version: 66.04
glider: 512
mission: 1
dive: 700
start: 2 13 111 3 6 43
data:
$ID,512
$MISSION,1
$DIVE,700
$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,-21161.504
$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,54
$R_STBD_OVSHOOT,56
$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
$GPS1,025254,2249.238,-15806.065,39,1.9,40,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.2
$GPS2,030550,2249.363,-15806.060,12,1.4,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.168,0.194
$KALMAN_X,-176191.5,-575.1,-267.5,185581.2,2499.3
$KALMAN_Y,-525202.3,-944.3,-86.2,654215.3,817.1
$MHEAD_RNG_PITCHd_Wd,309.0,7722,-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,17,-0.85,-146.0,0.0,0.0,0,56,0.00,0.00,-37.60,0.000,2,0.000,0.000,28,2747,2685
$GC,61,-0.85,-146.0,3.0,-5.3,5,102,10.93,1.85,-24.42,0.000,4,0.229,0.071,2583,3856,3757
$GC,250,-0.85,-146.0,40.1,-18.6,32,253,0.00,1.70,0.00,0.000,6,0.000,0.024,2582,2692,3759
$GC,520,-0.85,-146.0,110.3,-28.3,57,524,0.00,2.05,0.00,0.000,4,0.000,0.026,2581,1287,3760
$GC,600,-0.85,-146.0,128.1,-17.6,64,604,0.00,2.25,0.00,0.000,6,0.000,0.064,2576,2661,3760
$GC,865,-0.85,-146.0,180.4,-19.4,88,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2661,3761
$GC,1141,-0.85,-146.0,231.3,-18.0,103,1145,0.00,2.00,0.00,0.000,4,0.000,0.025,2576,1291,3762
$GC,1204,-0.85,-146.0,241.9,-14.1,104,1208,0.00,2.30,0.00,0.000,6,0.000,0.062,2576,2709,3761
$GC,1474,-0.85,-146.0,283.1,-15.3,111,1477,0.00,2.08,0.00,0.000,4,0.000,0.025,2577,1288,3761
$GC,1525,-0.85,-146.0,290.7,-12.5,112,1529,0.00,2.30,0.00,0.000,6,0.000,0.062,2576,2705,3762
$GC,1804,-0.85,-146.0,330.7,-14.8,119,1807,0.00,1.92,0.00,0.000,4,0.000,0.068,2567,3889,3761
$GC,1832,-0.85,-146.0,335.1,-13.9,119,1837,0.12,1.75,0.00,0.000,6,0.144,0.025,2600,2667,3761
$GC,2096,-0.85,-146.0,360.7,-9.3,126,2100,0.00,1.98,0.00,0.000,4,0.000,0.026,2610,1305,3760
$GC,2137,-0.85,-146.0,364.2,-7.2,126,2143,0.00,2.25,0.00,0.000,6,0.000,0.056,2602,2714,3760
$GC,2388,-0.85,-146.0,385.3,-8.5,133,2392,0.00,1.92,0.00,0.000,4,0.000,0.072,2592,3886,3759
$GC,2425,-0.85,-146.0,388.4,-9.1,133,2428,0.00,1.73,0.00,0.000,6,0.000,0.027,2599,2698,3758
$GC,2682,-0.85,-146.0,411.4,-9.1,140,2685,0.00,2.03,0.00,0.000,4,0.000,0.028,2609,1305,3757
$GC,2755,-0.85,-146.0,417.8,-7.6,141,2760,0.00,2.25,0.00,0.000,6,0.000,0.056,2603,2706,3756
$GC,3013,-0.85,-146.0,440.6,-9.0,148,3017,0.00,1.95,0.00,0.000,4,0.000,0.072,2593,3892,3754
$GC,3048,-0.85,-146.0,443.8,-8.5,148,3052,0.00,1.73,0.00,0.000,6,0.000,0.028,2600,2705,3754
$GC,3305,-0.85,-146.0,466.3,-8.7,155,3309,0.00,2.08,0.00,0.000,4,0.000,0.031,2610,1304,3752
$GC,3357,-0.85,-146.0,470.6,-7.1,156,3361,0.00,2.30,0.00,0.000,6,0.000,0.064,2603,2712,3752
$GC,3636,-0.85,-146.0,493.0,-7.9,163,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2711,3750
$GC,3880,-0.85,-146.0,512.1,-7.8,169,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2711,3748
$GC,4123,-0.85,-146.0,531.1,-7.8,175,4127,0.00,2.10,0.00,0.000,4,0.000,0.033,2611,1310,3746
$GC,4152,-0.85,-146.0,533.4,-8.2,175,4156,0.00,2.30,0.00,0.000,6,0.000,0.066,2606,2710,3746
$GC,4409,-0.85,-146.0,552.6,-7.5,182,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2710,3744
$GC,4654,-0.85,-146.0,570.0,-7.0,188,4657,0.00,2.12,0.00,0.000,4,0.000,0.032,2610,1299,3743
$GC,4683,-0.85,-146.0,572.1,-6.7,188,4687,0.00,2.30,0.00,0.000,6,0.000,0.064,2606,2700,3743
$GC,4939,-0.85,-146.0,589.0,-6.6,195,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2701,3741
