version: 66.04
glider: 512
mission: 1
dive: 704
start: 2 13 111 15 5 25
data:
$ID,512
$MISSION,1
$DIVE,704
$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,677.26227
$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,-21247.301
$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,45
$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
$GPS1,144254,2253.856,-15805.512,59,1.5,76,10.1
$_CALLS,5
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.5
$GPS2,150432,2254.322,-15805.409,15,1.5,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.253,-0.043
$KALMAN_X,-179370.5,-482.9,-104.5,189626.2,-285.3
$KALMAN_Y,-524557.9,933.2,285.1,660478.4,280.7
$MHEAD_RNG_PITCHd_Wd,89.5,16974,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,26,2660,2893
$GC,69,-0.85,-146.0,3.2,-4.4,6,103,10.77,2.05,-17.35,0.000,4,0.223,0.075,2580,3880,3757
$GC,149,-0.85,-146.0,24.8,-23.3,18,158,0.00,1.77,0.00,0.000,6,0.000,0.025,2580,2688,3759
$GC,423,-0.85,-146.0,97.4,-27.2,45,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2680,3759
$GC,687,-0.85,-146.0,153.6,-17.2,70,691,0.00,2.03,0.00,0.000,4,0.000,0.028,2580,1296,3760
$GC,757,-0.85,-146.0,165.5,-14.3,76,761,0.00,2.28,0.00,0.000,6,0.000,0.058,2577,2705,3760
$GC,1042,-0.85,-146.0,215.1,-16.8,97,1046,0.00,2.08,0.00,0.000,4,0.000,0.025,2576,1294,3761
$GC,1065,-0.85,-146.0,219.2,-17.1,97,1069,0.00,2.22,0.00,0.000,6,0.000,0.054,2576,2703,3761
$GC,1334,-0.85,-146.0,260.3,-15.2,104,1338,0.00,2.10,0.00,0.000,4,0.000,0.029,2576,1289,3760
$GC,1403,-0.85,-146.0,269.5,-11.7,105,1407,0.00,2.28,0.00,0.000,6,0.000,0.060,2576,2697,3761
$GC,1664,-0.85,-146.0,304.1,-13.8,112,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2698,3761
$GC,1908,-0.85,-146.0,333.9,-12.0,118,1912,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1302,3760
$GC,1948,-0.85,-146.0,338.6,-10.7,118,1954,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2704,3760
$GC,2200,-0.85,-146.0,367.6,-12.0,125,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2705,3759
$GC,2445,-0.85,-146.0,397.3,-12.1,131,2449,0.00,2.10,0.00,0.000,4,0.000,0.030,2576,1304,3757
$GC,2497,-0.85,-146.0,403.5,-10.1,132,2501,0.00,2.28,0.00,0.000,6,0.000,0.062,2576,2701,3757
$GC,2776,-0.85,-146.0,435.1,-11.4,139,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3754
$GC,3020,-0.85,-146.0,462.7,-11.4,145,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3752
$GC,3266,-0.85,-146.0,492.6,-12.4,151,3270,0.00,2.12,0.00,0.000,4,0.000,0.031,2576,1297,3750
$GC,3300,-0.85,-146.0,497.5,-12.4,151,3304,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2700,3750
$GC,3556,-0.85,-146.0,526.9,-11.3,158,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3748
$GC,3801,-0.85,-146.0,550.8,-9.6,164,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3747
$GC,4044,-0.85,-146.0,575.8,-10.2,170,4048,0.00,2.10,0.00,0.000,4,0.000,0.033,2576,1299,3744
$GC,4072,-0.85,-146.0,579.0,-11.1,170,4076,0.00,2.33,0.00,0.000,6,0.000,0.065,2575,2710,3744
$STATE,4285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4286,begin apogee
$GC,4295,-0.32,0.0,600.8,10.4,176,4420,0.60,0.00,122.03,1.045,6,0.116,0.000,2767,2620,3160
