version: 66.04
glider: 512
mission: 1
dive: 658
start: 2 8 111 3 29 29
data:
$ID,512
$MISSION,1
$DIVE,658
$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,-20220.705
$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,54
$R_STBD_OVSHOOT,18
$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
$GPS1,032015,2252.820,-15804.549,12,1.9,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.5
$GPS2,032837,2252.818,-15804.547,14,1.7,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.244,0.079
$KALMAN_X,-191214.8,-336.4,-57.5,202762.6,-879.5
$KALMAN_Y,-564657.4,999.2,263.8,697732.9,-4002.7
$MHEAD_RNG_PITCHd_Wd,62.1,15486,-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,-45.50,0.000,2,0.000,0.000,28,2759,2908
$GC,68,-0.85,-146.0,3.0,-4.7,6,101,10.52,2.25,-17.45,0.000,4,0.220,0.039,2582,1286,3767
$GC,143,-0.85,-146.0,23.3,-24.0,17,151,0.00,2.40,0.00,0.000,6,0.000,0.071,2574,2705,3769
$GC,409,-0.85,-146.0,96.2,-27.2,44,413,0.00,1.95,0.00,0.000,4,0.000,0.069,2564,3895,3770
$GC,448,-0.85,-146.0,105.3,-25.1,47,452,0.00,1.75,0.00,0.000,6,0.000,0.025,2566,2689,3770
$GC,717,-0.85,-146.0,166.3,-20.6,72,721,0.00,2.03,0.00,0.000,4,0.000,0.026,2566,1297,3772
$GC,778,-0.85,-146.0,178.2,-14.6,77,785,0.00,2.33,0.00,0.000,6,0.000,0.065,2562,2698,3772
$GC,1065,-0.85,-146.0,234.1,-19.9,93,1069,0.00,1.98,0.00,0.000,4,0.000,0.076,2552,3892,3773
$GC,1112,-0.85,-146.0,242.3,-16.4,94,1116,0.12,1.73,0.00,0.000,6,0.147,0.024,2584,2692,3773
$GC,1403,-0.85,-146.0,286.1,-15.6,101,1406,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,1299,3774
$GC,1442,-0.85,-146.0,292.1,-12.4,101,1449,0.00,2.33,0.00,0.000,6,0.000,0.068,2578,2712,3774
$GC,1695,-0.85,-146.0,328.1,-14.5,108,1699,0.00,2.00,0.00,0.000,4,0.000,0.082,2576,3896,3774
$GC,1724,-0.85,-146.0,332.4,-13.4,108,1728,0.00,1.75,0.00,0.000,6,0.000,0.025,2576,2707,3773
$GC,1986,-0.85,-146.0,367.6,-14.0,115,1990,0.00,2.08,0.00,0.000,4,0.000,0.030,2576,1298,3773
$GC,2048,-0.85,-146.0,375.4,-11.0,116,2052,0.00,2.30,0.00,0.000,6,0.000,0.064,2576,2705,3773
$GC,2316,-0.85,-146.0,411.0,-13.8,123,2319,0.00,1.98,0.00,0.000,4,0.000,0.077,2568,3889,3772
$GC,2344,-0.85,-146.0,415.2,-14.4,123,2348,0.00,1.75,0.00,0.000,6,0.000,0.026,2568,2690,3771
$GC,2606,-0.85,-146.0,450.2,-13.3,130,2610,0.00,2.05,0.00,0.000,4,0.000,0.031,2568,1304,3771
$GC,2654,-0.85,-146.0,455.9,-10.5,131,2658,0.00,2.30,0.00,0.000,6,0.000,0.065,2563,2709,3770
$GC,2940,-0.85,-146.0,489.2,-11.7,138,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2711,3769
$GC,3182,-0.85,-146.0,518.5,-12.1,144,3185,0.00,1.98,0.00,0.000,4,0.000,0.077,2553,3897,3767
$GC,3238,-0.85,-146.0,525.9,-11.7,145,3243,0.12,1.75,0.00,0.000,6,0.138,0.027,2587,2708,3766
$GC,3518,-0.85,-146.0,554.9,-10.4,152,3521,0.00,2.10,0.00,0.000,4,0.000,0.033,2587,1300,3765
$GC,3580,-0.85,-146.0,561.0,-9.2,153,3585,0.00,2.30,0.00,0.000,6,0.000,0.065,2578,2703,3764
$GC,3848,-0.85,-146.0,587.1,-9.7,160,3852,0.00,2.00,0.00,0.000,4,0.000,0.080,2577,3895,3763
$GC,3907,-0.85,-146.0,592.2,-8.0,161,3911,0.00,1.80,0.00,0.000,6,0.000,0.028,2576,2683,3762
