version: 66.04
glider: 512
mission: 1
dive: 819
start: 2 27 111 3 25 54
data:
$ID,512
$MISSION,1
$DIVE,819
$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,-23493.018
$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,52
$R_STBD_OVSHOOT,47
$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
$GPS1,031837,2251.030,-15802.543,28,1.8,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.9
$GPS2,032503,2251.041,-15802.533,11,3.8,30,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.120,0.227
$KALMAN_X,-260563.0,30.0,194.2,274936.9,-514.8
$KALMAN_Y,-548591.1,370.5,397.4,678878.6,-4099.4
$MHEAD_RNG_PITCHd_Wd,322.1,6809,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.80,0.000,2,0.000,0.000,54,2670,3022
$GC,77,-0.85,-146.0,3.8,-6.2,7,110,13.10,1.98,-11.60,0.000,4,0.282,0.074,2580,3855,3659
$GC,268,-0.85,-146.0,52.5,-17.1,29,276,0.00,1.80,0.00,0.000,6,0.000,0.023,2587,2642,3662
$GC,531,-0.85,-146.0,113.9,-23.1,54,535,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1240,3662
$GC,591,-0.85,-146.0,125.1,-16.0,59,596,0.00,2.22,0.00,0.000,6,0.000,0.062,2588,2611,3663
$GC,855,-0.85,-146.0,177.9,-20.7,83,859,0.00,2.10,0.00,0.000,4,0.000,0.066,2578,3895,3663
$GC,904,-0.85,-146.0,186.8,-17.3,87,907,0.00,1.83,0.00,0.000,6,0.000,0.022,2585,2635,3663
$GC,1194,-0.85,-146.0,236.6,-17.1,100,1198,0.00,2.05,0.00,0.000,4,0.000,0.028,2595,1240,3665
$GC,1247,-0.85,-146.0,243.8,-10.9,101,1251,0.00,2.25,0.00,0.000,6,0.000,0.057,2586,2642,3665
$GC,1527,-0.85,-146.0,284.4,-15.0,108,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2643,3665
$GC,1770,-0.85,-146.0,318.4,-13.9,114,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2643,3665
$GC,2014,-0.85,-146.0,351.8,-13.4,120,2017,0.00,2.08,0.00,0.000,4,0.000,0.028,2594,1243,3665
$GC,2066,-0.85,-146.0,358.1,-10.0,121,2070,0.00,2.28,0.00,0.000,6,0.000,0.060,2584,2646,3664
$GC,2345,-0.85,-146.0,394.1,-13.1,128,2349,0.00,2.05,0.00,0.000,4,0.000,0.069,2575,3895,3663
$GC,2380,-0.85,-146.0,398.8,-12.9,128,2384,0.00,1.83,0.00,0.000,6,0.000,0.024,2577,2635,3663
$GC,2637,-0.85,-146.0,430.1,-12.2,135,2641,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,1242,3661
$GC,2678,-0.85,-146.0,434.7,-10.3,135,2685,0.00,2.30,0.00,0.000,6,0.000,0.058,2577,2641,3661
$GC,2929,-0.85,-146.0,461.8,-11.0,142,2933,0.00,2.08,0.00,0.000,4,0.000,0.068,2567,3905,3659
$GC,2959,-0.85,-146.0,465.2,-11.1,142,2962,0.00,1.85,0.00,0.000,6,0.000,0.025,2575,2642,3659
$GC,3221,-0.85,-146.0,493.4,-11.0,149,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2635,3658
$GC,3466,-0.85,-146.0,521.2,-11.5,155,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2635,3657
$GC,3710,-0.85,-146.0,549.3,-11.5,161,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2635,3654
$GC,3952,-0.85,-146.0,576.6,-11.1,167,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2635,3652
$STATE,4192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4192,begin apogee
$GC,4202,-0.32,0.0,602.5,10.6,173,4330,0.62,0.00,124.78,1.053,6,0.148,0.000,2760,2512,3060
