version: 66.04
glider: 512
mission: 1
dive: 653
start: 2 7 111 13 39 54
data:
$ID,512
$MISSION,1
$DIVE,653
$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,-20125.615
$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,2700
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,41
$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
$GPS1,133320,2249.367,-15806.146,10,1.3,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.3
$GPS2,133902,2249.316,-15806.154,17,2.0,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.065,0.248
$KALMAN_X,-188495.6,939.6,118.0,195818.1,-464.6
$KALMAN_Y,-555334.4,-1986.5,-185.7,685391.2,-687.6
$MHEAD_RNG_PITCHd_Wd,4.6,7828,-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,-45.65,0.000,2,0.000,0.000,36,2741,2901
$GC,68,-0.85,-146.0,3.1,-4.6,6,108,10.70,1.95,-17.77,0.000,4,0.226,0.092,2572,3866,3768
$GC,170,-0.85,-146.0,30.4,-22.0,22,174,0.00,1.75,0.00,0.000,6,0.000,0.030,2571,2711,3770
$GC,441,-0.85,-146.0,95.9,-20.9,47,444,0.00,2.15,0.00,0.000,4,0.000,0.035,2571,1281,3771
$GC,521,-0.85,-146.0,111.4,-17.0,54,525,0.00,2.38,0.00,0.000,6,0.000,0.078,2562,2685,3771
$GC,784,-0.85,-146.0,165.1,-19.3,78,788,0.00,2.12,0.00,0.000,4,0.000,0.033,2561,1277,3773
$GC,823,-0.85,-146.0,173.5,-19.1,81,832,0.10,2.42,0.00,0.000,6,0.143,0.077,2584,2696,3773
$GC,1081,-0.85,-146.0,212.9,-14.6,100,1085,0.00,2.03,0.00,0.000,4,0.000,0.084,2576,3895,3774
$GC,1104,-0.85,-146.0,216.4,-14.7,100,1107,0.00,1.80,0.00,0.000,6,0.000,0.026,2576,2671,3774
$GC,1373,-0.85,-146.0,255.7,-15.2,107,1377,0.00,2.05,0.00,0.000,4,0.000,0.034,2576,1298,3775
$GC,1476,-0.85,-146.0,270.4,-13.0,109,1481,0.00,2.35,0.00,0.000,6,0.000,0.071,2576,2714,3775
$GC,1751,-0.85,-146.0,308.7,-13.9,116,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2714,3775
$GC,1994,-0.85,-146.0,342.3,-13.6,122,1998,0.00,2.12,0.00,0.000,4,0.000,0.032,2576,1299,3774
$GC,2035,-0.85,-146.0,347.8,-12.5,122,2041,0.00,2.35,0.00,0.000,6,0.000,0.075,2576,2701,3774
$GC,2288,-0.85,-146.0,379.3,-12.6,129,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3773
$GC,2530,-0.85,-146.0,408.3,-11.9,135,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3772
$GC,2775,-0.85,-146.0,439.2,-12.9,141,2779,0.00,2.12,0.00,0.000,4,0.000,0.034,2576,1296,3771
$GC,2826,-0.85,-146.0,446.0,-11.4,142,2830,0.00,2.35,0.00,0.000,6,0.000,0.074,2576,2700,3771
$GC,3104,-0.85,-146.0,480.9,-12.7,149,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3769
$GC,3348,-0.85,-146.0,509.9,-11.9,155,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3767
$GC,3594,-0.85,-146.0,537.2,-11.1,161,3597,0.00,2.12,0.00,0.000,4,0.000,0.034,2576,1293,3766
$GC,3644,-0.85,-146.0,543.2,-10.0,162,3649,0.00,2.33,0.00,0.000,6,0.000,0.067,2566,2701,3766
$GC,3923,-0.85,-146.0,575.3,-11.6,169,3927,0.00,2.00,0.00,0.000,4,0.000,0.081,2557,3885,3764
$GC,3963,-0.85,-146.0,580.3,-12.4,169,3970,0.10,1.77,0.00,0.000,6,0.150,0.029,2584,2695,3763
$STATE,4170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4170,begin apogee
$GC,4179,-0.32,0.0,600.3,9.5,175,4306,0.55,0.00,124.60,1.055,6,0.129,0.000,2756,2507,3170
