version: 66.04
glider: 512
mission: 1
dive: 640
start: 2 6 111 7 9 31
data:
$ID,512
$MISSION,1
$DIVE,640
$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,-19841.74
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2865
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3170
$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
$GPS1,070249,2248.148,-15802.188,17,1.3,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.9
$GPS2,070838,2248.211,-15802.172,14,1.6,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.233,0.107
$KALMAN_X,-191367.0,301.9,-407.8,206702.9,2091.8
$KALMAN_Y,-553879.1,1308.7,426.2,677961.4,-3840.6
$MHEAD_RNG_PITCHd_Wd,284.5,2652,-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,-45.28,0.000,2,0.000,0.000,25,2650,2901
$GC,68,-0.85,-146.0,3.3,-5.2,6,102,10.80,2.17,-17.88,0.000,4,0.228,0.094,2574,3886,3767
$GC,331,-0.85,-146.0,58.3,-17.4,38,335,0.00,1.85,0.00,0.000,6,0.000,0.028,2574,2666,3770
$GC,601,-0.85,-146.0,125.3,-23.4,63,605,0.00,2.10,0.00,0.000,4,0.000,0.030,2573,1240,3770
$GC,659,-0.85,-146.0,136.6,-16.3,68,663,0.00,2.35,0.00,0.000,6,0.000,0.074,2563,2646,3771
$GC,922,-0.85,-146.0,190.0,-20.6,92,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2646,3773
$GC,1176,-0.85,-146.0,241.2,-19.7,102,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2646,3774
$GC,1420,-0.85,-146.0,283.7,-17.3,108,1424,0.00,2.10,0.00,0.000,4,0.000,0.030,2563,1238,3774
$GC,1460,-0.85,-146.0,290.3,-14.2,108,1467,0.12,2.35,0.00,0.000,6,0.132,0.071,2586,2656,3774
$GC,1711,-0.85,-146.0,320.9,-12.4,115,1714,0.00,2.08,0.00,0.000,4,0.000,0.081,2578,3900,3773
$GC,1746,-0.85,-146.0,325.4,-12.6,115,1750,0.00,1.85,0.00,0.000,6,0.000,0.025,2578,2633,3774
$GC,2003,-0.85,-146.0,356.4,-12.1,122,2006,0.00,2.05,0.00,0.000,4,0.000,0.031,2578,1250,3773
$GC,2028,-0.85,-146.0,359.5,-13.0,122,2032,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2644,3773
$GC,2289,-0.85,-146.0,390.0,-11.9,129,2293,0.00,2.10,0.00,0.000,4,0.000,0.081,2567,3899,3772
$GC,2329,-0.85,-146.0,394.7,-10.7,129,2335,0.00,1.83,0.00,0.000,6,0.000,0.026,2566,2646,3771
$GC,2581,-0.85,-146.0,425.3,-12.7,136,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2639,3770
$GC,2824,-0.85,-146.0,457.6,-13.3,142,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2639,3769
$GC,3067,-0.85,-146.0,489.6,-13.1,148,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2639,3767
$GC,3311,-0.85,-146.0,518.9,-11.7,154,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2639,3766
$GC,3555,-0.85,-146.0,544.7,-10.5,160,3558,0.00,2.10,0.00,0.000,4,0.000,0.034,2566,1248,3764
$GC,3585,-0.85,-146.0,547.9,-11.4,160,3589,0.00,2.35,0.00,0.000,6,0.000,0.071,2563,2656,3764
$GC,3841,-0.85,-146.0,575.8,-11.2,167,3845,0.00,2.08,0.00,0.000,4,0.000,0.079,2553,3899,3761
$GC,3903,-0.85,-146.0,583.0,-11.6,168,3907,0.12,1.85,0.00,0.000,6,0.143,0.028,2586,2645,3760
$STATE,4091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4091,begin apogee
$GC,4100,-0.32,0.0,600.1,8.9,173,4227,0.52,0.00,123.75,1.062,6,0.111,0.000,2757,2546,3170
$STATE,4228,end apogee,CONTROL_FINISHED_OK
$STATE,4228,begin climb
