version: 66.04
glider: 512
mission: 1
dive: 659
start: 2 8 111 6 1 19
data:
$ID,512
$MISSION,1
$DIVE,659
$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,-20239.098
$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,68
$R_STBD_OVSHOOT,53
$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
$GPS1,055206,2252.769,-15803.808,34,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.6
$GPS2,060026,2252.794,-15803.839,17,1.1,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.179,0.184
$KALMAN_X,-193323.5,292.6,-488.2,205886.9,-1608.5
$KALMAN_Y,-564212.9,-118.6,171.6,698460.8,-2234.0
$MHEAD_RNG_PITCHd_Wd,34.1,14287,-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,-45.28,0.000,2,0.000,0.000,29,2751,2892
$GC,68,-0.85,-146.0,3.0,-4.6,6,108,10.55,1.88,-18.45,0.000,4,0.220,0.077,2571,3855,3768
$GC,134,-0.85,-146.0,20.7,-30.4,15,143,0.00,1.70,0.00,0.000,6,0.000,0.025,2572,2692,3769
$GC,401,-0.85,-146.0,99.2,-27.5,42,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2684,3770
$GC,656,-0.85,-146.0,156.8,-19.1,66,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2684,3772
$GC,918,-0.85,-146.0,207.9,-19.6,88,922,0.00,1.98,0.00,0.000,4,0.000,0.026,2574,1322,3773
$GC,1014,-0.85,-146.0,221.3,-10.7,90,1018,0.00,2.22,0.00,0.000,6,0.000,0.067,2574,2671,3773
$GC,1293,-0.85,-146.0,260.9,-14.4,97,1297,0.00,2.05,0.00,0.000,4,0.000,0.080,2574,3887,3774
$GC,1339,-0.85,-146.0,267.7,-13.1,98,1343,0.00,1.70,0.00,0.000,6,0.000,0.025,2574,2703,3774
$GC,1630,-0.85,-146.0,309.1,-14.4,105,1633,0.00,2.05,0.00,0.000,4,0.000,0.026,2574,1296,3774
$GC,1687,-0.85,-146.0,316.6,-10.9,106,1691,0.00,2.30,0.00,0.000,6,0.000,0.063,2574,2699,3774
$GC,1960,-0.85,-146.0,353.3,-13.8,113,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2699,3774
$GC,2203,-0.85,-146.0,386.5,-13.5,119,2207,0.00,2.05,0.00,0.000,4,0.000,0.091,2574,3893,3773
$GC,2250,-0.85,-146.0,391.8,-10.7,120,2254,0.00,1.73,0.00,0.000,6,0.000,0.026,2574,2699,3773
$GC,2541,-0.85,-146.0,425.9,-11.8,127,2544,0.00,2.03,0.00,0.000,4,0.000,0.027,2574,1307,3771
$GC,2587,-0.85,-146.0,430.9,-9.6,128,2592,0.00,2.33,0.00,0.000,6,0.000,0.067,2574,2707,3771
$GC,2872,-0.85,-146.0,462.4,-11.3,135,2876,0.00,2.00,0.00,0.000,4,0.000,0.084,2574,3888,3770
$GC,2906,-0.85,-146.0,466.3,-10.8,135,2910,0.00,1.73,0.00,0.000,6,0.000,0.028,2574,2696,3769
$GC,3163,-0.85,-146.0,493.6,-10.7,142,3167,0.00,2.03,0.00,0.000,4,0.000,0.029,2574,1315,3768
$GC,3191,-0.85,-146.0,496.8,-10.8,142,3196,0.00,2.30,0.00,0.000,6,0.000,0.071,2574,2702,3768
$GC,3448,-0.85,-146.0,523.8,-10.9,149,3452,0.00,2.00,0.00,0.000,4,0.000,0.083,2574,3889,3766
$GC,3482,-0.85,-146.0,527.6,-10.3,149,3486,0.00,1.73,0.00,0.000,6,0.000,0.027,2574,2709,3765
$GC,3740,-0.85,-146.0,554.6,-10.7,156,3744,0.00,2.08,0.00,0.000,4,0.000,0.031,2574,1308,3764
$GC,3774,-0.85,-146.0,558.4,-10.6,156,3778,0.00,2.30,0.00,0.000,6,0.000,0.065,2574,2708,3764
$GC,4025,-0.85,-146.0,584.3,-10.6,162,4028,0.00,2.00,0.00,0.000,4,0.000,0.080,2574,3898,3762
$GC,4072,-0.85,-146.0,588.9,-9.5,163,4076,0.00,1.77,0.00,0.000,6,0.000,0.028,2574,2694,3761
