version: 66.04
glider: 512
mission: 2
dive: 527
start: 10 7 111 0 2 53
data:
$ID,512
$MISSION,2
$DIVE,527
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,640
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,410
$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,-43366.008
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2490
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,235337,2245.472,-15800.544,66,1.0,66,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-78.4
$GPS2,000156,2245.477,-15800.575,16,1.4,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.094
$KALMAN_X,-102207.9,917.1,-67.3,105411.4,-7667.8
$KALMAN_Y,-98585.6,-88.9,785.5,34421.4,-4368.6
$MHEAD_RNG_PITCHd_Wd,94.1,1321,-27.2,-10.000
$D_GRID,900
$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,19,-0.99,-63.0,0.0,0.0,0,84,0.00,0.00,-63.70,0.000,2,0.000,0.000,39,2483,3047
$GC,91,-1.05,-115.5,3.1,-4.4,8,117,8.05,0.00,-9.23,0.000,6,0.199,0.000,2144,2482,3543
$GC,388,-1.05,-115.5,110.0,-30.4,39,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2482,3545
$GC,654,-1.05,-115.5,181.7,-24.7,64,657,0.00,2.17,0.00,0.000,4,0.000,0.044,2135,3900,3546
$GC,716,-1.05,-115.5,196.8,-23.0,69,719,0.00,2.05,0.00,0.000,6,0.000,0.021,2135,2488,3546
$GC,976,-1.05,-115.5,256.8,-22.8,76,980,0.00,2.03,0.00,0.000,4,0.000,0.026,2135,1084,3546
$GC,1000,-1.05,-115.5,263.0,-22.2,76,1004,0.00,2.12,0.00,0.000,6,0.000,0.038,2127,2484,3547
$GC,1271,-1.05,-115.5,321.3,-21.5,83,1274,0.00,2.17,0.00,0.000,4,0.000,0.044,2116,3904,3547
$GC,1306,-1.05,-115.5,330.1,-23.7,83,1311,0.12,2.08,0.00,0.000,6,0.158,0.021,2147,2476,3546
$GC,1558,-1.05,-115.5,380.4,-19.9,89,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2470,3546
$GC,1803,-1.05,-115.5,424.1,-17.3,95,1806,0.00,2.00,0.00,0.000,4,0.000,0.026,2147,1092,3544
$GC,1838,-1.05,-115.5,430.1,-16.5,95,1842,0.00,2.15,0.00,0.000,6,0.000,0.039,2139,2500,3544
$GC,2097,-1.05,-115.5,473.2,-17.2,102,2101,0.00,2.17,0.00,0.000,4,0.000,0.048,2128,3904,3542
$GC,2211,-1.05,-115.5,493.7,-18.2,104,2215,0.00,2.08,0.00,0.000,6,0.000,0.024,2128,2492,3541
$GC,2484,-1.05,-115.5,542.0,-18.0,111,2487,0.00,2.22,0.00,0.000,4,0.000,0.048,2117,3902,3538
$GC,2532,-1.05,-115.5,551.3,-18.1,112,2537,0.12,2.08,0.00,0.000,6,0.148,0.025,2149,2491,3538
$GC,2818,-1.05,-115.5,595.8,-15.4,119,2822,0.00,2.05,0.00,0.000,4,0.000,0.028,2149,1087,3536
$GC,2842,-1.05,-115.5,600.0,-16.8,119,2846,0.00,2.15,0.00,0.000,6,0.000,0.041,2141,2486,3536
$GC,3114,-1.05,-115.5,644.1,-16.6,126,3117,0.00,2.22,0.00,0.000,4,0.000,0.052,2130,3901,3532
$GC,3149,-1.05,-115.5,650.4,-17.5,126,3153,0.00,2.08,0.00,0.000,6,0.000,0.025,2129,2491,3532
$GC,3406,-1.05,-115.5,691.3,-15.8,133,3410,0.00,2.05,0.00,0.000,4,0.000,0.030,2130,1090,3529
$GC,3431,-1.05,-115.5,695.5,-16.6,133,3435,0.00,2.17,0.00,0.000,6,0.000,0.044,2127,2493,3529
$GC,3701,-1.05,-115.5,737.2,-15.6,140,3705,0.00,2.22,0.00,0.000,4,0.000,0.054,2116,3910,3526
$GC,3794,-1.05,-115.5,752.2,-15.8,142,3798,0.12,2.10,0.00,0.000,6,0.149,0.028,2149,2487,3526
$GC,4085,-1.05,-115.5,794.2,-14.7,149,4088,0.00,2.08,0.00,0.000,4,0.000,0.031,2148,1082,3523
$GC,4114,-1.05,-115.5,799.0,-16.1,149,4119,0.00,2.20,0.00,0.000,6,0.000,0.044,2140,2494,3523
$GC,4380,-1.05,-115.5,841.3,-16.3,156,4384,0.00,2.25,0.00,0.000,4,0.000,0.055,2129,3906,3521
$GC,4406,-1.05,-115.5,846.0,-16.9,156,4410,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2483,3521
$GC,4670,-1.05,-115.5,891.9,-17.3,163,4674,0.00,2.08,0.00,0.000,4,0.000,0.032,2130,1083,3518
$GC,4695,-1.05,-115.5,896.4,-17.5,163,4699,0.00,2.20,0.00,0.000,6,0.000,0.047,2127,2491,3519
$STATE,4715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4715,begin apogee
