version: 66.04
glider: 512
mission: 1
dive: 680
start: 2 10 111 16 54 58
data:
$ID,512
$MISSION,1
$DIVE,680
$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,-20656.875
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$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,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,164507,2248.790,-15752.539,27,1.2,27,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.8
$GPS2,165406,2248.816,-15752.455,15,1.4,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.058,-0.250
$KALMAN_X,-202771.7,64.4,-1.9,234659.4,856.6
$KALMAN_Y,-543140.9,99.4,-378.4,670384.5,3167.2
$MHEAD_RNG_PITCHd_Wd,182.9,9726,-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,-45.33,0.000,2,0.000,0.000,37,2681,2874
$GC,69,-0.85,-146.0,3.1,-4.0,6,101,10.48,0.00,-17.98,0.000,6,0.217,0.000,2588,2681,3758
$GC,364,-0.85,-146.0,86.3,-25.8,40,367,0.00,2.05,0.00,0.000,4,0.000,0.029,2588,1303,3760
$GC,381,-0.85,-146.0,91.6,-27.1,41,388,0.00,2.28,0.00,0.000,6,0.000,0.059,2579,2689,3761
$GC,644,-0.85,-146.0,153.9,-20.8,66,648,0.00,2.00,0.00,0.000,4,0.000,0.076,2570,3895,3762
$GC,705,-0.85,-146.0,166.7,-17.6,71,713,0.00,1.75,0.00,0.000,6,0.000,0.025,2570,2718,3762
$GC,964,-0.85,-146.0,217.8,-20.6,90,967,0.00,2.08,0.00,0.000,4,0.000,0.028,2570,1295,3762
$GC,1032,-0.85,-146.0,229.4,-14.3,91,1037,0.15,2.33,0.00,0.000,6,0.140,0.067,2602,2714,3763
$GC,1294,-0.85,-146.0,263.3,-13.0,98,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2715,3763
$GC,1538,-0.85,-146.0,293.2,-12.0,104,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2715,3763
$GC,1782,-0.85,-146.0,319.6,-10.9,110,1786,0.00,2.10,0.00,0.000,4,0.000,0.028,2611,1295,3763
$GC,1830,-0.85,-146.0,324.4,-8.9,111,1834,0.00,2.28,0.00,0.000,6,0.000,0.063,2606,2702,3763
$GC,2116,-0.85,-146.0,352.2,-9.6,118,2120,0.00,1.95,0.00,0.000,4,0.000,0.074,2597,3886,3761
$GC,2139,-0.85,-146.0,354.7,-9.5,118,2143,0.00,1.75,0.00,0.000,6,0.000,0.025,2598,2683,3761
$GC,2408,-0.85,-146.0,381.7,-10.5,125,2411,0.00,2.05,0.00,0.000,4,0.000,0.031,2607,1295,3760
$GC,2448,-0.85,-146.0,385.9,-9.4,125,2455,0.00,2.28,0.00,0.000,6,0.000,0.058,2599,2695,3760
$GC,2699,-0.85,-146.0,411.3,-10.2,132,2702,0.00,1.95,0.00,0.000,4,0.000,0.067,2590,3895,3759
$GC,2738,-0.85,-146.0,415.7,-10.3,132,2745,0.00,1.75,0.00,0.000,6,0.000,0.026,2594,2697,3758
$GC,2990,-0.85,-146.0,440.2,-9.8,139,2993,0.00,2.08,0.00,0.000,4,0.000,0.031,2601,1292,3757
$GC,3030,-0.85,-146.0,444.0,-8.7,139,3036,0.00,2.28,0.00,0.000,6,0.000,0.059,2592,2699,3757
$GC,3282,-0.85,-146.0,467.6,-9.6,146,3286,0.00,1.95,0.00,0.000,4,0.000,0.070,2583,3889,3755
$GC,3323,-0.85,-146.0,471.6,-9.1,146,3329,0.00,1.75,0.00,0.000,6,0.000,0.027,2585,2697,3755
$GC,3574,-0.85,-146.0,493.9,-9.0,153,3578,0.00,2.08,0.00,0.000,4,0.000,0.031,2590,1296,3753
$GC,3621,-0.85,-146.0,497.9,-7.7,154,3625,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2700,3753
$GC,3907,-0.85,-146.0,524.0,-9.3,161,3911,0.00,1.98,0.00,0.000,4,0.000,0.073,2590,3897,3750
$GC,3937,-0.85,-146.0,526.9,-9.4,161,3940,0.00,1.77,0.00,0.000,6,0.000,0.028,2589,2687,3750
