version: 66.04
glider: 512
mission: 1
dive: 654
start: 2 7 111 16 32 16
data:
$ID,512
$MISSION,1
$DIVE,654
$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,-20141.682
$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,47
$R_STBD_OVSHOOT,45
$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
$GPS1,161807,2250.141,-15806.218,30,1.1,31,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.2
$GPS2,163120,2250.093,-15806.292,15,1.2,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.180,0.183
$KALMAN_X,-189227.7,421.2,263.0,196685.5,-1850.0
$KALMAN_Y,-558383.7,-192.2,-674.0,688572.7,-456.4
$MHEAD_RNG_PITCHd_Wd,34.5,6454,-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,-45.28,0.000,2,0.000,0.000,27,2735,2907
$GC,68,-0.85,-146.0,3.0,-4.4,6,100,10.68,0.00,-18.35,0.000,6,0.224,0.000,2576,2735,3767
$GC,366,-0.85,-146.0,86.5,-24.8,40,370,0.00,2.17,0.00,0.000,4,0.000,0.030,2575,1290,3770
$GC,416,-0.85,-146.0,98.2,-18.3,44,425,0.00,2.35,0.00,0.000,6,0.000,0.076,2567,2662,3769
$GC,681,-0.85,-146.0,156.2,-24.6,69,685,0.00,2.03,0.00,0.000,4,0.000,0.030,2567,1297,3771
$GC,720,-0.85,-146.0,165.7,-19.5,72,729,0.08,2.38,0.00,0.000,6,0.148,0.074,2580,2703,3771
$GC,999,-0.85,-146.0,214.5,-17.7,93,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2704,3772
$GC,1242,-0.85,-146.0,254.2,-15.8,99,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2703,3772
$GC,1486,-0.85,-146.0,289.7,-14.3,105,1490,0.00,2.10,0.00,0.000,4,0.000,0.030,2581,1294,3772
$GC,1520,-0.85,-146.0,294.2,-12.1,105,1524,0.00,2.30,0.00,0.000,6,0.000,0.068,2576,2701,3772
$GC,1773,-0.85,-146.0,326.3,-13.2,111,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2702,3771
$GC,2016,-0.85,-146.0,359.1,-13.5,117,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2702,3771
$GC,2258,-0.85,-146.0,391.4,-13.3,123,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2702,3770
$GC,2502,-0.85,-146.0,422.8,-12.9,129,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2702,3768
$GC,2746,-0.85,-146.0,453.5,-12.6,135,2750,0.00,2.10,0.00,0.000,4,0.000,0.032,2577,1298,3766
$GC,2780,-0.85,-146.0,458.0,-11.7,135,2785,0.00,2.33,0.00,0.000,6,0.000,0.068,2568,2707,3766
$GC,3032,-0.85,-146.0,489.9,-13.0,141,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2708,3765
$GC,3277,-0.85,-146.0,519.3,-11.9,147,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2708,3763
$GC,3519,-0.85,-146.0,547.1,-11.4,153,3523,0.00,2.12,0.00,0.000,4,0.000,0.033,2575,1297,3761
$GC,3565,-0.85,-146.0,552.3,-9.8,154,3570,0.00,2.30,0.00,0.000,6,0.000,0.064,2567,2706,3761
$GC,3851,-0.85,-146.0,585.5,-12.0,161,3855,0.00,1.98,0.00,0.000,4,0.000,0.081,2557,3887,3759
$GC,3886,-0.85,-146.0,589.8,-12.1,161,3889,0.00,1.80,0.00,0.000,6,0.000,0.031,2561,2691,3759
$STATE,3976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3976,begin apogee
$GC,3985,-0.32,0.0,600.4,11.5,164,4111,0.65,0.00,123.12,1.048,6,0.139,0.000,2758,2501,3170
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4112,begin climb
$GC,4116,0.85,146.0,606.9,0.0,167,4252,1.12,2.28,128.20,1.017,4,0.088,0.038,3148,1102,2574
