version: 66.04
glider: 512
mission: 1
dive: 826
start: 2 27 111 22 5 16
data:
$ID,512
$MISSION,1
$DIVE,826
$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,-23717.191
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,215716,2253.882,-15802.896,8,6.6,28,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.0
$GPS2,220424,2253.863,-15802.959,27,1.2,44,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.096,0.237
$KALMAN_X,-265232.0,-415.3,-377.6,279900.0,-1027.0
$KALMAN_Y,-557625.2,242.4,345.6,693329.2,-2972.1
$MHEAD_RNG_PITCHd_Wd,12.0,12744,-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,-52.78,0.000,2,0.000,0.000,46,2661,2995
$GC,77,-0.85,-146.0,3.4,-5.4,7,109,12.02,2.17,-12.30,0.000,4,0.256,0.041,2597,1237,3636
$GC,131,-0.85,-146.0,21.5,-37.5,14,139,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2621,3637
$GC,399,-0.85,-146.0,88.9,-24.0,41,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2621,3639
$GC,663,-0.85,-146.0,147.1,-20.1,66,666,0.00,2.10,0.00,0.000,4,0.000,0.065,2578,3908,3639
$GC,700,-0.85,-146.0,154.2,-19.2,69,703,0.00,1.85,0.00,0.000,6,0.000,0.024,2586,2635,3640
$GC,971,-0.85,-146.0,199.6,-17.0,94,974,0.00,2.03,0.00,0.000,4,0.000,0.026,2596,1237,3640
$GC,1029,-0.85,-146.0,208.4,-12.8,96,1034,0.00,2.28,0.00,0.000,6,0.000,0.054,2586,2650,3641
$GC,1304,-0.85,-146.0,248.2,-14.4,103,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2650,3641
$GC,1549,-0.85,-146.0,282.2,-13.9,109,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2651,3641
$GC,1791,-0.85,-146.0,315.7,-13.4,115,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2651,3641
$GC,2036,-0.85,-146.0,346.2,-12.5,121,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2651,3640
$GC,2278,-0.85,-146.0,375.9,-12.1,127,2282,0.00,2.10,0.00,0.000,4,0.000,0.027,2596,1238,3639
$GC,2326,-0.85,-146.0,381.2,-9.5,128,2330,0.00,2.25,0.00,0.000,6,0.000,0.055,2586,2640,3639
$GC,2612,-0.85,-146.0,414.3,-11.7,135,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2640,3637
$GC,2856,-0.85,-146.0,440.1,-10.5,141,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2640,3636
$GC,3101,-0.85,-146.0,464.5,-10.0,147,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2640,3634
$GC,3343,-0.85,-146.0,489.7,-10.3,153,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2640,3633
$GC,3586,-0.85,-146.0,515.1,-10.3,159,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2640,3631
$GC,3830,-0.85,-146.0,540.8,-10.5,165,3834,0.00,2.10,0.00,0.000,4,0.000,0.030,2595,1238,3629
$GC,3865,-0.85,-146.0,544.5,-9.4,165,3869,0.00,2.28,0.00,0.000,6,0.000,0.055,2589,2648,3629
$GC,4118,-0.85,-146.0,569.1,-9.9,171,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3627
$GC,4360,-0.85,-146.0,592.5,-9.5,177,4364,0.00,2.08,0.00,0.000,4,0.000,0.068,2579,3906,3625
$GC,4389,-0.85,-146.0,595.3,-9.7,177,4393,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2635,3625
$STATE,4445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4445,begin apogee
$GC,4455,-0.32,0.0,600.7,9.3,179,4581,0.60,0.00,123.53,1.057,6,0.148,0.000,2764,2513,3040
$STATE,4582,end apogee,CONTROL_FINISHED_OK
$STATE,4582,begin climb
$GC,4587,0.85,146.0,606.2,0.0,182,4726,1.10,2.38,130.85,1.052,4,0.084,0.065,3137,3899,2444
$GC,4988,0.85,146.0,551.9,23.9,191,4992,0.00,2.12,0.00,0.000,6,0.000,0.028,3146,2481,2435
$GC,5273,0.85,146.0,492.3,19.7,198,5277,0.00,2.30,0.00,0.000,4,0.000,0.058,3146,3902,2432
$GC,5437,0.85,146.0,460.1,18.8,201,5441,0.00,2.10,0.00,0.000,6,0.000,0.027,3155,2492,2431
$GC,5694,0.85,146.0,415.6,17.2,208,5698,0.00,2.08,0.00,0.000,4,0.000,0.028,3166,1082,2429
$GC,5763,0.85,146.0,404.0,15.5,209,5767,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2514,2429
$GC,6026,0.85,146.0,363.0,15.5,216,6030,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1091,2426
$GC,6084,0.85,146.0,354.1,14.1,217,6088,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2507,2426
$GC,6363,0.85,146.0,310.8,15.8,224,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2508,2425
$GC,6607,0.85,146.0,280.0,11.8,230,6611,0.00,2.22,0.00,0.000,4,0.000,0.054,3162,3900,2425
$GC,6693,0.85,146.0,269.0,13.6,231,6699,0.00,2.10,0.00,0.000,6,0.000,0.028,3171,2493,2424
$GC,6944,0.85,146.0,239.3,11.5,238,6948,0.00,2.28,0.00,0.000,4,0.000,0.049,3164,3908,2424
$GC,7199,0.85,146.0,206.0,11.7,243,7202,0.00,2.10,0.00,0.000,6,0.000,0.026,3172,2491,2423
$GC,7464,0.87,160.3,179.4,9.0,264,7480,0.00,0.00,10.10,0.704,6,0.000,0.000,3172,2485,2387
$GC,7738,0.87,160.3,151.0,10.2,290,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2485,2385
$GC,8004,0.97,236.7,127.1,6.2,315,8076,0.00,2.30,66.90,0.715,4,0.000,0.047,3163,3905,2075
$GC,8127,0.97,236.7,108.0,23.7,325,8135,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2503,2072
$GC,8393,0.97,236.7,44.6,23.7,350,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2498,2069
$STATE,8578,end climb,SURFACE_DEPTH_REACHED
$STATE,8578,begin surface coast
$FINISH,0.3,1.024011
$STATE,8594,end surface coast,CONTROL_FINISHED_OK
$STATE,8594,begin surface
$SM_CCo,8620,60.42,0.601,0,0,1613,350.04
$SM_GC,1.70,0.00,0.00,60.42,0.000,0.000,0.601,45,2672,1613,-8.83,0.90,350.04
$IRIDIUM_FIX,2244.02,-15801.49,230500,191908
$TT8_MAMPS,0.024544
$HUMID,1895
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,108.458
$10V_AH,10.6,63.098
$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,22.800,56.450,331.375,60.425,0.000,25.014,35.242,186.202,0.000,0.000,0.000,44.844,767.565,5969.284,421.891,1387.667,563.966,33.373,996.638,0.000,1355.215,0.000,0.543,0.000
$DEVICE_MAMPS,256.178,68.263,1056.926,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.213,586.852,603.237,123.071,503.979,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31944,381
$CAP_FILE_SIZE,66123,0
$CFSIZE,260165632,228757504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,280211,003116,2254.564,-15802.890,13,3.5,33,10.1