version: 66.04
glider: 512
mission: 1
dive: 664
start: 2 8 111 19 57 6
data:
$ID,512
$MISSION,1
$DIVE,664
$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,-20355.021
$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,51
$R_STBD_OVSHOOT,25
$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
$GPS1,194724,2254.375,-15759.247,28,1.7,47,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.7
$GPS2,195614,2254.424,-15759.308,16,1.8,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.221,0.130
$KALMAN_X,-199539.2,223.8,-170.6,219637.3,-1669.5
$KALMAN_Y,-568645.4,998.5,194.6,704785.0,-1904.4
$MHEAD_RNG_PITCHd_Wd,49.4,6718,-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,-45.22,0.000,2,0.000,0.000,36,2672,2902
$GC,69,-0.85,-146.0,3.1,-4.2,6,102,10.40,2.08,-18.23,0.000,4,0.216,0.080,2570,3886,3768
$GC,154,-0.85,-146.0,27.0,-29.8,19,161,0.00,1.77,0.00,0.000,6,0.000,0.026,2570,2706,3770
$GC,427,-0.85,-146.0,102.7,-26.1,45,430,0.00,2.08,0.00,0.000,4,0.000,0.027,2570,1288,3770
$GC,465,-0.85,-146.0,112.5,-21.2,48,474,0.00,2.33,0.00,0.000,6,0.000,0.064,2560,2690,3771
$GC,729,-0.85,-146.0,171.3,-21.2,73,733,0.00,2.08,0.00,0.000,4,0.000,0.026,2560,1287,3772
$GC,766,-0.85,-146.0,179.5,-21.2,76,771,0.15,2.35,0.00,0.000,6,0.142,0.067,2590,2723,3773
$GC,1054,-0.85,-146.0,225.7,-15.6,91,1058,0.00,2.15,0.00,0.000,4,0.000,0.031,2595,1282,3773
$GC,1077,-0.85,-146.0,229.8,-16.6,91,1081,0.00,2.33,0.00,0.000,6,0.000,0.061,2593,2705,3773
$GC,1339,-0.85,-146.0,266.0,-14.0,98,1342,0.00,1.95,0.00,0.000,4,0.000,0.071,2583,3893,3774
$GC,1368,-0.85,-146.0,269.9,-13.6,98,1372,0.00,1.75,0.00,0.000,6,0.000,0.024,2583,2677,3774
$GC,1630,-0.85,-146.0,303.5,-13.1,105,1634,0.00,2.00,0.00,0.000,4,0.000,0.025,2583,1292,3774
$GC,1680,-0.85,-146.0,309.8,-11.0,106,1685,0.00,2.28,0.00,0.000,6,0.000,0.058,2577,2696,3774
$GC,1959,-0.85,-146.0,346.0,-13.1,113,1963,0.00,1.98,0.00,0.000,4,0.000,0.074,2576,3891,3773
$GC,1988,-0.85,-146.0,349.8,-12.3,113,1992,0.00,1.73,0.00,0.000,6,0.000,0.025,2576,2692,3773
$GC,2250,-0.85,-146.0,382.5,-12.7,120,2254,0.00,2.03,0.00,0.000,4,0.000,0.026,2576,1300,3772
$GC,2313,-0.85,-146.0,390.0,-10.5,121,2317,0.00,2.28,0.00,0.000,6,0.000,0.060,2576,2703,3771
$GC,2588,-0.85,-146.0,422.3,-12.1,128,2592,0.00,1.98,0.00,0.000,4,0.000,0.078,2576,3886,3770
$GC,2617,-0.85,-146.0,426.1,-11.0,128,2621,0.00,1.75,0.00,0.000,6,0.000,0.026,2576,2698,3770
$GC,2879,-0.85,-146.0,455.4,-11.2,135,2882,0.00,2.03,0.00,0.000,4,0.000,0.027,2576,1308,3768
$GC,2918,-0.85,-146.0,459.7,-10.0,135,2925,0.00,2.33,0.00,0.000,6,0.000,0.066,2575,2702,3767
$GC,3170,-0.85,-146.0,486.2,-10.9,142,3173,0.00,1.98,0.00,0.000,4,0.000,0.075,2570,3891,3766
$GC,3198,-0.85,-146.0,489.4,-10.8,142,3202,0.00,1.73,0.00,0.000,6,0.000,0.026,2569,2704,3765
$GC,3461,-0.85,-146.0,518.2,-11.4,149,3465,0.00,2.08,0.00,0.000,4,0.000,0.030,2569,1303,3764
$GC,3507,-0.85,-146.0,523.5,-9.8,150,3512,0.00,2.30,0.00,0.000,6,0.000,0.067,2563,2696,3764
$GC,3792,-0.85,-146.0,557.6,-12.2,157,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2696,3761
$GC,4036,-0.85,-146.0,584.9,-11.0,163,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2696,3760
