version: 66.04
glider: 512
mission: 1
dive: 652
start: 2 7 111 10 58 13
data:
$ID,512
$MISSION,1
$DIVE,652
$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,-20107.303
$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,2700
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,24
$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
$GPS1,105137,2248.684,-15805.879,43,0.8,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.0
$GPS2,105720,2248.695,-15805.858,13,2.0,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.059,0.249
$KALMAN_X,-188011.9,832.3,-425.8,196495.3,886.9
$KALMAN_Y,-553177.0,-2671.6,389.6,682187.0,-992.2
$MHEAD_RNG_PITCHd_Wd,336.5,8921,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.53,0.000,2,0.000,0.000,37,2671,3358
$GC,83,-0.85,-146.0,3.7,-3.2,8,108,10.62,2.05,-7.05,0.000,4,0.225,0.041,2587,1289,3768
$GC,118,-0.85,-146.0,21.4,-40.3,12,126,0.00,2.30,0.00,0.000,6,0.000,0.054,2577,2698,3769
$GC,384,-0.85,-146.0,100.4,-22.1,38,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2698,3770
$GC,638,-0.85,-146.0,151.3,-20.1,62,642,0.00,2.08,0.00,0.000,4,0.000,0.028,2577,1291,3772
$GC,741,-0.85,-146.0,168.0,-13.3,71,745,0.00,2.35,0.00,0.000,6,0.000,0.074,2576,2701,3772
$GC,1021,-0.85,-146.0,214.6,-16.5,91,1025,0.00,1.98,0.00,0.000,4,0.000,0.077,2567,3889,3773
$GC,1068,-0.85,-146.0,221.8,-14.3,92,1071,0.00,1.75,0.00,0.000,6,0.000,0.026,2567,2685,3773
$GC,1360,-0.85,-146.0,266.9,-16.0,99,1364,0.00,2.03,0.00,0.000,4,0.000,0.028,2567,1303,3774
$GC,1478,-0.85,-146.0,283.8,-11.8,101,1483,0.00,2.33,0.00,0.000,6,0.000,0.068,2563,2707,3774
$GC,1735,-0.85,-146.0,324.4,-16.3,108,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2708,3773
$GC,1978,-0.85,-146.0,361.7,-15.0,114,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2708,3773
$GC,2223,-0.85,-146.0,393.9,-12.9,120,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2708,3772
$GC,2467,-0.85,-146.0,424.3,-12.5,126,2471,0.00,2.10,0.00,0.000,4,0.000,0.029,2563,1297,3771
$GC,2523,-0.85,-146.0,430.9,-9.9,127,2528,0.12,2.30,0.00,0.000,6,0.140,0.065,2585,2702,3771
$GC,2797,-0.85,-146.0,456.8,-9.4,134,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2702,3769
$GC,3040,-0.85,-146.0,479.0,-9.1,140,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2702,3768
$GC,3285,-0.85,-146.0,501.2,-9.3,146,3289,0.00,2.10,0.00,0.000,4,0.000,0.034,2586,1312,3766
$GC,3336,-0.85,-146.0,506.2,-8.6,147,3341,0.00,2.33,0.00,0.000,6,0.000,0.072,2577,2703,3765
$GC,3616,-0.85,-146.0,536.1,-11.0,154,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2703,3763
$GC,3859,-0.85,-146.0,563.8,-11.3,160,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2703,3762
$GC,4104,-0.85,-146.0,590.7,-10.9,166,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2704,3760
$STATE,4221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4230,-0.32,0.0,603.8,10.7,169,4358,0.57,0.00,124.65,1.089,6,0.117,0.000,2759,2481,3170
