version: 66.04
glider: 512
mission: 1
dive: 648
start: 2 7 111 0 46 29
data:
$ID,512
$MISSION,1
$DIVE,648
$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,-20000.775
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2865
$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,50
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3170
$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
$GPS1,003636,2246.393,-15804.107,72,1.4,73,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.6
$GPS2,004537,2246.418,-15804.003,16,1.4,21,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.089,0.240
$KALMAN_X,-188605.9,-931.9,-28.6,201652.2,273.8
$KALMAN_Y,-548380.4,1072.6,-289.6,670115.0,1259.9
$MHEAD_RNG_PITCHd_Wd,329.5,13362,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.28,0.000,2,0.000,0.000,36,2684,2892
$GC,68,-0.85,-146.0,3.0,-4.6,6,109,10.55,2.17,-18.52,0.000,4,0.222,0.040,2582,1250,3768
$GC,213,-0.85,-146.0,35.7,-19.1,28,218,0.00,2.22,0.00,0.000,6,0.000,0.061,2574,2613,3769
$GC,484,-0.85,-146.0,109.3,-27.0,53,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2613,3770
$GC,747,-0.85,-146.0,163.9,-18.8,78,751,0.00,2.10,0.00,0.000,4,0.000,0.070,2564,3900,3772
$GC,775,-0.85,-146.0,169.7,-19.6,80,782,0.00,1.85,0.00,0.000,6,0.000,0.025,2564,2645,3772
$GC,1034,-0.85,-146.0,216.9,-19.2,99,1037,0.00,2.05,0.00,0.000,4,0.000,0.026,2564,1233,3772
$GC,1090,-0.85,-146.0,226.4,-14.2,100,1094,0.00,2.35,0.00,0.000,6,0.000,0.067,2562,2653,3773
$GC,1363,-0.85,-146.0,273.6,-18.0,107,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2653,3773
$GC,1606,-0.85,-146.0,315.7,-17.0,113,1610,0.00,2.05,0.00,0.000,4,0.000,0.072,2553,3902,3773
$GC,1641,-0.85,-146.0,321.4,-15.8,113,1645,0.12,1.83,0.00,0.000,6,0.143,0.025,2585,2639,3773
$GC,1897,-0.85,-146.0,351.5,-11.7,120,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2633,3772
$GC,2142,-0.85,-146.0,378.1,-10.7,126,2145,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,1257,3771
$GC,2170,-0.85,-146.0,381.3,-10.2,126,2174,0.00,2.28,0.00,0.000,6,0.000,0.063,2578,2652,3771
$GC,2426,-0.85,-146.0,410.8,-12.2,133,2430,0.00,2.08,0.00,0.000,4,0.000,0.077,2576,3903,3770
$GC,2462,-0.85,-146.0,414.9,-10.7,133,2466,0.00,1.83,0.00,0.000,6,0.000,0.026,2576,2654,3769
$GC,2718,-0.85,-146.0,444.7,-11.9,140,2722,0.00,2.05,0.00,0.000,4,0.000,0.031,2576,1255,3767
$GC,2766,-0.85,-146.0,450.0,-10.9,141,2770,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2647,3767
$GC,3051,-0.85,-146.0,484.9,-12.6,148,3054,0.00,2.12,0.00,0.000,4,0.000,0.085,2576,3897,3766
$GC,3097,-0.85,-146.0,490.5,-11.2,149,3101,0.00,1.83,0.00,0.000,6,0.000,0.026,2576,2652,3765
$GC,3388,-0.85,-146.0,525.2,-11.9,156,3392,0.00,2.08,0.00,0.000,4,0.000,0.031,2576,1255,3764
$GC,3429,-0.85,-146.0,530.0,-10.7,156,3435,0.00,2.33,0.00,0.000,6,0.000,0.071,2576,2654,3764
$GC,3681,-0.85,-146.0,557.6,-11.2,163,3685,0.00,2.10,0.00,0.000,4,0.000,0.084,2576,3896,3761
$GC,3721,-0.85,-146.0,562.0,-9.5,163,3727,0.00,1.85,0.00,0.000,6,0.000,0.028,2576,2641,3761
$GC,3972,-0.85,-146.0,587.6,-10.4,170,3976,0.00,2.08,0.00,0.000,4,0.000,0.032,2576,1248,3760
$GC,4007,-0.85,-146.0,591.4,-10.0,170,4011,0.00,2.33,0.00,0.000,6,0.000,0.068,2576,2649,3760
$STATE,4132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4132,begin apogee
