version: 66.04
glider: 512
mission: 1
dive: 702
start: 2 13 111 9 15 5
data:
$ID,512
$MISSION,1
$DIVE,702
$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,-21218.164
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,085236,2252.117,-15807.387,15,0.9,31,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.0
$GPS2,091413,2252.525,-15807.542,15,1.0,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.204,0.091
$KALMAN_X,-176915.3,-429.3,-409.7,183760.3,946.2
$KALMAN_Y,-525833.2,-131.8,-86.2,659871.1,667.1
$MHEAD_RNG_PITCHd_Wd,55.8,3925,-19.8,-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,-0.93,-108.5,0.0,0.0,0,71,0.00,0.00,-52.75,0.000,2,0.000,0.000,23,2751,3150
$GC,76,-0.97,-146.0,3.4,-4.7,7,101,10.52,0.00,-11.15,0.000,6,0.221,0.000,2548,2751,3759
$GC,367,-0.97,-146.0,103.6,-32.2,38,371,0.00,1.80,0.00,0.000,4,0.000,0.058,2541,3868,3760
$GC,414,-0.97,-146.0,119.2,-30.1,42,417,0.00,1.70,0.00,0.000,6,0.000,0.023,2543,2686,3760
$GC,684,-0.97,-146.0,187.1,-23.9,67,688,0.00,2.00,0.00,0.000,4,0.000,0.026,2548,1295,3762
$GC,723,-0.97,-146.0,195.1,-19.5,70,727,0.00,2.22,0.00,0.000,6,0.000,0.061,2539,2675,3762
$GC,995,-0.97,-146.0,254.7,-22.4,78,999,0.00,2.03,0.00,0.000,4,0.000,0.025,2539,1288,3762
$GC,1041,-0.97,-146.0,263.9,-17.7,79,1046,0.12,2.28,0.00,0.000,6,0.140,0.060,2561,2705,3763
$GC,1332,-0.97,-146.0,309.4,-15.2,86,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2705,3762
$GC,1575,-0.97,-146.0,345.8,-14.8,92,1578,0.00,2.08,0.00,0.000,4,0.000,0.026,2560,1300,3761
$GC,1616,-0.97,-146.0,351.6,-12.9,92,1622,0.00,2.28,0.00,0.000,6,0.000,0.058,2551,2705,3761
$GC,1869,-0.97,-146.0,390.2,-16.0,99,1872,0.00,1.92,0.00,0.000,4,0.000,0.066,2542,3896,3760
$GC,1903,-0.97,-146.0,396.2,-16.3,99,1907,0.00,1.75,0.00,0.000,6,0.000,0.025,2542,2703,3759
$GC,2163,-0.97,-146.0,436.9,-16.0,106,2166,0.00,2.05,0.00,0.000,4,0.000,0.030,2542,1311,3758
$GC,2209,-0.97,-146.0,444.5,-14.1,107,2213,0.00,2.28,0.00,0.000,6,0.000,0.063,2532,2707,3758
$GC,2494,-0.97,-146.0,489.5,-16.0,114,2498,0.00,1.98,0.00,0.000,4,0.000,0.077,2523,3893,3755
$GC,2529,-0.97,-146.0,495.5,-16.8,114,2533,0.15,1.73,0.00,0.000,6,0.140,0.026,2563,2710,3754
$GC,2786,-0.97,-146.0,527.9,-12.6,121,2789,0.00,2.10,0.00,0.000,4,0.000,0.033,2565,1297,3752
$GC,2832,-0.97,-146.0,533.5,-11.5,122,2837,0.00,2.30,0.00,0.000,6,0.000,0.064,2556,2705,3753
$GC,3119,-0.97,-146.0,568.7,-12.4,129,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2706,3750
$GC,3361,-0.97,-146.0,598.2,-12.1,135,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2706,3747
$STATE,3399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3399,begin apogee
$GC,3408,-0.32,0.0,603.0,11.9,136,3535,0.68,0.00,123.88,1.075,6,0.121,0.000,2768,2613,3160
$STATE,3536,end apogee,CONTROL_FINISHED_OK
$STATE,3536,begin climb
$GC,3540,0.97,146.0,609.0,0.0,139,3677,1.15,2.25,128.07,1.035,4,0.051,0.035,3203,1237,2564
$GC,3901,0.97,146.0,584.5,16.8,147,3905,0.00,2.20,0.00,0.000,6,0.000,0.048,3203,2630,2557
