950,202.479,0.000,0.000,0.000,14.429,863.930,6223.979,437.425,1608.888,568.643,33.346,1118.773,0.000,1596.183,0.000,0.542,0.000
$DEVICE_MAMPS,228.566,81.302,1068.431,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.208,600.366,616.411,131.469,545.693,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31991,398
$CAP_FILE_SIZE,78732,0
$CFSIZE,260165632,236761088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,1
$GPS,060211,070249,2248.148,-15802.188,17,1.3,35,10.1