$STATE,4194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4195,begin apogee
$GC,4204,-0.32,0.0,602.3,10.7,167,4331,0.62,0.00,124.00,1.054,6,0.122,0.000,2760,2603,3170
$STATE,4331,end apogee,CONTROL_FINISHED_OK
$STATE,4331,begin climb
$GC,4335,0.85,146.0,607.8,0.0,170,4473,1.05,2.28,128.45,1.032,4,0.054,0.066,3148,3899,2572
$GC,4734,0.85,146.0,574.2,18.6,179,4738,0.00,1.95,0.00,0.000,6,0.000,0.030,3158,2604,2565
$GC,5026,0.85,146.0,527.7,15.2,186,5030,0.00,2.10,0.00,0.000,4,0.000,0.058,3158,3903,2561
$GC,5285,0.85,146.0,490.7,13.4,191,5289,0.00,1.95,0.00,0.000,6,0.000,0.029,3167,2593,2560
$GC,5544,0.85,146.0,458.8,12.3,198,5547,0.00,2.12,0.00,0.000,4,0.000,0.059,3163,3907,2558
$GC,5802,0.85,146.0,424.3,12.9,203,5806,0.15,1.95,0.00,0.000,6,0.255,0.028,3143,2589,2557
$GC,6058,0.85,146.0,397.3,10.2,210,6062,0.00,2.12,0.00,0.000,4,0.000,0.054,3137,3910,2555
$GC,6317,0.88,163.2,372.9,8.8,215,6334,0.00,1.95,13.15,0.867,6,0.000,0.028,3146,2586,2504
$GC,6616,0.88,163.2,340.5,11.4,223,6619,0.00,2.12,0.00,0.000,4,0.000,0.057,3146,3903,2501
$GC,6707,0.88,163.2,329.4,13.2,225,6711,0.00,1.95,0.00,0.000,6,0.000,0.030,3155,2597,2500
$GC,6997,0.88,163.2,297.1,11.1,232,7000,0.00,2.12,0.00,0.000,4,0.000,0.056,3154,3905,2499
$GC,7127,0.88,167.9,283.2,9.4,234,7137,0.00,1.95,4.93,0.643,6,0.000,0.029,3162,2586,2486
$GC,7423,0.91,190.2,256.5,8.6,242,7449,0.00,2.15,21.50,0.818,4,0.000,0.029,3172,1197,2394
$GC,7463,0.91,192.9,253.1,9.5,243,7472,0.00,2.28,4.15,0.548,6,0.000,0.051,3172,2614,2382
$GC,7752,0.91,192.9,213.1,13.8,250,7756,0.00,2.05,0.00,0.000,4,0.000,0.054,3163,3903,2378
$GC,8016,0.91,192.9,175.0,13.1,267,8020,0.00,1.92,0.00,0.000,6,0.000,0.028,3171,2601,2378
$GC,8284,0.91,192.9,143.9,12.0,292,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2594,2377
$GC,8540,0.91,192.9,114.1,10.4,316,8543,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1177,2377
$GC,8721,0.98,251.2,97.6,7.0,332,8777,0.00,2.25,50.17,0.691,6,0.000,0.044,3178,2609,2145
$GC,9035,0.98,251.2,45.8,22.6,360,9039,0.00,2.05,0.00,0.000,4,0.000,0.057,3176,3896,2138
$STATE,9214,end climb,SURFACE_DEPTH_REACHED
$STATE,9214,begin surface coast
$FINISH,0.3,1.024039
$STATE,9226,end surface coast,CONTROL_FINISHED_OK
$STATE,9226,begin surface
$SM_CCo,9250,50.00,0.605,0,0,1742,350.04
$SM_GC,2.23,0.00,0.00,50.00,0.000,0.000,0.605,43,2666,1742,-8.82,-0.96,350.04
$IRIDIUM_FIX,2246.36,-15801.49,040500,171711
$TT8_MAMPS,0.023777
$HUMID,1859
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.6,87.815
$10V_AH,10.7,48.719
$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,20.675,90.575,346.350,50.000,0.000,28.237,34.614,326.331,0.250,0.000,0.000,16.459,864.629,6218.488,419.363,1636.026,696.468,33.366,1123.734,0.000,1618.474,0.000,0.542,0.000
$DEVICE_MAMPS,255.411,79.768,1053.858,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,263.538,577.360,596.720,122.392,499.810,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32048,389
$CAP_FILE_SIZE,82675,0
$CFSIZE,260165632,235749376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,080211,223336,2255.012,-15758.289,40,0.9,46,10.1