$GC,4174,0.97,146.0,538.3,16.7,154,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2631,2552
$GC,4418,0.97,146.0,500.6,15.1,160,4421,0.00,2.10,0.00,0.000,4,0.000,0.033,3213,1233,2551
$GC,4429,0.97,146.0,498.9,14.5,160,4433,0.00,2.20,0.00,0.000,6,0.000,0.049,3213,2629,2551
$GC,4703,0.97,146.0,461.9,13.3,167,4707,0.00,2.10,0.00,0.000,4,0.000,0.031,3223,1227,2548
$GC,4867,0.97,146.0,441.5,11.9,170,4871,0.00,2.20,0.00,0.000,6,0.000,0.051,3218,2630,2548
$GC,5129,0.97,146.0,410.8,11.8,177,5132,0.00,2.10,0.00,0.000,4,0.000,0.030,3227,1215,2546
$GC,5146,0.97,146.0,408.7,12.1,177,5151,0.17,2.20,0.00,0.000,6,0.239,0.046,3192,2626,2546
$GC,5414,0.97,146.0,381.5,9.8,184,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2625,2544
$GC,5657,0.99,158.5,359.5,8.9,190,5668,0.00,0.00,8.85,0.812,6,0.000,0.000,3192,2625,2513
$GC,5902,0.99,158.5,332.8,11.5,196,5905,0.00,2.00,0.00,0.000,4,0.000,0.056,3192,3892,2511
$GC,5919,0.99,158.5,330.6,11.0,196,5923,0.00,1.88,0.00,0.000,6,0.000,0.027,3199,2621,2510
$GC,6193,0.99,158.5,301.9,10.3,203,6197,0.00,2.05,0.00,0.000,4,0.000,0.051,3200,3906,2510
$GC,6452,1.01,178.1,278.6,8.4,208,6477,0.00,1.90,18.45,0.830,6,0.000,0.028,3210,2610,2433
$GC,6752,1.01,178.1,240.4,12.6,216,6756,0.00,2.05,0.00,0.000,4,0.000,0.030,3220,1227,2428
$GC,6809,1.02,183.5,234.8,9.3,217,6820,0.00,2.22,5.90,0.657,6,0.000,0.050,3218,2631,2411
$GC,7083,1.02,183.5,201.5,12.5,224,7087,0.00,2.10,0.00,0.000,4,0.000,0.029,3227,1217,2409
$GC,7343,1.02,183.5,171.1,10.8,244,7348,0.00,2.20,0.00,0.000,6,0.000,0.045,3227,2634,2409
$GC,7615,1.02,186.6,144.8,9.4,269,7627,0.00,2.12,3.92,0.485,4,0.000,0.027,3237,1227,2399
$GC,7744,1.02,186.6,131.2,10.0,280,7753,0.10,2.22,0.00,0.000,6,0.221,0.048,3213,2621,2399
$GC,8013,1.18,317.4,116.3,1.8,305,8128,0.12,0.00,111.97,0.688,6,0.081,0.000,3259,2622,1866
$GC,8382,1.18,317.4,19.3,32.5,341,8390,0.00,2.03,0.00,0.000,4,0.000,0.044,3257,3901,1859
$STATE,8428,end climb,SURFACE_DEPTH_REACHED
$STATE,8428,begin surface coast
$FINISH,0.3,1.023768
$STATE,8435,end surface coast,CONTROL_FINISHED_OK
$STATE,8435,begin surface
$SM_CCo,8459,15.38,0.567,0,0,1732,350.04
$SM_GC,2.01,0.00,0.00,15.38,0.000,0.000,0.567,40,2691,1732,-8.86,-0.25,350.04
$IRIDIUM_FIX,2244.02,-15806.70,090500,090952
$TT8_MAMPS,0.023777
$HUMID,1884
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.6,92.973
$10V_AH,10.7,52.110
$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,21.575,74.525,401.050,15.375,0.000,120.497,143.145,687.177,0.250,0.000,0.000,15.285,750.536,6002.188,422.760,1333.570,1266.137,33.368,1031.677,0.000,1321.932,0.000,0.544,0.000
$DEVICE_MAMPS,239.304,76.700,1074.567,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,236.089,510.450,524.066,99.330,413.638,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28883,350
$CAP_FILE_SIZE,79756,0
$CFSIZE,260165632,234082304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,130211,113734,2253.179,-15806.658,9,6.0,29,10.1