$STATE,4307,end apogee,CONTROL_FINISHED_OK
$STATE,4307,begin climb
$GC,4311,0.85,146.0,607.3,0.0,178,4449,1.12,2.45,128.25,1.025,4,0.087,0.067,3135,3894,2572
$GC,4710,0.85,146.0,582.5,16.8,187,4714,0.00,2.12,0.00,0.000,6,0.000,0.033,3145,2513,2565
$GC,5000,0.85,146.0,541.4,14.4,194,5004,0.00,2.30,0.00,0.000,4,0.000,0.063,3146,3903,2561
$GC,5259,0.85,146.0,501.7,14.6,199,5263,0.00,2.15,0.00,0.000,6,0.000,0.033,3155,2491,2560
$GC,5516,0.85,146.0,470.2,12.1,206,5520,0.00,2.30,0.00,0.000,4,0.000,0.060,3150,3896,2559
$GC,5775,0.85,146.0,438.4,11.7,211,5781,0.00,2.12,0.00,0.000,6,0.000,0.030,3159,2485,2558
$GC,6026,0.85,146.0,412.7,10.1,218,6029,0.00,2.12,0.00,0.000,4,0.000,0.039,3170,1094,2557
$GC,6072,0.85,146.0,408.2,10.4,219,6077,0.00,2.25,0.00,0.000,6,0.000,0.054,3163,2498,2556
$GC,6358,0.85,146.0,378.2,10.7,226,6362,0.00,2.28,0.00,0.000,4,0.000,0.064,3163,3902,2555
$GC,6477,0.85,146.0,365.4,10.8,228,6481,0.15,2.12,0.00,0.000,6,0.267,0.030,3144,2489,2555
$GC,6733,0.90,179.7,344.1,8.1,235,6763,0.00,0.00,27.67,0.881,6,0.000,0.000,3144,2485,2437
$GC,7014,0.90,179.7,306.9,13.9,242,7018,0.00,2.30,0.00,0.000,4,0.000,0.054,3137,3911,2430
$GC,7077,0.90,179.7,297.4,14.6,243,7081,0.00,2.12,0.00,0.000,6,0.000,0.028,3146,2502,2429
$GC,7351,0.90,179.7,261.5,12.7,250,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2496,2429
$GC,7597,0.90,179.7,230.7,12.7,256,7600,0.00,2.12,0.00,0.000,4,0.000,0.034,3157,1088,2430
$GC,7781,0.90,181.3,211.5,9.5,260,7785,0.00,2.25,0.00,0.000,6,0.000,0.049,3150,2503,2429
$GC,8040,0.94,214.3,188.2,8.1,273,8077,0.00,2.28,29.88,0.767,4,0.000,0.060,3150,3900,2297
$GC,8328,0.94,214.3,137.4,17.1,298,8336,0.00,2.12,0.00,0.000,6,0.000,0.026,3159,2497,2294
$GC,8593,0.94,214.3,94.4,16.3,323,8597,0.00,2.08,0.00,0.000,4,0.000,0.028,3170,1081,2292
$GC,8852,0.94,214.3,57.3,12.6,346,8856,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2502,2292
$GC,9116,0.94,214.3,26.7,11.8,372,9125,0.00,2.12,0.00,0.000,4,0.000,0.027,3172,1080,2292
$GC,9239,0.94,214.3,11.7,11.3,394,9247,0.00,2.28,0.00,0.000,6,0.000,0.044,3172,2502,2292
$STATE,9300,end climb,SURFACE_DEPTH_REACHED
$STATE,9300,begin surface coast
$FINISH,0.3,1.024325
$STATE,9324,end surface coast,CONTROL_FINISHED_OK
$STATE,9324,begin surface
$SM_CCo,9346,72.82,0.610,0,0,1743,350.04
$SM_GC,1.55,0.00,0.00,72.82,0.000,0.000,0.610,40,2731,1743,-8.83,0.88,350.04
$IRIDIUM_FIX,2239.35,-15805.41,030500,111128
$TT8_MAMPS,0.023777
$HUMID,1820
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.6,86.416
$10V_AH,10.7,47.789
$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,21.075,82.875,310.400,72.825,0.000,30.121,38.381,135.591,0.250,0.000,0.000,17.684,874.369,6306.687,431.352,1655.838,498.437,33.381,1110.786,0.000,1640.686,0.000,0.542,0.000
$DEVICE_MAMPS,266.916,92.040,1055.392,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,277.190,620.382,639.919,145.022,600.358,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35076,409
$CAP_FILE_SIZE,77189,0
$CFSIZE,260165632,236216320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,070211,161807,2250.141,-15806.218,30,1.1,31,10.1