version: 66.04
glider: 512
mission: 1
dive: 807
start: 2 25 111 20 6 7
data:
$ID,512
$MISSION,1
$DIVE,807
$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,-23228.357
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2640
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3080
$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
$GPS1,195724,2244.917,-15803.335,41,1.6,42,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.0
$GPS2,200514,2244.933,-15803.313,12,1.7,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.161,0.199
$KALMAN_X,-256141.5,-1067.6,-206.5,270687.6,1998.3
$KALMAN_Y,-526058.2,-249.2,-39.7,646108.6,-2600.2
$MHEAD_RNG_PITCHd_Wd,310.9,3866,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,76,0.00,0.00,-52.78,0.000,2,0.000,0.000,49,2667,3052
$GC,81,-0.85,-146.0,3.7,-5.6,7,113,11.40,1.98,-11.62,0.000,4,0.242,0.070,2573,3866,3678
$GC,292,-0.85,-146.0,62.5,-18.3,31,300,0.00,1.83,0.00,0.000,6,0.000,0.025,2579,2642,3680
$GC,556,-0.85,-146.0,129.3,-27.2,56,559,0.00,2.05,0.00,0.000,4,0.000,0.025,2587,1230,3681
$GC,582,-0.85,-146.0,135.8,-25.4,58,586,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2615,3681
$GC,847,-0.85,-146.0,194.5,-19.6,82,850,0.00,2.05,0.00,0.000,4,0.000,0.025,2583,1223,3682
$GC,876,-0.85,-146.0,200.6,-18.4,84,884,0.00,2.35,0.00,0.000,6,0.000,0.061,2574,2643,3682
$GC,1129,-0.85,-146.0,246.7,-18.7,91,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2643,3683
$GC,1373,-0.85,-146.0,289.5,-17.4,97,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2643,3684
$GC,1615,-0.85,-146.0,327.9,-16.0,103,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2643,3683
$GC,1859,-0.85,-146.0,362.9,-14.1,109,1863,0.00,2.08,0.00,0.000,4,0.000,0.027,2582,1229,3682
$GC,1894,-0.85,-146.0,367.7,-11.8,109,1898,0.00,2.33,0.00,0.000,6,0.000,0.060,2576,2652,3682
$GC,2152,-0.85,-146.0,400.4,-13.3,116,2156,0.00,2.03,0.00,0.000,4,0.000,0.065,2565,3896,3681
$GC,2193,-0.85,-146.0,406.1,-12.8,116,2199,0.00,1.85,0.00,0.000,6,0.000,0.023,2573,2617,3681
$GC,2446,-0.85,-146.0,439.3,-13.4,123,2449,0.00,2.12,0.00,0.000,4,0.000,0.067,2565,3894,3679
$GC,2508,-0.85,-146.0,447.9,-12.2,124,2512,0.00,1.83,0.00,0.000,6,0.000,0.024,2572,2636,3678
$GC,2786,-0.85,-146.0,481.2,-12.1,131,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2630,3677
$GC,3026,-0.85,-146.0,508.4,-11.0,137,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2630,3675
$GC,3270,-0.85,-146.0,533.7,-10.5,143,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2630,3674
$GC,3516,-0.85,-146.0,559.1,-10.6,149,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2630,3671
$GC,3758,-0.85,-146.0,587.0,-11.6,155,3761,0.00,2.05,0.00,0.000,4,0.000,0.030,2582,1243,3669
$GC,3787,-0.85,-146.0,590.4,-10.8,155,3791,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2636,3669
$STATE,3917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3917,begin apogee
$GC,3927,-0.32,0.0,604.3,10.5,159,4054,0.65,0.00,123.68,1.042,6,0.153,0.000,2763,2524,3080
$STATE,4055,end apogee,CONTROL_FINISHED_OK
$STATE,4055,begin climb
$GC,4059,0.85,146.0,610.0,0.0,162,4193,1.08,0.00,129.85,1.018,6,0.075,0.000,3139,2524,2484
