version: 66.04
glider: 512
mission: 1
dive: 810
start: 2 26 111 3 54 5
data:
$ID,512
$MISSION,1
$DIVE,810
$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,-23282.693
$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,51
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,034357,2246.361,-15804.459,26,3.1,46,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-79.1
$GPS2,035313,2246.370,-15804.395,13,1.6,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.065,0.248
$KALMAN_X,-257080.0,-302.0,-340.7,269141.5,887.8
$KALMAN_Y,-533226.6,641.9,296.5,654697.4,-4527.1
$MHEAD_RNG_PITCHd_Wd,4.6,2651,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.85,0.000,2,0.000,0.000,49,2676,3029
$GC,77,-0.85,-146.0,3.6,-5.9,7,109,11.52,2.00,-11.75,0.000,4,0.245,0.075,2577,3865,3659
$GC,254,-0.85,-146.0,50.5,-17.3,28,258,0.00,1.83,0.00,0.000,6,0.000,0.025,2584,2642,3661
$GC,525,-0.85,-146.0,116.8,-25.9,53,528,0.00,2.08,0.00,0.000,4,0.000,0.027,2594,1221,3662
$GC,575,-0.85,-146.0,127.7,-20.2,57,579,0.00,2.30,0.00,0.000,6,0.000,0.065,2584,2620,3662
$GC,839,-0.85,-146.0,181.6,-19.5,81,843,0.00,2.08,0.00,0.000,4,0.000,0.065,2572,3900,3663
$GC,876,-0.85,-146.0,188.7,-18.4,84,879,0.00,1.85,0.00,0.000,6,0.000,0.023,2574,2622,3663
$GC,1145,-0.85,-146.0,238.9,-18.8,95,1148,0.00,2.03,0.00,0.000,4,0.000,0.025,2580,1230,3664
$GC,1174,-0.85,-146.0,244.0,-16.2,95,1178,0.00,2.33,0.00,0.000,6,0.000,0.064,2576,2641,3664
$GC,1431,-0.85,-146.0,284.6,-16.1,102,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2641,3664
$GC,1675,-0.85,-146.0,320.0,-14.3,108,1679,0.00,2.08,0.00,0.000,4,0.000,0.069,2566,3901,3664
$GC,1704,-0.85,-146.0,324.3,-13.8,108,1708,0.00,1.88,0.00,0.000,6,0.000,0.023,2573,2629,3664
$GC,1967,-0.85,-146.0,358.1,-13.2,115,1971,0.00,2.03,0.00,0.000,4,0.000,0.026,2583,1237,3664
$GC,2001,-0.85,-146.0,362.8,-12.5,115,2006,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2651,3664
$GC,2254,-0.85,-146.0,394.5,-12.9,121,2258,0.00,2.03,0.00,0.000,4,0.000,0.067,2564,3895,3662
$GC,2289,-0.85,-146.0,398.9,-11.7,121,2292,0.00,1.83,0.00,0.000,6,0.000,0.024,2572,2635,3661
$GC,2546,-0.85,-146.0,427.6,-11.4,128,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2628,3660
$GC,2791,-0.85,-146.0,456.1,-11.6,134,2795,0.00,2.10,0.00,0.000,4,0.000,0.068,2564,3891,3658
$GC,2838,-0.85,-146.0,461.6,-10.8,135,2842,0.00,1.83,0.00,0.000,6,0.000,0.025,2571,2637,3658
$GC,3131,-0.85,-146.0,494.0,-11.4,142,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2629,3656
$GC,3373,-0.85,-146.0,522.2,-11.6,148,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2630,3655
$GC,3616,-0.85,-146.0,551.2,-11.7,154,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2630,3653
$GC,3860,-0.85,-146.0,579.4,-11.6,160,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2630,3650
$STATE,4059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4059,begin apogee
$GC,4069,-0.32,0.0,601.3,10.7,165,4196,0.65,0.00,124.18,1.046,6,0.153,0.000,2760,2523,3060
$STATE,4197,end apogee,CONTROL_FINISHED_OK
$STATE,4197,begin climb
$GC,4202,0.85,146.0,607.0,0.0,168,4340,1.08,2.22,129.80,1.019,4,0.071,0.029,3152,1109,2463