$GC,4727,-0.27,0.0,900.4,16.6,164,4829,0.90,0.00,99.03,1.254,6,0.137,0.000,2402,2491,3070
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4835,1.05,115.5,905.5,0.0,166,4982,1.12,2.40,117.62,1.174,4,0.037,0.046,2836,3900,2599
$GC,4995,1.12,169.1,919.9,4.3,169,5088,0.00,2.25,60.75,1.045,6,0.000,0.025,2845,2463,2382
$GC,5342,1.12,169.1,834.9,27.1,178,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2463,2374
$GC,5586,1.12,169.1,767.4,27.6,184,5589,0.00,2.08,0.00,0.000,4,0.000,0.031,2856,1074,2371
$GC,5611,1.12,169.1,760.4,28.3,184,5615,0.00,2.17,0.00,0.000,6,0.000,0.038,2856,2492,2371
$GC,5881,1.12,169.1,688.1,26.4,191,5885,0.00,2.20,0.00,0.000,4,0.000,0.047,2850,3901,2369
$GC,5951,1.12,169.1,668.6,27.1,192,5954,0.00,2.12,0.00,0.000,6,0.000,0.028,2858,2480,2368
$GC,6220,1.12,169.1,605.9,22.1,199,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2476,2368
$GC,6464,1.12,169.1,555.6,20.8,205,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2476,2367
$GC,6709,1.12,169.1,505.4,20.3,211,6713,0.00,2.10,0.00,0.000,4,0.000,0.032,2869,1064,2365
$GC,6823,1.12,169.1,480.4,21.4,213,6827,0.00,2.17,0.00,0.000,6,0.000,0.039,2862,2483,2365
$GC,7087,1.12,169.1,428.2,20.2,220,7091,0.00,2.20,0.00,0.000,4,0.000,0.048,2862,3888,2364
$GC,7167,1.12,169.1,410.9,21.0,221,7171,0.00,2.10,0.00,0.000,6,0.000,0.028,2871,2477,2363
$GC,7425,1.12,169.1,364.6,17.3,228,7429,0.00,2.08,0.00,0.000,4,0.000,0.031,2882,1074,2363
$GC,7494,1.12,169.1,352.7,17.6,229,7498,0.00,2.17,0.00,0.000,6,0.000,0.040,2875,2490,2363
$GC,7762,1.12,169.1,310.3,15.5,236,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2490,2363
$GC,8002,1.12,169.1,277.6,12.8,242,8006,0.00,2.17,0.00,0.000,4,0.000,0.047,2875,3893,2363
$GC,8193,1.12,169.1,250.8,14.0,246,8198,0.15,2.10,0.00,0.000,6,0.242,0.027,2854,2469,2362
$GC,8474,1.12,169.1,212.8,13.3,253,8478,0.00,2.22,0.00,0.000,4,0.000,0.046,2850,3892,2362
$GC,8504,1.12,169.1,209.7,10.0,253,8507,0.00,2.10,0.00,0.000,6,0.000,0.026,2859,2463,2362
$GC,8765,1.14,192.4,188.4,7.5,268,8802,0.00,2.08,20.73,0.686,4,0.000,0.029,2869,1083,2284
$GC,9058,1.14,192.4,151.7,12.0,293,9066,0.00,2.17,0.00,0.000,6,0.000,0.036,2862,2485,2281
$GC,9324,1.14,192.4,116.6,13.0,318,9327,0.00,2.08,0.00,0.000,4,0.000,0.028,2871,1074,2281
$GC,9386,1.14,192.4,108.4,12.3,323,9390,0.00,2.15,0.00,0.000,6,0.000,0.035,2862,2492,2281
$GC,9656,1.21,242.3,83.3,4.7,348,9708,0.00,2.15,43.33,0.661,4,0.000,0.028,2871,1080,2080
$GC,9852,1.21,242.3,59.7,11.8,364,9856,0.00,2.15,0.00,0.000,6,0.000,0.035,2870,2484,2077
$GC,10118,1.21,242.3,27.4,14.9,389,10126,0.00,2.20,0.00,0.000,4,0.000,0.041,2862,3896,2076
$STATE,10253,end climb,SURFACE_DEPTH_REACHED
$STATE,10253,begin surface coast
$FINISH,0.5,1.023112
$STATE,10278,end surface coast,CONTROL_FINISHED_OK
$STATE,10278,begin surface
$SM_CCo,10306,81.00,0.584,0,0,1397,410.13
$SM_GC,1.15,0.00,0.00,81.00,0.000,0.000,0.584,39,2459,1397,-7.66,-0.88,410.13
$IRIDIUM_FIX,2234.68,-15800.20,301200,202040
$TT8_MAMPS,0.023777
$HUMID,2097
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,23.60
$XPDR_PINGS,30
$24V_AH,23.4,64.275
$10V_AH,10.7,48.916
$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,18.000,107.025,341.450,81.000,0.000,28.826,32.519,249.533,7.500,0.000,0.000,16.457,952.805,7069.492,500.614,1572.761,792.260,33.346,1206.563,0.000,1553.771,0.000,0.545,0.000
$DEVICE_MAMPS,242.372,55.224,1254.045,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,281.428,600.392,617.270,115.306,531.849,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35101,416
$CAP_FILE_SIZE,85850,0
$CFSIZE,260165632,194240512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,10,1
$CURRENT,0.076,241.1,1
$GPS,071011,025730,2244.927,-15759.788,40,1.1,40,10.1