version: 66.04
glider: 512
mission: 1
dive: 656
start: 2 7 111 22 2 8
data:
$ID,512
$MISSION,1
$DIVE,656
$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,-20171.879
$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,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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,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
$GPS1,215206,2252.016,-15805.422,34,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.9
$GPS2,220113,2252.148,-15805.416,9,1.2,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.016,0.256
$KALMAN_X,-189019.5,-1029.1,-152.9,199844.8,291.6
$KALMAN_Y,-563943.8,2419.0,791.8,693843.0,-4842.0
$MHEAD_RNG_PITCHd_Wd,346.3,2508,-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,-45.17,0.000,2,0.000,0.000,42,2712,2924
$GC,68,-0.85,-146.0,3.5,-5.4,6,101,10.77,1.98,-16.83,0.000,4,0.229,0.075,2571,3880,3768
$GC,201,-0.85,-146.0,38.8,-21.0,25,205,0.00,1.77,0.00,0.000,6,0.000,0.025,2570,2692,3769
$GC,470,-0.85,-146.0,105.2,-22.0,50,474,0.00,2.05,0.00,0.000,4,0.000,0.026,2571,1287,3771
$GC,605,-0.85,-146.0,127.5,-13.2,62,609,0.00,2.30,0.00,0.000,6,0.000,0.065,2563,2692,3772
$GC,869,-0.85,-146.0,177.7,-22.9,86,872,0.00,2.05,0.00,0.000,4,0.000,0.026,2563,1289,3772
$GC,938,-0.85,-146.0,190.9,-15.2,92,942,0.12,2.30,0.00,0.000,6,0.142,0.064,2585,2702,3773
$GC,1203,-0.85,-146.0,232.8,-15.8,102,1206,0.00,2.08,0.00,0.000,4,0.000,0.025,2585,1281,3773
$GC,1232,-0.85,-146.0,237.0,-13.4,102,1236,0.00,2.30,0.00,0.000,6,0.000,0.060,2577,2705,3773
$GC,1489,-0.85,-146.0,272.6,-14.4,109,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2705,3773
$GC,1732,-0.85,-146.0,306.8,-13.7,115,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2705,3773
$GC,1978,-0.85,-146.0,339.0,-13.1,121,1982,0.00,2.10,0.00,0.000,4,0.000,0.029,2577,1286,3773
$GC,2041,-0.85,-146.0,346.8,-10.3,122,2045,0.00,2.35,0.00,0.000,6,0.000,0.070,2576,2707,3773
$GC,2308,-0.85,-146.0,379.4,-12.5,129,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2708,3771
$GC,2552,-0.85,-146.0,410.1,-12.5,135,2556,0.00,2.10,0.00,0.000,4,0.000,0.030,2576,1297,3770
$GC,2591,-0.85,-146.0,415.0,-11.5,135,2599,0.00,2.35,0.00,0.000,6,0.000,0.069,2576,2701,3770
$GC,2842,-0.85,-146.0,444.1,-11.8,142,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2702,3768
$GC,3086,-0.85,-146.0,470.7,-10.8,148,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2702,3767
$GC,3331,-0.85,-146.0,497.9,-11.2,154,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2702,3765
$GC,3573,-0.85,-146.0,525.7,-11.5,160,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2702,3763
$GC,3818,-0.85,-146.0,553.3,-11.3,166,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2702,3762
$GC,4063,-0.85,-146.0,580.7,-11.1,172,4066,0.00,2.10,0.00,0.000,4,0.000,0.032,2576,1302,3760
$GC,4102,-0.85,-146.0,585.2,-9.9,172,4108,0.00,2.33,0.00,0.000,6,0.000,0.069,2577,2702,3760
$STATE,4268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4268,begin apogee
