version: 66.04
glider: 512
mission: 1
dive: 696
start: 2 12 111 15 17 7
data:
$ID,512
$MISSION,1
$DIVE,696
$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,-21057.678
$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,51
$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
$GPS1,150807,2246.165,-15802.495,27,1.6,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.9
$GPS2,151614,2246.254,-15802.460,13,1.6,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.248,0.063
$KALMAN_X,-181429.0,108.9,-224.0,196289.3,2177.2
$KALMAN_Y,-525874.7,259.3,175.0,647648.4,1571.7
$MHEAD_RNG_PITCHd_Wd,274.2,14387,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,2,0.000,0.000,46,2712,2908
$GC,69,-0.85,-146.0,3.2,-4.9,6,102,10.80,2.00,-17.35,0.000,4,0.227,0.080,2579,3888,3758
$GC,251,-0.85,-146.0,47.3,-17.6,29,259,0.00,1.77,0.00,0.000,6,0.000,0.025,2580,2695,3760
$GC,515,-0.85,-146.0,111.1,-22.9,54,518,0.00,2.05,0.00,0.000,4,0.000,0.027,2579,1293,3760
$GC,587,-0.85,-146.0,124.9,-14.1,60,595,0.00,2.35,0.00,0.000,6,0.000,0.068,2576,2695,3761
$GC,851,-0.85,-146.0,174.2,-19.0,85,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2695,3762
$GC,1119,-0.85,-146.0,222.9,-17.7,102,1122,0.00,2.08,0.00,0.000,4,0.000,0.026,2576,1288,3763
$GC,1192,-0.85,-146.0,232.9,-11.5,103,1197,0.00,2.33,0.00,0.000,6,0.000,0.064,2576,2713,3763
$GC,1449,-0.85,-146.0,269.5,-15.0,110,1453,0.00,1.98,0.00,0.000,4,0.000,0.080,2576,3892,3763
$GC,1497,-0.85,-146.0,275.4,-11.7,111,1501,0.00,1.75,0.00,0.000,6,0.000,0.025,2576,2697,3763
$GC,1787,-0.85,-146.0,315.5,-14.3,118,1791,0.00,2.03,0.00,0.000,4,0.000,0.026,2576,1302,3763
$GC,1829,-0.85,-146.0,321.1,-13.1,118,1835,0.00,2.30,0.00,0.000,6,0.000,0.063,2576,2705,3763
$GC,2080,-0.85,-146.0,354.3,-13.4,125,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2705,3763
$GC,2325,-0.85,-146.0,383.0,-11.6,131,2328,0.00,2.08,0.00,0.000,4,0.000,0.027,2576,1305,3760
$GC,2365,-0.85,-146.0,387.8,-10.8,131,2371,0.00,2.30,0.00,0.000,6,0.000,0.062,2576,2706,3760
$GC,2616,-0.85,-146.0,415.6,-11.3,138,2619,0.00,1.98,0.00,0.000,4,0.000,0.079,2576,3892,3759
$GC,2667,-0.85,-146.0,421.2,-9.9,139,2671,0.00,1.75,0.00,0.000,6,0.000,0.027,2576,2686,3759
$GC,2953,-0.85,-146.0,451.5,-10.8,146,2957,0.00,2.03,0.00,0.000,4,0.000,0.028,2576,1303,3758
$GC,3000,-0.85,-146.0,456.5,-9.3,147,3005,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2701,3757
$GC,3285,-0.85,-146.0,487.2,-10.8,154,3289,0.00,2.00,0.00,0.000,4,0.000,0.080,2576,3889,3755
$GC,3314,-0.85,-146.0,490.6,-10.7,154,3318,0.00,1.75,0.00,0.000,6,0.000,0.028,2576,2689,3754
$GC,3578,-0.85,-146.0,518.9,-11.0,161,3581,0.00,2.05,0.00,0.000,4,0.000,0.029,2576,1301,3752
$GC,3606,-0.85,-146.0,522.5,-11.6,161,3610,0.00,2.35,0.00,0.000,6,0.000,0.071,2576,2707,3753
$GC,3862,-0.85,-146.0,549.7,-10.7,168,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3750
$GC,4106,-0.85,-146.0,574.4,-9.9,174,4110,0.00,2.10,0.00,0.000,4,0.000,0.032,2576,1311,3749
$GC,4141,-0.85,-146.0,577.9,-9.9,174,4145,0.00,2.33,0.00,0.000,6,0.000,0.069,2576,2710,3748