$GC,4199,-0.85,-146.0,552.2,-9.9,168,4202,0.00,2.05,0.00,0.000,4,0.000,0.031,2596,1303,3749
$GC,4250,-0.85,-146.0,557.0,-8.5,169,4254,0.00,2.30,0.00,0.000,6,0.000,0.064,2590,2707,3749
$GC,4531,-0.85,-146.0,582.6,-8.9,176,4534,0.00,1.98,0.00,0.000,4,0.000,0.077,2581,3889,3747
$GC,4571,-0.85,-146.0,586.3,-8.6,176,4577,0.00,1.75,0.00,0.000,6,0.000,0.029,2581,2703,3746
$STATE,4738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4738,begin apogee
$GC,4747,-0.32,0.0,600.5,8.5,181,4873,0.57,0.00,123.30,1.081,6,0.115,0.000,2765,2624,3160
$STATE,4874,end apogee,CONTROL_FINISHED_OK
$STATE,4874,begin climb
$GC,4879,0.85,146.0,605.3,0.0,184,5015,1.08,2.22,129.52,1.055,4,0.071,0.034,3156,1230,2563
$GC,5036,0.95,226.2,614.4,6.0,187,5113,0.00,2.30,71.65,1.041,6,0.000,0.051,3149,2628,2237
$GC,5366,0.95,226.2,527.5,28.6,196,5370,0.00,2.15,0.00,0.000,4,0.000,0.037,3158,1230,2228
$GC,5424,0.95,226.2,511.5,26.1,197,5428,0.00,2.25,0.00,0.000,6,0.000,0.053,3151,2630,2227
$GC,5697,0.95,226.2,439.5,25.2,204,5700,0.00,2.12,0.00,0.000,4,0.000,0.035,3159,1231,2224
$GC,5770,0.95,226.2,421.4,23.3,205,5775,0.00,2.22,0.00,0.000,6,0.000,0.053,3151,2621,2224
$GC,6027,0.95,226.2,356.1,25.3,212,6031,0.00,2.10,0.00,0.000,4,0.000,0.033,3160,1230,2222
$GC,6055,0.95,226.2,349.2,23.4,212,6059,0.00,2.22,0.00,0.000,6,0.000,0.053,3152,2629,2222
$GC,6311,0.95,226.2,290.6,22.4,219,6315,0.00,2.12,0.00,0.000,4,0.000,0.032,3160,1219,2220
$GC,6404,0.95,226.2,271.3,20.2,221,6408,0.00,2.22,0.00,0.000,6,0.000,0.051,3159,2623,2220
$GC,6690,0.95,226.2,210.9,21.5,228,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2623,2219
$GC,6940,0.95,226.2,158.7,18.6,246,6944,0.00,2.10,0.00,0.000,4,0.000,0.029,3170,1210,2217
$GC,6969,0.95,226.2,153.7,16.7,248,6975,0.00,2.28,0.00,0.000,6,0.000,0.051,3165,2619,2218
$GC,7233,0.95,226.2,109.6,16.0,273,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2619,2218
$GC,7498,0.95,226.2,71.9,13.8,298,7502,0.00,2.08,0.00,0.000,4,0.000,0.027,3174,1212,2218
$GC,7752,0.95,226.2,38.0,15.4,321,7756,0.00,2.20,0.00,0.000,6,0.000,0.044,3174,2628,2218
$STATE,7952,end climb,SURFACE_DEPTH_REACHED
$STATE,7952,begin surface coast
$FINISH,0.3,1.023906
$STATE,7969,end surface coast,CONTROL_FINISHED_OK
$STATE,7970,begin surface
$SM_CCo,7992,65.15,0.634,0,0,1732,350.04
$SM_GC,1.97,0.00,0.00,65.15,0.000,0.000,0.634,46,2760,1732,-8.84,1.70,350.04
$IRIDIUM_FIX,2241.69,-15754.11,060500,141410
$TT8_MAMPS,0.023777
$HUMID,1841
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,89.961
$10V_AH,10.7,50.119
$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,20.575,83.550,324.475,65.150,0.000,29.023,39.631,310.797,0.000,0.000,0.000,32.167,753.662,5420.377,445.625,1314.527,664.842,33.369,995.288,0.000,1288.379,0.000,0.542,0.000
$DEVICE_MAMPS,217.061,84.370,1080.703,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,240.550,544.109,559.291,127.334,524.801,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28754,356
$CAP_FILE_SIZE,72469,0
$CFSIZE,260165632,235069440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,100211,191034,2247.964,-15752.605,14,2.2,34,10.1