$STATE,4421,end apogee,CONTROL_FINISHED_OK
$STATE,4421,begin climb
$GC,4425,0.85,146.0,607.4,0.0,179,4562,1.02,2.28,127.80,1.016,4,0.044,0.035,3179,1227,2564
$GC,4824,0.85,146.0,582.1,16.0,188,4828,0.00,2.25,0.00,0.000,6,0.000,0.052,3178,2640,2555
$GC,5109,0.85,146.0,537.1,15.4,195,5113,0.00,2.12,0.00,0.000,4,0.000,0.035,3186,1230,2551
$GC,5204,0.85,146.0,523.3,13.3,197,5208,0.00,2.20,0.00,0.000,6,0.000,0.050,3178,2628,2552
$GC,5490,0.85,146.0,484.4,13.3,204,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2628,2549
$GC,5733,0.85,146.0,456.6,11.2,210,5737,0.00,2.03,0.00,0.000,4,0.000,0.056,3176,3902,2547
$GC,5762,0.85,146.0,453.2,11.9,210,5766,0.15,1.90,0.00,0.000,6,0.273,0.028,3157,2621,2546
$GC,6023,0.85,146.0,425.0,10.9,217,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2616,2545
$GC,6267,0.85,146.0,399.9,10.2,223,6271,0.00,2.08,0.00,0.000,4,0.000,0.054,3151,3905,2544
$GC,6414,0.85,146.0,384.1,10.1,226,6418,0.00,1.90,0.00,0.000,6,0.000,0.029,3158,2625,2543
$GC,6694,0.86,147.7,357.8,9.5,233,6698,0.00,2.10,0.00,0.000,4,0.000,0.031,3169,1201,2542
$GC,6780,0.93,203.4,351.3,7.1,234,6833,0.00,2.25,48.05,0.886,6,0.000,0.047,3164,2635,2330
$GC,7114,0.93,203.4,290.9,20.1,243,7118,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1213,2323
$GC,7143,0.93,203.4,285.2,18.3,243,7147,0.00,2.25,0.00,0.000,6,0.000,0.048,3173,2631,2323
$GC,7400,0.93,203.4,236.5,17.8,250,7403,0.00,2.12,0.00,0.000,4,0.000,0.029,3183,1205,2320
$GC,7513,0.93,203.4,217.1,16.9,252,7517,0.00,2.22,0.00,0.000,6,0.000,0.048,3179,2623,2320
$GC,7781,0.93,203.4,172.5,17.2,270,7784,0.00,2.10,0.00,0.000,4,0.000,0.026,3187,1201,2320
$GC,7796,0.93,203.4,169.8,16.8,271,7800,0.00,2.22,0.00,0.000,6,0.000,0.044,3187,2629,2319
$GC,8061,0.93,203.4,128.9,15.0,295,8065,0.00,2.10,0.00,0.000,4,0.000,0.027,3198,1201,2319
$GC,8256,1.00,261.7,105.2,7.0,312,8310,0.00,2.22,48.88,0.677,6,0.000,0.041,3192,2626,2093
$GC,8570,1.00,261.7,54.1,16.8,340,8573,0.00,2.00,0.00,0.000,4,0.000,0.054,3192,3892,2087
$GC,8781,1.00,261.7,5.9,26.0,368,8789,0.00,1.90,0.00,0.000,6,0.000,0.026,3199,2624,2086
$STATE,8794,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$FINISH,0.2,1.023674
$STATE,8807,end surface coast,CONTROL_FINISHED_OK
$STATE,8807,begin surface
$SM_CCo,8831,215.48,0.586,0,0,398,677.26
$SM_GC,1.21,0.00,0.00,215.48,0.000,0.000,0.586,37,2755,398,-8.85,1.55,677.26
$IRIDIUM_FIX,2241.69,-15757.16,090500,141451
$TT8_MAMPS,0.023777
$HUMID,1810
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.6,93.297
$10V_AH,10.7,52.292
$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,20.925,77.025,346.750,215.475,0.000,148.165,240.644,506.375,0.750,0.000,0.000,15.918,787.064,6372.488,584.671,1384.324,1221.142,33.382,1186.745,0.000,1377.639,0.000,0.544,0.000
$DEVICE_MAMPS,273.052,75.166,1044.654,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,251.811,548.693,564.063,117.927,486.603,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31898,372
$CAP_FILE_SIZE,79174,0
$CFSIZE,260165632,233971712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,130211,173732,2254.468,-15804.071,35,1.8,36,10.1