$STATE,4358,end apogee,CONTROL_FINISHED_OK
$STATE,4358,begin climb
$GC,4362,0.85,146.0,609.9,0.0,172,4499,1.05,2.15,128.95,1.048,4,0.061,0.036,3152,1125,2574
$GC,4761,0.85,146.0,585.5,15.8,181,4765,0.00,2.17,0.00,0.000,6,0.000,0.049,3150,2502,2565
$GC,5051,0.85,146.0,542.7,14.2,188,5055,0.00,2.10,0.00,0.000,4,0.000,0.037,3158,1125,2561
$GC,5310,0.85,146.0,510.0,11.8,193,5313,0.00,2.17,0.00,0.000,6,0.000,0.049,3159,2503,2560
$GC,5566,0.85,146.0,480.7,11.2,200,5570,0.00,2.08,0.00,0.000,4,0.000,0.034,3168,1114,2558
$GC,5825,0.85,146.0,453.2,10.5,205,5829,0.00,2.22,0.00,0.000,6,0.000,0.053,3163,2503,2557
$GC,6076,0.85,146.0,428.4,9.8,211,6080,0.00,2.08,0.00,0.000,4,0.000,0.033,3172,1113,2555
$GC,6335,0.88,170.3,404.6,8.5,216,6360,0.00,2.22,19.77,0.933,6,0.000,0.051,3163,2511,2475
$GC,6635,0.88,170.3,363.7,14.4,224,6638,0.00,2.10,0.00,0.000,4,0.000,0.031,3172,1109,2470
$GC,6657,0.88,170.3,360.5,12.8,224,6662,0.00,2.22,0.00,0.000,6,0.000,0.051,3172,2501,2470
$GC,6921,0.88,170.3,325.4,13.6,231,6924,0.00,2.08,0.00,0.000,4,0.000,0.031,3180,1107,2468
$GC,7006,0.88,170.3,313.8,13.3,232,7012,0.00,2.22,0.00,0.000,6,0.000,0.049,3179,2508,2468
$GC,7258,0.88,170.3,279.4,13.9,239,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2509,2467
$GC,7500,0.88,170.3,249.2,12.1,245,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2508,2467
$GC,7745,0.88,170.3,222.5,10.7,251,7749,0.00,2.08,0.00,0.000,4,0.000,0.029,3188,1099,2467
$GC,8004,0.95,220.5,198.6,7.4,256,8052,0.00,2.20,43.95,0.802,6,0.000,0.045,3187,2506,2270
$GC,8307,0.95,220.5,146.8,18.9,284,8311,0.00,2.20,0.00,0.000,4,0.000,0.051,3187,3895,2263
$GC,8478,0.95,220.5,111.8,21.3,299,8482,0.00,2.05,0.00,0.000,6,0.000,0.028,3197,2515,2263
$GC,8748,0.95,220.5,59.9,15.9,324,8752,0.00,2.10,0.00,0.000,4,0.000,0.028,3208,1088,2262
$GC,8977,0.95,220.5,26.7,14.1,346,8986,0.10,2.25,0.00,0.000,6,0.216,0.043,3179,2498,2262
$STATE,9139,end climb,SURFACE_DEPTH_REACHED
$STATE,9139,begin surface coast
$FINISH,0.2,1.012587
$STATE,9162,end surface coast,CONTROL_FINISHED_OK
$STATE,9162,begin surface
$SM_CCo,9184,68.50,0.622,0,0,1742,350.04
$SM_GC,1.84,0.00,0.00,68.50,0.000,0.000,0.622,42,2733,1742,-8.82,0.93,350.04
$IRIDIUM_FIX,2241.69,-15804.53,030500,080835
$TT8_MAMPS,0.023777
$HUMID,1865
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.5,86.304
$10V_AH,10.7,47.700
$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,20.775,64.975,317.325,68.500,0.000,25.607,33.950,144.234,0.000,0.000,0.000,13.790,824.505,6325.677,415.843,1548.345,486.399,33.350,1061.017,0.000,1535.755,0.000,0.542,0.000
$DEVICE_MAMPS,224.731,77.467,1089.140,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.015,550.694,567.648,122.213,503.965,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31984,379
$CAP_FILE_SIZE,72743,0
$CFSIZE,260165632,236265472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,070211,133320,2249.367,-15806.146,10,1.3,11,10.1