$GC,4277,-0.32,0.0,601.9,10.0,177,4403,0.57,0.00,122.78,1.062,6,0.119,0.000,2758,2599,3170
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4407,0.85,146.0,608.0,0.0,180,4544,1.05,2.30,127.82,1.047,4,0.051,0.037,3162,1205,2573
$GC,4790,0.85,146.0,585.3,14.2,188,4794,0.00,2.25,0.00,0.000,6,0.000,0.053,3162,2604,2565
$GC,5043,0.85,146.0,551.1,13.4,194,5047,0.00,2.15,0.00,0.000,4,0.000,0.037,3170,1202,2561
$GC,5184,0.85,146.0,532.6,13.0,197,5188,0.00,2.22,0.00,0.000,6,0.000,0.051,3163,2603,2560
$GC,5468,0.85,146.0,497.7,12.6,204,5472,0.00,2.08,0.00,0.000,4,0.000,0.057,3162,3908,2559
$GC,5726,0.85,146.0,460.3,14.7,209,5731,0.15,1.98,0.00,0.000,6,0.259,0.030,3143,2609,2557
$GC,5985,0.85,146.0,430.2,11.5,216,5989,0.00,2.08,0.00,0.000,4,0.000,0.055,3137,3905,2555
$GC,6243,0.85,146.0,396.2,12.9,221,6248,0.00,1.98,0.00,0.000,6,0.000,0.029,3146,2579,2554
$GC,6500,0.86,154.2,371.1,9.2,228,6509,0.00,2.12,4.68,0.664,4,0.000,0.053,3146,3897,2541
$GC,6763,0.86,154.2,342.1,10.1,233,6769,0.00,1.92,0.00,0.000,6,0.000,0.027,3155,2596,2540
$GC,7014,0.92,197.2,322.0,7.7,240,7066,0.00,2.17,41.92,0.854,4,0.000,0.057,3151,3906,2364
$GC,7321,0.92,197.2,268.6,19.3,247,7324,0.00,1.95,0.00,0.000,6,0.000,0.028,3158,2607,2359
$GC,7611,0.92,197.2,217.7,16.8,254,7615,0.00,2.08,0.00,0.000,4,0.000,0.057,3159,3896,2356
$GC,7847,0.92,197.2,181.4,13.3,266,7851,0.00,1.92,0.00,0.000,6,0.000,0.026,3168,2585,2356
$GC,8118,0.92,197.2,146.1,15.5,291,8122,0.00,2.05,0.00,0.000,4,0.000,0.028,3179,1181,2355
$GC,8157,0.92,197.2,140.0,13.9,294,8166,0.00,2.25,0.00,0.000,6,0.000,0.047,3178,2597,2355
$GC,8422,0.92,197.2,100.3,13.8,319,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2597,2355
$GC,8687,0.97,239.0,70.9,7.8,344,8727,0.00,2.15,35.42,0.678,4,0.000,0.025,3187,1190,2194
$GC,8753,0.97,239.0,65.4,10.8,349,8757,0.00,2.22,0.00,0.000,6,0.000,0.043,3186,2613,2192
$GC,9017,0.97,239.0,22.3,18.1,377,9026,0.00,2.12,0.00,0.000,4,0.000,0.026,3197,1184,2190
$GC,9072,0.97,239.0,11.2,21.2,386,9080,0.00,2.25,0.00,0.000,6,0.000,0.043,3192,2596,2189
$STATE,9118,end climb,SURFACE_DEPTH_REACHED
$STATE,9118,begin surface coast
$FINISH,0.3,1.024288
$STATE,9135,end surface coast,CONTROL_FINISHED_OK
$STATE,9136,begin surface
$SM_CCo,9158,55.62,0.617,0,0,1742,350.04
$SM_GC,2.19,0.00,0.00,55.62,0.000,0.000,0.617,37,2730,1742,-8.84,0.85,350.04
$IRIDIUM_FIX,2244.02,-15806.70,030500,191903
$TT8_MAMPS,0.023777
$HUMID,1859
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.6,86.790
$10V_AH,10.7,48.051
$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,20.975,72.700,332.625,55.625,0.000,23.862,34.513,353.537,0.000,0.000,0.000,15.001,854.256,6178.898,422.436,1617.039,695.775,33.373,1096.387,0.000,1604.814,0.000,0.543,0.000
$DEVICE_MAMPS,259.246,75.166,1062.295,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.997,604.813,623.728,136.001,559.636,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31929,397
$CAP_FILE_SIZE,78458,0
$CFSIZE,260165632,236093440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,080211,003725,2252.997,-15805.586,59,1.0,59,10.1