version: 66.04
glider: 512
mission: 1
dive: 740
start: 2 17 111 21 54 24
data:
$ID,512
$MISSION,1
$DIVE,740
$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,-21903.055
$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,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3180
$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
$GPS1,214134,2254.624,-15805.267,11,7.7,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.2
$GPS2,215332,2254.673,-15805.402,16,2.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.199,0.162
$KALMAN_X,-212604.4,39.1,216.1,222018.0,-2920.6
$KALMAN_Y,-502762.9,680.4,534.7,639336.9,-1961.4
$MHEAD_RNG_PITCHd_Wd,40.8,17034,-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,16,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.25,0.000,2,0.000,0.000,30,2665,2927
$GC,68,-0.85,-146.0,3.4,-5.4,6,102,10.88,2.03,-16.75,0.000,4,0.225,0.070,2582,3883,3778
$GC,149,-0.85,-146.0,26.6,-27.0,18,157,0.00,1.77,0.00,0.000,6,0.000,0.025,2582,2699,3779
$GC,421,-0.85,-146.0,102.3,-28.2,44,424,0.00,2.08,0.00,0.000,4,0.000,0.029,2581,1293,3780
$GC,493,-0.85,-146.0,118.4,-17.0,50,501,0.00,2.28,0.00,0.000,6,0.000,0.058,2577,2679,3780
$GC,757,-0.85,-146.0,169.5,-20.3,75,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2680,3781
$GC,1046,-0.85,-146.0,222.8,-18.5,94,1049,0.00,2.05,0.00,0.000,4,0.000,0.025,2577,1279,3782
$GC,1102,-0.85,-146.0,232.4,-14.8,95,1106,0.00,2.33,0.00,0.000,6,0.000,0.060,2576,2715,3783
$GC,1376,-0.85,-146.0,273.3,-14.9,102,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2715,3783
$GC,1619,-0.85,-146.0,307.0,-13.6,108,1622,0.00,2.12,0.00,0.000,4,0.000,0.026,2576,1281,3783
$GC,1681,-0.85,-146.0,314.7,-11.2,109,1685,0.00,2.35,0.00,0.000,6,0.000,0.067,2577,2708,3783
$GC,1952,-0.85,-146.0,348.1,-12.8,116,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2709,3782
$GC,2193,-0.85,-146.0,378.8,-12.6,122,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2709,3781
$GC,2437,-0.85,-146.0,409.4,-12.6,128,2440,0.00,2.10,0.00,0.000,4,0.000,0.029,2577,1296,3778
$GC,2484,-0.85,-146.0,415.1,-11.2,129,2488,0.00,2.33,0.00,0.000,6,0.000,0.069,2576,2700,3778
$GC,2769,-0.85,-146.0,449.0,-11.7,136,2773,0.00,2.08,0.00,0.000,4,0.000,0.030,2577,1295,3776
$GC,2817,-0.85,-146.0,454.3,-10.4,137,2821,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2704,3776
$GC,3107,-0.85,-146.0,487.3,-11.6,144,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2704,3775
$GC,3352,-0.85,-146.0,516.7,-12.0,150,3356,0.00,2.12,0.00,0.000,4,0.000,0.030,2576,1286,3774
$GC,3392,-0.85,-146.0,521.7,-11.1,150,3399,0.00,2.35,0.00,0.000,6,0.000,0.064,2576,2699,3773
$GC,3643,-0.85,-146.0,549.7,-11.2,157,3647,0.00,1.98,0.00,0.000,4,0.000,0.070,2567,3897,3771
$GC,3672,-0.85,-146.0,553.2,-11.5,157,3676,0.12,1.77,0.00,0.000,6,0.138,0.027,2600,2686,3770
$GC,3934,-0.85,-146.0,573.0,-7.2,164,3938,0.00,2.05,0.00,0.000,4,0.000,0.032,2611,1310,3769
$GC,3982,-0.85,-146.0,576.2,-5.8,165,3986,0.00,2.28,0.00,0.000,6,0.000,0.061,2606,2709,3769
$GC,4267,-0.85,-146.0,595.4,-6.9,172,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2709,3766