$GC,4515,0.85,146.0,580.0,16.2,176,4519,0.00,2.22,0.00,0.000,6,0.000,0.051,3148,2503,2566
$GC,4805,0.85,146.0,535.7,13.8,183,4808,0.00,2.15,0.00,0.000,4,0.000,0.038,3158,1095,2561
$GC,5063,0.85,146.0,501.8,12.6,188,5067,0.00,2.25,0.00,0.000,6,0.000,0.055,3153,2498,2560
$GC,5319,0.85,146.0,469.7,12.3,195,5323,0.00,2.12,0.00,0.000,4,0.000,0.038,3161,1095,2558
$GC,5550,0.85,146.0,444.7,10.8,200,5554,0.00,2.25,0.00,0.000,6,0.000,0.054,3162,2500,2558
$GC,5828,0.85,146.0,415.7,9.9,207,5832,0.00,2.15,0.00,0.000,4,0.000,0.037,3171,1085,2555
$GC,5976,0.86,151.5,401.7,9.4,210,5980,0.00,2.25,0.00,0.000,6,0.000,0.049,3163,2506,2555
$GC,6249,0.86,151.5,374.4,9.8,217,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2506,2554
$GC,6493,0.87,161.0,352.1,9.2,223,6505,0.00,0.00,10.75,0.825,6,0.000,0.000,3163,2506,2513
$GC,6736,0.87,161.0,325.8,11.1,229,6740,0.00,2.22,0.00,0.000,4,0.000,0.056,3163,3902,2512
$GC,6816,0.87,161.0,316.6,11.2,230,6820,0.00,2.10,0.00,0.000,6,0.000,0.029,3171,2501,2511
$GC,7074,0.90,183.1,293.1,8.6,237,7100,0.00,2.28,20.85,0.831,4,0.000,0.056,3163,3900,2423
$GC,7196,0.90,183.1,276.1,17.4,239,7202,0.00,2.12,0.00,0.000,6,0.000,0.030,3172,2487,2422
$GC,7448,0.90,183.1,242.6,12.7,246,7452,0.00,2.08,0.00,0.000,4,0.000,0.030,3183,1092,2419
$GC,7471,0.90,183.1,239.7,11.3,246,7475,0.00,2.25,0.00,0.000,6,0.000,0.051,3176,2502,2419
$GC,7733,0.90,183.1,212.6,10.0,253,7736,0.00,2.25,0.00,0.000,4,0.000,0.060,3176,3903,2418
$GC,7995,0.90,183.1,180.0,12.8,267,7999,0.00,2.08,0.00,0.000,6,0.000,0.028,3185,2494,2418
$GC,8264,0.90,183.1,145.5,11.9,292,8267,0.00,2.25,0.00,0.000,4,0.000,0.051,3179,3905,2418
$GC,8336,0.90,183.1,136.4,12.2,298,8346,0.10,2.10,0.00,0.000,6,0.234,0.025,3164,2498,2418
$GC,8604,0.90,186.3,109.7,9.5,323,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2498,2418
$GC,8867,1.00,266.1,90.7,6.1,348,8943,0.00,2.17,71.03,0.674,4,0.000,0.027,3173,1098,2084
$GC,8961,1.00,266.1,79.9,19.0,356,8969,0.00,2.28,0.00,0.000,6,0.000,0.043,3164,2506,2081
$GC,9225,1.00,266.1,25.2,21.7,383,9233,0.00,2.25,0.00,0.000,4,0.000,0.054,3163,3897,2077
$STATE,9318,end climb,SURFACE_DEPTH_REACHED
$STATE,9318,begin surface coast
$FINISH,0.3,1.024089
$STATE,9330,end surface coast,CONTROL_FINISHED_OK
$STATE,9330,begin surface
$SM_CCo,9354,39.33,0.594,0,0,1742,350.04
$SM_GC,1.71,0.00,0.00,39.33,0.000,0.000,0.594,36,2682,1742,-8.84,-0.51,350.04
$IRIDIUM_FIX,2241.69,-15804.53,030500,161603
$TT8_MAMPS,0.023777
$HUMID,1847
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.6,86.550
$10V_AH,10.7,47.878
$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,20.775,74.075,353.950,39.325,0.000,60.125,70.567,462.184,0.250,0.000,0.000,15.437,838.139,6523.152,424.225,1520.797,889.296,33.368,1069.704,0.000,1513.416,0.000,0.543,0.000
$DEVICE_MAMPS,233.935,80.535,1048.489,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,271.846,607.133,626.473,126.054,524.828,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31879,402
$CAP_FILE_SIZE,80801,0
$CFSIZE,260165632,236179456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,070211,191007,2250.773,-15805.669,33,1.8,34,10.1