$GC,4141,-0.32,0.0,603.9,9.8,173,4267,0.57,0.00,123.40,1.054,6,0.118,0.000,2758,2543,3170
$STATE,4268,end apogee,CONTROL_FINISHED_OK
$STATE,4268,begin climb
$GC,4272,0.85,146.0,610.0,0.0,176,4408,1.02,2.35,127.93,1.022,4,0.046,0.062,3153,3904,2573
$GC,4452,0.85,146.0,618.3,13.8,180,4456,0.00,2.08,0.00,0.000,6,0.000,0.028,3161,2555,2570
$GC,4731,0.85,146.0,576.0,14.8,187,4735,0.00,2.12,0.00,0.000,4,0.000,0.031,3173,1137,2564
$GC,4989,0.85,146.0,541.9,12.0,192,4994,0.12,2.28,0.00,0.000,6,0.225,0.052,3147,2563,2562
$GC,5245,0.85,146.0,510.9,11.8,199,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2564,2560
$GC,5489,0.85,146.0,483.6,11.2,205,5492,0.00,2.15,0.00,0.000,4,0.000,0.059,3146,3904,2559
$GC,5613,0.85,146.0,468.6,11.6,207,5617,0.00,2.05,0.00,0.000,6,0.000,0.029,3156,2529,2558
$GC,5869,0.85,146.0,442.0,9.8,214,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2522,2556
$GC,6113,0.85,146.0,418.2,9.7,220,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2523,2555
$GC,6358,0.85,146.0,394.0,9.8,226,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2522,2555
$GC,6600,0.86,149.7,371.0,9.5,232,6604,0.00,2.05,0.00,0.000,4,0.000,0.030,3167,1128,2554
$GC,6859,0.90,184.0,349.6,8.1,237,6896,0.00,2.25,31.48,0.883,6,0.000,0.048,3166,2559,2419
$GC,7153,0.90,184.0,304.8,17.2,245,7157,0.00,2.12,0.00,0.000,4,0.000,0.028,3175,1137,2413
$GC,7210,0.90,184.0,296.1,15.8,246,7214,0.00,2.25,0.00,0.000,6,0.000,0.048,3175,2548,2413
$GC,7483,0.90,184.0,255.1,14.9,253,7486,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1133,2412
$GC,7719,0.90,184.0,222.5,13.2,258,7723,0.00,2.25,0.00,0.000,6,0.000,0.050,3185,2557,2412
$GC,7975,0.90,184.0,188.2,13.7,269,7979,0.00,2.12,0.00,0.000,4,0.000,0.051,3176,3906,2410
$GC,8024,0.90,184.0,181.5,15.0,273,8027,0.00,2.03,0.00,0.000,6,0.000,0.028,3184,2541,2410
$GC,8293,0.90,184.0,150.7,11.4,298,8297,0.00,2.17,0.00,0.000,4,0.000,0.054,3177,3900,2410
$GC,8388,0.90,184.0,138.2,13.7,306,8396,0.00,2.05,0.00,0.000,6,0.000,0.028,3185,2532,2410
$GC,8653,1.04,295.5,113.6,4.7,331,8753,0.00,2.17,94.55,0.702,4,0.000,0.027,3195,1143,1964
$GC,8845,1.04,295.5,81.9,25.1,347,8849,0.00,2.25,0.00,0.000,6,0.000,0.045,3192,2561,1958
$GC,9112,1.04,295.5,7.5,28.7,378,9120,0.00,2.12,0.00,0.000,4,0.000,0.028,3201,1150,1955
$STATE,9127,end climb,SURFACE_DEPTH_REACHED
$STATE,9127,begin surface coast
$FINISH,0.1,1.024024
$STATE,9139,end surface coast,CONTROL_FINISHED_OK
$STATE,9139,begin surface
$SM_CCo,9164,31.23,0.612,0,0,1743,350.04
$SM_GC,0.98,0.00,0.00,31.23,0.000,0.000,0.612,34,2653,1743,-8.85,0.08,350.04
$IRIDIUM_FIX,2239.35,-15804.53,030500,000028
$TT8_MAMPS,0.023777
$HUMID,1887
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,85.826
$10V_AH,10.7,47.381
$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,20.800,89.425,377.350,31.225,0.000,52.926,65.158,218.391,0.000,0.000,0.000,22.045,814.448,6384.635,430.830,1480.923,630.655,33.356,1091.802,0.000,1462.137,0.000,0.542,0.000
$DEVICE_MAMPS,224.731,85.137,1053.858,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.195,559.910,578.522,116.220,479.642,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32000,382
$CAP_FILE_SIZE,78868,0
$CFSIZE,260165632,236417024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,1
$GPS,070211,032057,2247.050,-15804.136,9,3.2,29,10.1