version: 66.04
glider: 512
mission: 1
dive: 710
start: 2 14 111 8 32 8
data:
$ID,512
$MISSION,1
$DIVE,710
$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,-21349.287
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,081906,2253.576,-15800.348,49,0.9,61,10.1
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.6
$GPS2,083113,2253.660,-15800.430,13,1.3,24,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.148,-0.210
$KALMAN_X,-188842.0,127.3,105.3,206830.5,-2915.4
$KALMAN_Y,-516614.2,-465.5,-130.8,653139.2,2652.9
$MHEAD_RNG_PITCHd_Wd,134.8,8415,-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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.28,0.000,2,0.000,0.000,24,2741,2911
$GC,69,-0.85,-146.0,3.3,-5.3,6,103,10.88,1.88,-16.62,0.000,4,0.226,0.072,2582,3863,3758
$GC,155,-0.85,-146.0,28.3,-26.5,19,163,0.00,1.75,0.00,0.000,6,0.000,0.024,2582,2699,3760
$GC,418,-0.85,-146.0,101.4,-26.3,44,422,0.00,2.08,0.00,0.000,4,0.000,0.028,2582,1285,3761
$GC,524,-0.85,-146.0,121.1,-13.2,53,531,0.00,2.28,0.00,0.000,6,0.000,0.061,2576,2666,3761
$GC,787,-0.85,-146.0,170.2,-18.7,78,791,0.00,2.03,0.00,0.000,4,0.000,0.025,2576,1281,3762
$GC,879,-0.85,-146.0,185.0,-13.1,86,883,0.00,2.30,0.00,0.000,6,0.000,0.062,2576,2699,3762
$GC,1134,-0.85,-146.0,228.1,-16.9,98,1137,0.00,2.08,0.00,0.000,4,0.000,0.026,2576,1278,3762
$GC,1180,-0.85,-146.0,235.2,-13.6,99,1185,0.00,2.33,0.00,0.000,6,0.000,0.062,2576,2711,3762
$GC,1467,-0.85,-146.0,275.9,-14.0,106,1470,0.00,1.90,0.00,0.000,4,0.000,0.065,2567,3893,3763
$GC,1518,-0.85,-146.0,283.1,-12.0,107,1522,0.12,1.75,0.00,0.000,6,0.141,0.024,2600,2667,3762
$GC,1802,-0.85,-146.0,311.5,-10.2,114,1806,0.00,1.98,0.00,0.000,4,0.000,0.026,2611,1301,3762
$GC,1877,-0.85,-146.0,318.1,-8.0,115,1881,0.00,2.22,0.00,0.000,6,0.000,0.051,2606,2709,3762
$GC,2134,-0.85,-146.0,342.8,-10.1,122,2137,0.00,1.90,0.00,0.000,4,0.000,0.065,2596,3889,3761
$GC,2174,-0.85,-146.0,347.2,-10.3,122,2180,0.00,1.73,0.00,0.000,6,0.000,0.025,2597,2687,3762
$GC,2425,-0.85,-146.0,373.8,-10.6,129,2428,0.00,2.00,0.00,0.000,4,0.000,0.026,2604,1308,3761
$GC,2472,-0.85,-146.0,378.3,-9.0,130,2476,0.00,2.20,0.00,0.000,6,0.000,0.053,2596,2700,3760
$GC,2757,-0.85,-146.0,408.5,-10.9,137,2761,0.00,1.95,0.00,0.000,4,0.000,0.071,2589,3883,3758
$GC,2785,-0.85,-146.0,411.7,-10.7,137,2789,0.00,1.70,0.00,0.000,6,0.000,0.025,2591,2706,3758
$GC,3047,-0.85,-146.0,439.9,-10.8,144,3051,0.00,2.05,0.00,0.000,4,0.000,0.028,2590,1306,3757
$GC,3105,-0.85,-146.0,445.7,-9.4,145,3109,0.00,2.28,0.00,0.000,6,0.000,0.061,2590,2707,3756
$GC,3378,-0.85,-146.0,471.0,-9.1,152,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2707,3755
$GC,3622,-0.85,-146.0,492.7,-8.8,158,3626,0.00,2.08,0.00,0.000,4,0.000,0.030,2589,1307,3753
$GC,3673,-0.85,-146.0,497.4,-8.5,159,3677,0.00,2.30,0.00,0.000,6,0.000,0.066,2590,2705,3752