$STATE,4020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4020,begin apogee
$GC,4029,-0.32,0.0,602.8,9.1,164,4156,0.57,0.00,124.20,1.063,6,0.117,0.000,2759,2597,3170
$STATE,4157,end apogee,CONTROL_FINISHED_OK
$STATE,4157,begin climb
$GC,4161,0.85,146.0,608.2,0.0,167,4297,1.02,2.25,127.97,1.035,4,0.047,0.065,3150,3884,2573
$GC,4559,0.85,146.0,578.6,16.5,176,4564,0.00,1.95,0.00,0.000,6,0.000,0.028,3159,2580,2566
$GC,4850,0.85,146.0,534.6,15.1,183,4854,0.00,2.12,0.00,0.000,4,0.000,0.054,3159,3907,2561
$GC,5108,0.85,146.0,495.9,13.2,188,5112,0.00,1.95,0.00,0.000,6,0.000,0.028,3169,2590,2560
$GC,5365,0.85,146.0,462.5,13.1,195,5369,0.00,2.10,0.00,0.000,4,0.000,0.056,3166,3900,2559
$GC,5623,0.85,146.0,431.6,11.4,200,5628,0.15,1.92,0.00,0.000,6,0.270,0.029,3148,2600,2558
$GC,5881,0.88,166.3,408.6,8.7,207,5901,0.00,2.10,16.30,0.899,4,0.000,0.054,3146,3897,2491
$GC,5941,0.88,166.3,401.7,12.8,208,5945,0.00,1.92,0.00,0.000,6,0.000,0.027,3155,2598,2490
$GC,6209,0.88,166.3,368.0,12.5,215,6213,0.00,2.10,0.00,0.000,4,0.000,0.053,3151,3899,2487
$GC,6468,0.88,166.3,333.3,14.0,220,6471,0.00,1.92,0.00,0.000,6,0.000,0.028,3159,2601,2487
$GC,6725,0.88,166.3,302.3,12.0,227,6728,0.00,2.10,0.00,0.000,4,0.000,0.051,3159,3911,2485
$GC,6849,0.88,166.3,286.4,12.8,229,6853,0.00,1.95,0.00,0.000,6,0.000,0.026,3169,2589,2486
$GC,7108,0.88,166.3,255.9,11.6,236,7112,0.00,2.05,0.00,0.000,4,0.000,0.028,3180,1189,2485
$GC,7120,0.88,166.3,254.4,11.4,236,7125,0.12,2.25,0.00,0.000,6,0.219,0.047,3154,2613,2485
$GC,7393,0.88,166.3,226.0,10.1,243,7397,0.00,2.03,0.00,0.000,4,0.000,0.054,3150,3900,2484
$GC,7652,1.04,293.2,209.9,4.0,248,7769,0.12,1.92,109.03,0.801,6,0.097,0.028,3201,2581,1973
$GC,8035,1.04,293.2,110.7,31.8,275,8038,0.00,2.05,0.00,0.000,4,0.000,0.030,3211,1212,1964
$GC,8048,1.04,293.2,106.1,30.7,276,8052,0.00,2.17,0.00,0.000,6,0.000,0.043,3205,2607,1963
$GC,8318,1.04,293.2,30.6,30.9,301,8322,0.00,2.08,0.00,0.000,4,0.000,0.027,3214,1200,1962
$GC,8334,1.04,293.2,26.2,29.6,302,8343,0.00,2.20,0.00,0.000,6,0.000,0.041,3214,2598,1962
$STATE,8412,end climb,SURFACE_DEPTH_REACHED
$STATE,8412,begin surface coast
$FINISH,0.2,1.003556
$STATE,8424,end surface coast,CONTROL_FINISHED_OK
$STATE,8424,begin surface
$SM_CCo,8446,26.52,0.630,0,0,1743,350.04
$SM_GC,0.80,0.00,0.00,26.52,0.000,0.000,0.630,40,2751,1743,-8.83,1.44,350.04
$IRIDIUM_FIX,2244.02,-15808.88,040500,000040
$TT8_MAMPS,0.023777
$HUMID,1928
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,23.6,87.061
$10V_AH,10.6,48.201
$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,21.250,90.275,377.500,26.525,0.000,30.438,38.925,270.087,0.250,0.000,0.000,32.189,759.835,5722.403,421.417,1443.199,633.085,33.363,1088.051,0.000,1406.111,0.000,0.543,0.000
$DEVICE_MAMPS,269.984,82.069,1063.062,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,215.349,422.758,435.584,91.872,375.371,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25735,318
$CAP_FILE_SIZE,77822,0
$CFSIZE,260165632,236019712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,080211,055206,2252.769,-15803.808,34,1.1,41,10.1