$GC,4428,0.85,146.0,568.3,21.8,171,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2524,2475
$GC,4670,0.85,146.0,521.2,18.8,177,4674,0.00,2.12,0.00,0.000,4,0.000,0.029,3149,1103,2472
$GC,4744,0.85,146.0,509.1,15.3,178,4748,0.00,2.28,0.00,0.000,6,0.000,0.048,3149,2529,2471
$GC,5001,0.85,146.0,468.8,15.5,185,5005,0.00,2.12,0.00,0.000,4,0.000,0.029,3158,1090,2469
$GC,5191,0.85,146.0,441.4,13.6,189,5196,0.00,2.28,0.00,0.000,6,0.000,0.048,3159,2526,2468
$GC,5473,0.85,146.0,399.2,15.1,196,5476,0.00,2.20,0.00,0.000,4,0.000,0.053,3150,3906,2466
$GC,5569,0.85,146.0,383.1,16.4,198,5573,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2507,2465
$GC,5854,0.85,146.0,341.4,13.8,205,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2501,2464
$GC,6099,0.85,146.0,310.3,12.4,211,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2501,2463
$GC,6342,0.85,146.0,284.2,11.0,217,6346,0.00,2.25,0.00,0.000,4,0.000,0.051,3150,3904,2462
$GC,6366,0.85,146.0,281.1,12.5,217,6370,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2513,2462
$GC,6634,0.88,165.7,256.5,8.7,224,6662,0.00,2.15,16.55,0.716,4,0.000,0.028,3169,1099,2404
$GC,6810,0.88,165.7,238.0,12.1,227,6816,0.00,2.22,0.00,0.000,6,0.000,0.042,3162,2524,2402
$GC,7061,0.88,165.7,208.6,11.2,234,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2525,2401
$GC,7313,0.88,165.7,181.9,10.2,249,7317,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1103,2401
$GC,7519,0.90,186.6,163.4,8.7,267,7543,0.00,2.22,19.33,0.723,6,0.000,0.041,3163,2519,2319
$GC,7803,0.90,186.6,127.9,12.2,293,7807,0.00,2.08,0.00,0.000,4,0.000,0.025,3172,1109,2316
$GC,7818,0.90,186.6,126.0,12.0,294,7822,0.00,2.20,0.00,0.000,6,0.000,0.041,3163,2517,2315
$GC,8082,0.93,208.8,100.1,8.6,318,8108,0.00,2.28,20.52,0.657,4,0.000,0.051,3163,3906,2227
$GC,8201,0.93,208.8,83.4,17.1,328,8204,0.00,2.05,0.00,0.000,6,0.000,0.025,3171,2515,2226
$GC,8471,0.93,208.8,43.6,12.5,353,8475,0.00,2.05,0.00,0.000,4,0.000,0.025,3182,1107,2224
$GC,8715,0.93,208.8,10.0,14.9,387,8723,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2523,2224
$STATE,8761,end climb,SURFACE_DEPTH_REACHED
$STATE,8761,begin surface coast
$FINISH,0.5,1.023705
$STATE,8778,end surface coast,CONTROL_FINISHED_OK
$STATE,8779,begin surface
$SM_CCo,8803,77.93,0.586,0,0,1651,350.04
$SM_GC,1.25,0.00,0.00,77.93,0.000,0.000,0.586,49,2669,1651,-8.82,0.82,350.04
$IRIDIUM_FIX,2237.01,-15805.41,210500,171721
$TT8_MAMPS,0.023777
$HUMID,1821
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.5,106.309
$10V_AH,10.7,61.419
$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,22.025,68.375,309.925,77.925,0.000,30.034,31.889,259.197,0.250,0.000,0.000,12.876,810.077,6046.885,454.091,1380.003,663.440,33.371,1006.194,0.000,1385.827,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,69.797,1042.353,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.114,622.856,643.526,140.533,576.962,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31837,398
$CAP_FILE_SIZE,69552,0
$CFSIZE,260165632,229539840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,250211,223536,2245.107,-15804.224,36,1.4,42,10.0