$GC,3959,-0.85,-146.0,522.1,-8.8,166,3963,0.00,2.08,0.00,0.000,4,0.000,0.031,2590,1314,3750
$GC,3982,-0.85,-146.0,524.6,-9.7,166,3987,0.00,2.30,0.00,0.000,6,0.000,0.067,2589,2702,3750
$GC,4245,-0.85,-146.0,546.8,-8.5,173,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2702,3748
$GC,4489,-0.85,-146.0,567.8,-8.6,179,4493,0.00,2.10,0.00,0.000,4,0.000,0.031,2589,1304,3747
$GC,4513,-0.85,-146.0,570.2,-9.1,179,4517,0.00,2.33,0.00,0.000,6,0.000,0.068,2589,2704,3747
$GC,4776,-0.85,-146.0,592.8,-8.8,186,4780,0.00,2.10,0.00,0.000,4,0.000,0.031,2590,1305,3745
$GC,4794,-0.85,-146.0,594.6,-8.8,186,4798,0.00,2.33,0.00,0.000,6,0.000,0.067,2590,2705,3744
$STATE,4896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4896,begin apogee
$GC,4906,-0.32,0.0,603.4,8.4,189,5032,0.55,0.00,123.57,1.081,6,0.110,0.000,2767,2628,3160
$STATE,5033,end apogee,CONTROL_FINISHED_OK
$STATE,5033,begin climb
$GC,5037,0.85,146.0,609.4,0.0,192,5174,1.05,2.20,130.30,1.065,4,0.054,0.031,3169,1234,2565
$GC,5181,1.08,326.5,621.4,1.6,195,5352,0.17,2.30,158.60,1.022,6,0.103,0.050,3215,2632,1827
$GC,5612,1.08,326.5,467.3,40.4,206,5616,0.00,2.12,0.00,0.000,4,0.000,0.032,3226,1227,1819
$GC,5765,1.08,326.5,411.3,33.6,209,5769,0.00,2.28,0.00,0.000,6,0.000,0.052,3218,2635,1816
$GC,6039,1.08,326.5,306.4,37.6,216,6043,0.00,2.12,0.00,0.000,4,0.000,0.031,3227,1216,1815
$GC,6113,1.08,326.5,280.4,33.8,217,6117,0.00,2.25,0.00,0.000,6,0.000,0.049,3227,2626,1814
$GC,6369,1.08,326.5,185.5,37.4,224,6373,0.00,2.10,0.00,0.000,4,0.000,0.029,3237,1214,1813
$GC,6398,1.08,326.5,174.9,36.4,226,6405,0.00,2.25,0.00,0.000,6,0.000,0.046,3231,2625,1813
$GC,6663,1.08,326.5,82.9,30.3,251,6666,0.00,2.08,0.00,0.000,4,0.000,0.028,3241,1217,1812
$GC,6766,1.08,326.5,53.9,29.1,260,6770,0.00,2.25,0.00,0.000,6,0.000,0.045,3241,2643,1811
$STATE,6925,end climb,SURFACE_DEPTH_REACHED
$STATE,6925,begin surface coast
$FINISH,0.4,1.023758
$STATE,6936,end surface coast,CONTROL_FINISHED_OK
$STATE,6936,begin surface
$SM_CCo,6959,11.48,0.586,0,0,1732,350.04
$SM_GC,3.08,0.00,0.00,11.48,0.000,0.000,0.586,48,2731,1732,-8.84,0.90,350.04
$IRIDIUM_FIX,2244.02,-15759.32,100500,050536
$TT8_MAMPS,0.023777
$HUMID,2022
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,23.5,94.163
$10V_AH,10.6,52.819
$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,21.325,80.050,412.475,11.475,0.000,27.908,33.508,516.291,0.000,0.000,0.000,28.174,630.096,4689.850,449.882,1087.495,846.670,33.367,957.035,0.000,1069.584,0.000,0.542,0.000
$DEVICE_MAMPS,226.265,86.671,1080.703,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,191.083,402.480,415.676,89.389,364.944,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22367,283
$CAP_FILE_SIZE,69303,0
$CFSIZE,260165632,233750528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,140211,102914,2253.138,-15800.140,11,1.7,11,10.1