$GC,4474,0.85,146.0,587.5,20.2,174,4478,0.00,2.28,0.00,0.000,6,0.000,0.048,3150,2524,2456
$GC,4750,0.85,146.0,530.7,20.6,181,4753,0.00,2.10,0.00,0.000,4,0.000,0.029,3159,1108,2452
$GC,4762,0.85,146.0,527.9,20.5,181,4766,0.00,2.25,0.00,0.000,6,0.000,0.049,3159,2526,2452
$GC,5036,0.85,146.0,477.1,18.5,188,5040,0.00,2.10,0.00,0.000,4,0.000,0.030,3168,1117,2450
$GC,5145,0.85,146.0,459.2,15.9,190,5149,0.00,2.25,0.00,0.000,6,0.000,0.050,3163,2521,2449
$GC,5413,0.85,146.0,417.4,15.1,197,5417,0.00,2.22,0.00,0.000,4,0.000,0.059,3162,3902,2447
$GC,5532,0.85,146.0,397.0,16.2,199,5536,0.00,2.08,0.00,0.000,6,0.000,0.029,3171,2517,2447
$GC,5796,0.85,146.0,359.3,13.8,206,5800,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1098,2445
$GC,5820,0.85,146.0,355.8,13.2,206,5825,0.12,2.25,0.00,0.000,6,0.241,0.044,3152,2531,2445
$GC,6082,0.85,146.0,319.0,14.3,213,6086,0.00,2.12,0.00,0.000,4,0.000,0.028,3161,1093,2444
$GC,6342,0.85,146.0,287.7,11.3,218,6346,0.00,2.25,0.00,0.000,6,0.000,0.045,3161,2521,2443
$GC,6599,0.85,146.0,262.0,9.7,225,6603,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1096,2443
$GC,6801,0.85,146.0,244.0,10.0,229,6805,0.00,2.25,0.00,0.000,6,0.000,0.043,3163,2535,2442
$GC,7071,0.85,146.0,216.3,10.0,236,7075,0.00,2.15,0.00,0.000,4,0.000,0.049,3162,3899,2442
$GC,7334,0.87,158.1,190.6,9.1,247,7347,0.00,2.05,7.85,0.673,6,0.000,0.026,3172,2499,2414
$GC,7606,0.92,195.2,163.6,8.0,272,7642,0.00,0.00,33.90,0.736,6,0.000,0.000,3172,2499,2264
$GC,7902,0.92,195.2,120.0,15.9,299,7906,0.00,2.22,0.00,0.000,4,0.000,0.048,3163,3898,2259
$GC,7983,0.92,195.2,106.0,15.9,306,7987,0.00,2.03,0.00,0.000,6,0.000,0.026,3171,2530,2258
$GC,8253,0.92,195.2,68.1,14.5,331,8257,0.00,2.08,0.00,0.000,4,0.000,0.027,3182,1107,2258
$GC,8280,0.92,195.2,64.0,15.8,333,8284,0.00,2.20,0.00,0.000,6,0.000,0.042,3176,2516,2258
$GC,8545,0.92,195.2,27.4,12.8,359,8553,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1114,2258
$GC,8701,0.92,195.9,7.5,9.6,387,8709,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2525,2258
$STATE,8741,end climb,SURFACE_DEPTH_REACHED
$STATE,8741,begin surface coast
$FINISH,0.5,1.024029
$STATE,8769,end surface coast,CONTROL_FINISHED_OK
$STATE,8769,begin surface
$SM_CCo,8794,87.10,0.591,0,0,1632,350.04
$SM_GC,1.52,0.00,0.00,87.10,0.000,0.000,0.591,46,2669,1632,-8.82,0.82,350.04
$IRIDIUM_FIX,2241.69,-16014.00,220500,030320
$TT8_MAMPS,0.023777
$HUMID,1848
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.5,106.655
$10V_AH,10.6,61.676
$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,22.375,80.475,295.725,87.100,0.000,57.923,137.533,147.555,0.000,0.000,0.000,18.861,836.699,5980.879,421.838,1520.308,682.744,33.363,1039.901,0.000,1508.281,0.000,0.543,0.000
$DEVICE_MAMPS,245.440,75.166,1046.188,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,270.233,627.123,644.304,145.217,593.644,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32004,399
$CAP_FILE_SIZE,73113,0
$CFSIZE,260165632,229412864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,260211,062337,2246.956,-15804.158,44,1.1,45,10.1