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4344,begin apogee
$GC,4353,-0.32,0.0,600.8,6.8,174,4479,0.50,0.00,122.85,1.038,6,0.101,0.000,2770,2578,3180
$STATE,4479,end apogee,CONTROL_FINISHED_OK
$STATE,4480,begin climb
$GC,4484,0.85,146.0,606.6,0.0,177,4621,1.02,2.28,127.72,1.015,4,0.053,0.064,3157,3893,2583
$GC,4884,0.85,146.0,581.2,15.9,186,4888,0.00,2.00,0.00,0.000,6,0.000,0.029,3167,2552,2576
$GC,5175,0.85,146.0,541.7,12.9,193,5178,0.00,2.17,0.00,0.000,4,0.000,0.051,3163,3902,2571
$GC,5417,0.85,146.0,508.7,13.4,198,5420,0.00,2.00,0.00,0.000,6,0.000,0.030,3171,2569,2570
$GC,5691,0.85,146.0,477.3,11.3,205,5694,0.00,2.10,0.00,0.000,4,0.000,0.035,3182,1172,2569
$GC,5950,0.86,152.6,449.1,9.3,210,5963,0.00,2.22,3.62,0.569,6,0.000,0.048,3176,2587,2559
$GC,6207,0.86,152.6,423.9,9.8,217,6210,0.00,2.15,0.00,0.000,4,0.000,0.033,3185,1164,2559
$GC,6465,0.88,162.9,400.1,9.2,222,6481,0.00,2.25,11.23,0.857,6,0.000,0.047,3177,2586,2515
$GC,6761,0.88,162.9,366.2,11.5,230,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2586,2512
$GC,7006,0.88,162.9,340.6,10.4,236,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2586,2511
$GC,7249,0.88,165.2,317.0,9.5,242,7252,0.00,2.10,0.00,0.000,4,0.000,0.057,3176,3903,2510
$GC,7502,0.90,181.9,292.7,8.9,247,7527,0.00,1.98,17.75,0.824,6,0.000,0.028,3184,2563,2437
$GC,7807,0.90,181.9,256.9,12.2,255,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2564,2433
$GC,8053,0.90,181.9,229.8,11.3,261,8056,0.00,2.08,0.00,0.000,4,0.000,0.029,3195,1152,2432
$GC,8306,0.90,181.9,203.9,9.8,266,8310,0.00,2.22,0.00,0.000,6,0.000,0.044,3192,2576,2432
$GC,8575,0.90,181.9,178.1,9.6,288,8579,0.00,2.08,0.00,0.000,4,0.000,0.050,3191,3900,2431
$GC,8833,0.91,187.0,151.9,9.4,311,8846,0.15,1.95,5.10,0.555,6,0.249,0.025,3172,2556,2418
$GC,9102,0.97,240.3,128.2,7.2,336,9155,0.00,2.17,47.42,0.696,4,0.000,0.048,3164,3889,2200
$GC,9411,0.97,240.3,72.9,16.4,363,9415,0.00,1.95,0.00,0.000,6,0.000,0.024,3172,2586,2197
$GC,9681,0.97,240.3,31.1,15.2,388,9684,0.00,2.10,0.00,0.000,4,0.000,0.048,3164,3902,2194
$STATE,9840,end climb,SURFACE_DEPTH_REACHED
$STATE,9840,begin surface coast
$FINISH,0.2,1.015017
$STATE,9861,end surface coast,CONTROL_FINISHED_OK
$STATE,9861,begin surface
$SM_CCo,9885,60.15,0.588,0,0,1752,350.04
$SM_GC,2.12,0.00,0.00,60.15,0.000,0.000,0.588,41,2673,1752,-8.86,-0.76,350.04
$IRIDIUM_FIX,2246.36,-15806.70,130500,212138
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,4
$24V_AH,23.6,97.926
$10V_AH,10.7,55.455
$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,20.875,76.175,335.700,60.150,0.000,54.136,84.163,365.497,1.000,0.000,0.000,16.453,904.212,6737.008,426.550,1753.467,845.572,33.373,1155.783,0.000,1733.922,0.000,0.543,0.000
$DEVICE_MAMPS,248.508,69.797,1037.751,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,284.412,625.120,644.540,133.871,552.634,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35151,420
$CAP_FILE_SIZE,84591,0
$CFSIZE,260165632,232431616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,180211,004136,2255.490,-15805.108,41,1.0,41,10.1