$STATE,4331,end apogee,CONTROL_FINISHED_OK
$STATE,4331,begin climb
$GC,4336,0.85,146.0,609.1,0.0,176,4470,1.10,0.00,130.05,1.032,6,0.077,0.000,3142,2512,2464
$GC,4707,0.85,146.0,569.8,21.0,185,4711,0.00,2.25,0.00,0.000,4,0.000,0.061,3137,3902,2454
$GC,4748,0.85,146.0,560.1,22.5,185,4755,0.00,2.10,0.00,0.000,6,0.000,0.027,3146,2523,2454
$GC,5000,0.85,146.0,510.7,19.1,192,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2516,2451
$GC,5245,0.85,146.0,465.3,18.4,198,5248,0.00,2.25,0.00,0.000,4,0.000,0.056,3146,3905,2449
$GC,5392,0.85,146.0,437.5,17.5,201,5396,0.00,2.08,0.00,0.000,6,0.000,0.027,3155,2510,2448
$GC,5672,0.85,146.0,393.8,15.3,208,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2503,2446
$GC,5917,0.85,146.0,357.9,14.9,214,5921,0.00,2.25,0.00,0.000,4,0.000,0.051,3150,3907,2445
$GC,6002,0.85,146.0,344.7,15.7,215,6010,0.00,2.10,0.00,0.000,6,0.000,0.027,3159,2516,2445
$GC,6254,0.85,146.0,309.3,13.7,222,6258,0.00,2.08,0.00,0.000,4,0.000,0.028,3169,1110,2445
$GC,6468,0.85,146.0,282.2,12.6,226,6472,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2534,2443
$GC,6725,0.86,147.5,256.0,9.6,233,6729,0.00,2.10,0.00,0.000,4,0.000,0.027,3171,1107,2443
$GC,6895,0.86,147.5,239.9,9.8,236,6899,0.00,2.22,0.00,0.000,6,0.000,0.042,3163,2530,2443
$GC,7148,0.89,173.0,217.0,8.5,242,7183,0.00,2.17,23.12,0.737,4,0.000,0.027,3172,1109,2353
$GC,7328,0.89,173.0,195.4,12.9,246,7332,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2519,2351
$GC,7599,0.89,173.0,160.2,11.9,271,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2519,2350
$GC,7863,0.89,173.0,128.8,13.7,296,7867,0.00,2.20,0.00,0.000,4,0.000,0.053,3162,3898,2350
$GC,8106,0.89,173.0,98.0,12.0,317,8113,0.00,2.08,0.00,0.000,6,0.000,0.025,3172,2504,2349
$GC,8371,0.89,173.0,70.8,10.5,342,8375,0.00,2.03,0.00,0.000,4,0.000,0.026,3181,1108,2349
$GC,8409,0.90,185.3,67.3,9.1,345,8426,0.00,2.20,11.57,0.616,6,0.000,0.040,3176,2533,2305
$GC,8697,0.90,185.3,31.1,13.0,371,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2533,2304
$STATE,8921,end climb,SURFACE_DEPTH_REACHED
$STATE,8921,begin surface coast
$FINISH,0.4,1.023825
$STATE,8954,end surface coast,CONTROL_FINISHED_OK
$STATE,8954,begin surface
$SM_CCo,8979,94.65,0.597,0,0,1633,350.04
$SM_GC,1.64,0.00,0.00,94.65,0.000,0.000,0.597,51,2671,1633,-8.81,0.85,350.04
$IRIDIUM_FIX,2244.02,-15801.49,230500,000056
$TT8_MAMPS,0.02301
$HUMID,1833
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,23.5,107.671
$10V_AH,10.7,62.468
$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,23.750,67.675,289.525,94.650,0.000,28.006,33.980,153.146,0.750,0.000,0.000,31.083,848.822,6060.114,440.905,1553.163,558.586,33.370,1046.748,0.000,1538.378,0.000,0.542,0.000
$DEVICE_MAMPS,282.256,74.399,1053.091,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.889,670.064,691.823,158.960,650.007,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35167,418
$CAP_FILE_SIZE,70098,0
$CFSIZE,260165632,229044224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,270211,055808,2251.485,-15803.310,13,1.8,14,10.1