$STATE,5099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5099,begin apogee
$GC,5108,-0.32,0.0,600.0,6.7,199,5235,0.50,0.00,123.38,1.104,6,0.103,0.000,2769,2625,3160
$STATE,5235,end apogee,CONTROL_FINISHED_OK
$STATE,5236,begin climb
$GC,5240,0.85,146.0,606.1,0.0,202,5378,1.05,2.22,130.15,1.083,4,0.053,0.035,3171,1241,2563
$GC,5472,0.85,146.0,608.8,13.3,207,5476,0.00,2.22,0.00,0.000,6,0.000,0.049,3171,2625,2558
$GC,5734,0.85,146.0,569.3,15.0,214,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2625,2554
$GC,5978,0.85,146.0,532.0,15.3,220,5981,0.00,2.12,0.00,0.000,4,0.000,0.034,3179,1224,2551
$GC,5989,0.85,146.0,529.8,15.4,220,5994,0.00,2.22,0.00,0.000,6,0.000,0.051,3176,2627,2551
$GC,6264,0.85,146.0,490.7,13.9,227,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2627,2549
$GC,6507,0.85,146.0,459.6,12.3,233,6511,0.00,2.12,0.00,0.000,4,0.000,0.033,3184,1220,2548
$GC,6565,0.85,146.0,453.5,10.8,234,6569,0.00,2.22,0.00,0.000,6,0.000,0.049,3176,2628,2548
$GC,6839,0.85,146.0,423.8,11.1,241,6842,0.00,2.03,0.00,0.000,4,0.000,0.059,3176,3895,2546
$GC,7098,0.85,146.0,394.8,9.8,246,7102,0.15,1.88,0.00,0.000,6,0.273,0.028,3157,2634,2545
$GC,7354,0.88,164.0,372.3,8.8,253,7380,0.00,2.12,15.88,0.826,4,0.000,0.030,3166,1216,2491
$GC,7555,0.88,164.0,349.7,11.7,257,7559,0.00,2.22,0.00,0.000,6,0.000,0.048,3162,2625,2489
$GC,7811,0.88,164.0,315.9,13.3,264,7815,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1208,2488
$GC,7823,0.88,164.0,314.2,12.5,264,7827,0.00,2.25,0.00,0.000,6,0.000,0.048,3172,2624,2488
$GC,8099,0.88,164.0,283.2,11.0,271,8102,0.00,2.00,0.00,0.000,4,0.000,0.051,3163,3904,2487
$GC,8145,0.88,164.0,278.3,10.7,272,8149,0.00,1.90,0.00,0.000,6,0.000,0.029,3171,2619,2487
$GC,8435,0.92,197.9,254.7,8.1,279,8471,0.00,2.12,31.10,0.877,4,0.000,0.029,3182,1213,2352
$GC,8725,0.92,197.9,213.1,16.9,284,8729,0.00,2.22,0.00,0.000,6,0.000,0.043,3178,2626,2348
$GC,8990,0.92,197.9,173.0,13.6,303,8994,0.00,2.10,0.00,0.000,4,0.000,0.028,3187,1217,2346
$GC,9093,0.92,197.9,160.4,11.0,312,9097,0.00,2.20,0.00,0.000,6,0.000,0.043,3187,2630,2345
$GC,9357,0.92,197.9,129.0,11.7,336,9360,0.00,2.10,0.00,0.000,4,0.000,0.026,3197,1201,2345
$GC,9619,1.02,278.0,104.7,6.1,359,9693,0.00,2.22,68.47,0.742,6,0.000,0.041,3192,2627,2026
$GC,9948,1.02,278.0,31.6,26.6,389,9952,0.00,2.10,0.00,0.000,4,0.000,0.025,3201,1191,2019
$GC,10005,1.02,278.0,19.3,20.1,398,10014,0.00,2.30,0.00,0.000,6,0.000,0.045,3201,2617,2017
$STATE,10073,end climb,SURFACE_DEPTH_REACHED
$STATE,10073,begin surface coast
$FINISH,0.2,1.023835
$STATE,10085,end surface coast,CONTROL_FINISHED_OK
$STATE,10085,begin surface
$SM_CCo,10108,36.38,0.645,0,0,1731,350.04
$SM_GC,1.12,0.00,0.00,36.38,0.000,0.000,0.645,43,2717,1731,-8.85,0.48,350.04
$IRIDIUM_FIX,2239.35,-15804.53,090500,030355
$TT8_MAMPS,0.023777
$HUMID,1876
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,92.670
$10V_AH,10.7,51.937
$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,21.050,96.450,368.975,36.375,0.000,53.407,77.204,441.132,0.250,0.000,0.000,12.708,896.851,7101.380,429.747,1577.362,919.142,33.374,1124.384,0.000,1566.806,0.000,0.543,0.000
$DEVICE_MAMPS,273.052,82.836,1104.480,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,279.416,589.153,607.475,123.279,503.957,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34980,412
$CAP_FILE_SIZE,90792,0
$CFSIZE,260165632,234156032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,130211,055644,2250.358,-15807.046,12,1.4,12,10.1