$STATE,4197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4197,begin apogee
$GC,4206,-0.32,0.0,601.3,10.0,166,4333,0.57,0.00,124.00,1.063,6,0.117,0.000,2758,2594,3170
$STATE,4334,end apogee,CONTROL_FINISHED_OK
$STATE,4334,begin climb
$GC,4338,0.85,146.0,607.6,0.0,169,4475,1.05,2.25,128.20,1.042,4,0.061,0.030,3151,1197,2573
$GC,4736,0.85,146.0,582.4,15.9,178,4740,0.00,2.28,0.00,0.000,6,0.000,0.051,3150,2607,2565
$GC,5021,0.85,146.0,540.5,14.5,185,5025,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1189,2561
$GC,5055,0.85,146.0,535.5,14.6,185,5059,0.00,2.25,0.00,0.000,6,0.000,0.050,3159,2612,2561
$GC,5307,0.85,146.0,502.5,12.7,191,5310,0.00,2.12,0.00,0.000,4,0.000,0.030,3170,1181,2559
$GC,5346,0.85,146.0,497.4,12.3,191,5352,0.00,2.28,0.00,0.000,6,0.000,0.052,3165,2609,2559
$GC,5597,0.85,146.0,465.7,12.9,198,5601,0.00,2.08,0.00,0.000,4,0.000,0.059,3163,3901,2558
$GC,5798,0.85,146.0,441.3,11.8,202,5802,0.15,1.92,0.00,0.000,6,0.245,0.029,3142,2602,2557
$GC,6071,0.85,146.0,412.6,9.9,209,6075,0.00,2.10,0.00,0.000,4,0.000,0.029,3152,1186,2555
$GC,6307,0.88,170.4,391.8,8.5,214,6331,0.00,2.28,19.48,0.904,6,0.000,0.051,3150,2609,2475
$GC,6584,0.88,170.4,357.2,13.1,221,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2609,2471
$GC,6827,0.88,170.4,323.5,14.1,227,6831,0.00,2.08,0.00,0.000,4,0.000,0.061,3150,3901,2469
$GC,6970,0.88,170.4,303.0,14.6,230,6974,0.00,1.95,0.00,0.000,6,0.000,0.029,3158,2593,2469
$GC,7254,0.88,170.4,268.0,11.9,237,7258,0.00,2.08,0.00,0.000,4,0.000,0.029,3169,1183,2468
$GC,7283,0.88,170.4,265.1,10.5,237,7287,0.00,2.28,0.00,0.000,6,0.000,0.050,3167,2608,2468
$GC,7540,0.89,172.3,239.1,9.5,244,7544,0.00,2.05,0.00,0.000,4,0.000,0.058,3164,3893,2468
$GC,7799,0.98,248.5,218.2,6.2,249,7872,0.00,1.92,67.62,0.815,6,0.000,0.027,3172,2575,2157
$GC,8134,0.98,248.5,147.3,24.3,272,8138,0.00,2.05,0.00,0.000,4,0.000,0.029,3182,1198,2150
$GC,8348,0.98,248.5,99.1,19.3,291,8352,0.00,2.22,0.00,0.000,6,0.000,0.045,3179,2604,2147
$GC,8612,0.98,248.5,47.0,20.5,315,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2605,2147
$STATE,8825,end climb,SURFACE_DEPTH_REACHED
$STATE,8825,begin surface coast
$FINISH,0.3,1.024059
$STATE,8840,end surface coast,CONTROL_FINISHED_OK
$STATE,8840,begin surface
$SM_CCo,8863,48.38,0.630,0,0,1742,350.04
$SM_GC,2.07,0.00,0.00,48.38,0.000,0.000,0.630,36,2731,1742,-8.84,0.88,350.04
$IRIDIUM_FIX,2246.36,-15806.70,040500,030314
$TT8_MAMPS,0.023777
$HUMID,1875
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.6,87.186
$10V_AH,10.7,48.279
$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,20.800,82.450,339.300,48.375,0.000,31.405,34.613,293.693,0.000,0.000,0.000,17.763,791.428,6071.316,418.209,1478.135,659.354,33.365,1074.049,0.000,1462.831,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,90.506,1063.062,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,237.257,487.932,504.639,109.205,444.870,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28857,350
$CAP_FILE_SIZE,76968,0
$CFSIZE,260165632,235974656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,080211,083126,2253.555,-15803.269,31,2.1,51,10.1