$GC,4231,0.85,146.0,606.7,0.0,176,4368,1.05,2.35,127.65,1.039,4,0.054,0.062,3149,3900,2573
$GC,4439,0.85,146.0,610.2,16.3,180,4446,0.00,2.08,0.00,0.000,6,0.000,0.029,3158,2568,2569
$GC,4691,0.85,146.0,570.5,15.7,187,4694,0.00,2.17,0.00,0.000,4,0.000,0.059,3158,3908,2564
$GC,4949,0.85,146.0,527.8,15.8,192,4953,0.00,2.05,0.00,0.000,6,0.000,0.029,3169,2537,2562
$GC,5205,0.85,146.0,493.5,12.9,199,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2531,2559
$GC,5449,0.85,146.0,464.6,11.6,205,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2530,2559
$GC,5694,0.85,146.0,435.7,11.8,211,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2531,2558
$GC,5936,0.85,146.0,406.2,12.2,217,5940,0.00,2.08,0.00,0.000,4,0.000,0.030,3179,1123,2556
$GC,6066,0.85,146.0,391.7,10.1,219,6073,0.15,2.25,0.00,0.000,6,0.221,0.046,3146,2559,2555
$GC,6318,0.87,161.0,368.4,8.9,226,6331,0.00,0.00,10.98,0.845,6,0.000,0.000,3146,2559,2513
$GC,6561,0.87,161.0,344.4,10.1,232,6564,0.00,2.12,0.00,0.000,4,0.000,0.028,3155,1134,2511
$GC,6586,0.87,161.0,342.0,10.0,232,6590,0.00,2.25,0.00,0.000,6,0.000,0.047,3150,2558,2511
$GC,6848,0.87,161.0,312.6,11.2,239,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2558,2510
$GC,7091,0.87,161.0,285.5,11.4,245,7095,0.00,2.12,0.00,0.000,4,0.000,0.028,3159,1135,2510
$GC,7333,0.94,211.6,263.4,7.4,250,7384,0.00,2.25,45.45,0.851,6,0.000,0.050,3159,2553,2307
$GC,7648,0.94,211.6,209.5,18.1,258,7651,0.00,2.15,0.00,0.000,4,0.000,0.029,3170,1125,2300
$GC,7687,0.94,211.6,203.2,15.4,258,7693,0.00,2.28,0.00,0.000,6,0.000,0.046,3166,2561,2299
$GC,7950,0.94,211.6,158.0,18.2,280,7954,0.00,2.12,0.00,0.000,4,0.000,0.054,3165,3897,2297
$GC,7968,0.94,211.6,154.4,17.2,281,7975,0.00,2.05,0.00,0.000,6,0.000,0.028,3174,2541,2297
$GC,8231,0.94,211.6,109.9,14.9,306,8234,0.00,2.08,0.00,0.000,4,0.000,0.028,3185,1129,2297
$GC,8488,0.94,211.6,80.0,10.1,329,8492,0.00,2.22,0.00,0.000,6,0.000,0.042,3179,2563,2297
$GC,8752,0.94,211.6,50.8,12.2,353,8756,0.00,2.10,0.00,0.000,4,0.000,0.026,3188,1130,2297
$GC,9006,0.94,211.6,15.8,12.9,384,9015,0.00,2.22,0.00,0.000,6,0.000,0.044,3187,2539,2296
$STATE,9089,end climb,SURFACE_DEPTH_REACHED
$STATE,9089,begin surface coast
$FINISH,0.4,1.024082
$STATE,9106,end surface coast,CONTROL_FINISHED_OK
$STATE,9106,begin surface
$SM_CCo,9129,68.07,0.614,0,0,1743,350.04
$SM_GC,1.56,0.00,0.00,68.07,0.000,0.000,0.614,30,2696,1743,-8.86,1.27,350.04
$IRIDIUM_FIX,2239.35,-15802.37,020500,040457
$TT8_MAMPS,0.023777
$HUMID,1805
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.6,84.948
$10V_AH,10.7,46.795
$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,21.050,72.725,307.825,68.075,0.000,28.466,35.584,148.113,0.000,0.000,0.000,14.745,836.579,6304.577,422.244,1485.622,502.481,33.363,1020.386,0.000,1482.017,0.000,0.543,0.000
$DEVICE_MAMPS,227.799,93.574,1062.295,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,272.483,609.118,628.914,146.066,601.291,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32022,402
$CAP_FILE_SIZE,72301,0
$CFSIZE,260165632,236728320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,060211,094406,2248.386,-15803.159,34,1.2,35,10.1