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4388,begin apogee
$GC,4397,-0.32,0.0,600.4,9.0,180,4523,0.62,0.00,123.25,1.050,6,0.120,0.000,2773,2638,3160
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4528,0.85,146.0,605.4,0.0,183,4666,1.00,2.30,128.38,1.022,4,0.044,0.034,3172,1230,2563
$GC,4927,0.85,146.0,577.9,15.1,192,4932,0.00,2.25,0.00,0.000,6,0.000,0.051,3163,2638,2555
$GC,5212,0.85,146.0,536.0,14.3,199,5216,0.00,2.15,0.00,0.000,4,0.000,0.036,3172,1224,2552
$GC,5471,0.85,146.0,501.0,13.3,204,5475,0.00,2.22,0.00,0.000,6,0.000,0.050,3163,2625,2551
$GC,5722,0.85,146.0,469.8,12.2,210,5726,0.00,2.12,0.00,0.000,4,0.000,0.034,3172,1214,2548
$GC,5981,0.85,146.0,442.6,10.1,215,5985,0.00,2.22,0.00,0.000,6,0.000,0.047,3164,2629,2547
$GC,6234,0.85,146.0,416.2,10.5,221,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2629,2546
$GC,6477,0.86,147.0,392.8,9.6,227,6480,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1224,2545
$GC,6545,0.89,172.8,386.9,8.5,228,6571,0.00,2.22,21.55,0.906,6,0.000,0.049,3164,2633,2455
$GC,6853,0.89,172.8,342.9,15.3,236,6856,0.00,2.15,0.00,0.000,4,0.000,0.032,3173,1213,2451
$GC,7079,0.89,172.8,308.3,13.7,241,7083,0.00,2.22,0.00,0.000,6,0.000,0.046,3164,2629,2449
$GC,7364,0.89,172.8,271.1,12.7,248,7368,0.00,2.12,0.00,0.000,4,0.000,0.031,3173,1200,2448
$GC,7511,0.95,221.8,258.5,7.4,251,7561,0.00,2.28,43.30,0.830,6,0.000,0.049,3173,2631,2255
$GC,7830,0.95,221.8,200.5,20.6,259,7834,0.00,2.03,0.00,0.000,4,0.000,0.056,3165,3903,2248
$GC,7865,0.95,221.8,192.7,22.9,259,7868,0.00,1.90,0.00,0.000,6,0.000,0.028,3173,2628,2248
$GC,8134,0.95,221.8,137.8,23.0,284,8137,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1198,2247
$GC,8248,0.95,221.8,117.7,14.7,294,8252,0.00,2.25,0.00,0.000,6,0.000,0.042,3179,2635,2246
$GC,8511,0.95,221.8,79.4,12.7,318,8515,0.00,2.12,0.00,0.000,4,0.000,0.027,3187,1202,2245
$GC,8769,0.95,221.8,52.2,10.3,341,8773,0.00,2.20,0.00,0.000,6,0.000,0.044,3187,2624,2245
$GC,9034,0.95,221.8,22.0,13.4,371,9042,0.00,2.12,0.00,0.000,4,0.000,0.027,3197,1198,2246
$STATE,9158,end climb,SURFACE_DEPTH_REACHED
$STATE,9158,begin surface coast
$FINISH,0.3,1.023777
$STATE,9185,end surface coast,CONTROL_FINISHED_OK
$STATE,9185,begin surface
$SM_CCo,9209,72.72,0.598,0,0,1732,350.04
$SM_GC,2.37,0.00,0.00,72.72,0.000,0.000,0.598,44,2707,1732,-8.85,0.20,350.04
$IRIDIUM_FIX,2239.35,-15802.37,080500,121205
$TT8_MAMPS,0.023777
$HUMID,1819
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,92.139
$10V_AH,10.7,51.563
$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,20.700,89.275,316.475,72.725,0.000,26.361,32.808,284.293,0.250,0.000,0.000,13.839,868.160,6148.989,433.873,1664.617,657.277,33.373,1122.844,0.000,1654.879,0.000,0.543,0.000
$DEVICE_MAMPS,227.032,79.768,1050.023,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.796,604.890,625.128,144.848,594.323,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32032,398
$CAP_FILE_SIZE,80103,0
$CFSIZE,260165632,234348544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,1
$GPS,120211,175253,2246.840,-15803.412,19,1.8,20,10.1