version: 66.04
glider: 512
mission: 1
dive: 393
start: 1 15 111 22 13 35
data:
$ID,512
$MISSION,1
$DIVE,393
$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,160
$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,-13338.913
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,220725,2247.838,-15756.331,49,1.6,49,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-79.5
$GPS2,221244,2247.828,-15756.339,17,1.3,17,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.057,0.258
$KALMAN_X,-155301.4,-3015.3,405.6,183171.5,-1167.5
$KALMAN_Y,-350324.7,4079.1,-602.0,471955.4,-7531.6
$MHEAD_RNG_PITCHd_Wd,337.4,2928,-16.2,-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,15,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-39.08,0.000,2,0.000,0.000,36,2555,2953
$GC,59,-0.84,-155.7,3.3,-6.3,5,100,10.88,2.47,-20.05,0.000,4,0.247,0.123,2510,3890,3963
$GC,302,-0.84,-155.7,77.5,-26.7,32,306,0.00,2.03,0.00,0.000,6,0.000,0.029,2518,2539,3965
$GC,570,-0.84,-155.7,177.8,-35.2,57,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2532,3966
$GC,846,-0.84,-155.7,257.5,-27.0,69,850,0.00,2.08,0.00,0.000,4,0.000,0.030,2526,1124,3968
$GC,892,-0.84,-155.7,268.1,-20.1,70,896,0.00,2.50,0.00,0.000,6,0.000,0.097,2523,2565,3968
$GC,1175,-0.84,-155.7,331.9,-23.3,77,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3968
$GC,1419,-0.84,-155.7,384.9,-21.5,83,1423,0.00,2.30,0.00,0.000,4,0.000,0.097,2513,3890,3968
$GC,1452,-0.84,-155.7,392.6,-23.2,83,1458,0.00,2.00,0.00,0.000,6,0.000,0.029,2520,2534,3968
$GC,1702,-0.84,-155.7,443.9,-20.8,90,1706,0.00,2.50,0.00,0.000,4,0.000,0.120,2511,3892,3967
$GC,1786,-0.84,-155.7,460.6,-16.6,92,1790,0.00,2.00,0.00,0.000,6,0.000,0.031,2517,2539,3966
$GC,2075,-0.84,-155.7,514.4,-18.4,99,2079,0.00,2.50,0.00,0.000,4,0.000,0.121,2507,3886,3965
$GC,2102,-0.84,-155.7,519.6,-18.0,99,2106,0.00,2.00,0.00,0.000,6,0.000,0.033,2513,2540,3965
$GC,2358,-0.84,-155.7,564.8,-17.7,106,2363,0.00,2.53,0.00,0.000,4,0.000,0.123,2504,3889,3964
$GC,2408,-0.84,-155.7,574.0,-16.1,107,2412,0.00,2.00,0.00,0.000,6,0.000,0.031,2512,2542,3963
$STATE,2564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2570,-0.32,0.0,601.0,17.7,111,2694,0.62,0.00,121.30,1.046,6,0.173,0.000,2689,2533,3367
$STATE,2695,end apogee,CONTROL_FINISHED_OK
$STATE,2695,begin climb
$GC,2698,0.84,155.7,609.2,0.0,114,2835,1.12,0.00,132.82,1.021,6,0.096,0.000,3062,2533,2732
$GC,3102,0.92,220.2,613.0,6.9,124,3160,0.10,0.00,55.62,1.018,6,0.130,0.000,3092,2533,2469
$GC,3387,0.92,220.2,562.7,20.2,131,3390,0.00,2.12,0.00,0.000,4,0.000,0.034,3102,1136,2461
$GC,3425,0.92,220.2,555.2,18.2,131,3432,0.00,2.33,0.00,0.000,6,0.000,0.058,3097,2546,2460
$GC,3675,0.92,220.2,506.9,18.7,138,3679,0.00,2.12,0.00,0.000,4,0.000,0.034,3106,1132,2458
$GC,3721,0.92,220.2,498.8,18.5,139,3725,0.00,2.33,0.00,0.000,6,0.000,0.063,3106,2558,2458
$GC,4007,0.92,220.2,450.9,16.4,146,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2557,2455
$GC,4247,0.92,220.2,414.8,14.5,152,4251,0.00,2.17,0.00,0.000,4,0.000,0.065,3106,3900,2453
$GC,4275,0.92,220.2,410.3,16.1,152,4279,0.00,2.03,0.00,0.000,6,0.000,0.035,3116,2545,2453
$GC,4536,0.92,220.2,372.9,14.3,159,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2538,2451
$GC,4780,0.92,220.2,336.4,15.2,165,4783,0.00,2.22,0.00,0.000,4,0.000,0.067,3111,3898,2450
$GC,5038,0.92,220.2,293.0,16.8,170,5041,0.00,2.00,0.00,0.000,6,0.000,0.033,3119,2550,2450
$GC,5293,0.92,220.2,258.7,13.4,177,5297,0.00,2.08,0.00,0.000,4,0.000,0.032,3130,1138,2449
$GC,5326,0.92,220.2,254.3,12.5,177,5330,0.00,2.28,0.00,0.000,6,0.000,0.058,3123,2556,2449
$GC,5584,0.92,220.2,225.7,11.1,184,5587,0.00,2.17,0.00,0.000,4,0.000,0.064,3124,3911,2449
$GC,5611,0.92,220.2,222.4,11.9,184,5615,0.15,2.03,0.00,0.000,6,0.265,0.031,3105,2540,2449
$GC,5874,0.92,220.2,196.9,10.0,191,5878,0.00,2.08,0.00,0.000,4,0.000,0.032,3114,1142,2448
$GC,6132,0.99,275.1,176.4,7.3,214,6182,0.00,2.28,43.65,0.772,6,0.000,0.055,3110,2560,2245
$GC,6436,0.99,275.1,128.7,15.9,242,6439,0.00,2.12,0.00,0.000,4,0.000,0.031,3119,1141,2239
$GC,6540,0.99,275.1,111.0,13.6,251,6547,0.00,2.30,0.00,0.000,6,0.000,0.056,3120,2537,2237
$GC,6804,0.99,275.1,74.3,14.4,276,6807,0.00,2.08,0.00,0.000,4,0.000,0.029,3130,1132,2237
$GC,6861,0.99,275.1,65.7,14.9,281,6865,0.00,2.25,0.00,0.000,6,0.000,0.052,3123,2554,2237
$GC,7123,0.99,275.1,23.6,17.1,309,7131,0.00,2.10,0.00,0.000,4,0.000,0.030,3133,1145,2237
$GC,7187,0.99,275.1,13.1,16.4,320,7195,0.00,2.28,0.00,0.000,6,0.000,0.056,3133,2549,2237
$STATE,7249,end climb,SURFACE_DEPTH_REACHED
$STATE,7249,begin surface coast
$FINISH,0.3,1.023979
$STATE,7266,end surface coast,CONTROL_FINISHED_OK
$STATE,7266,begin surface
$SM_CCo,7285,43.65,0.614,0,0,1939,350.04
$SM_GC,1.03,0.00,0.00,43.65,0.000,0.000,0.614,46,2557,1939,-8.60,0.20,350.04
$IRIDIUM_FIX,2239.35,-15754.99,100400,202000
$TT8_MAMPS,0.023777
$HUMID,1809
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,24.0,50.742
$10V_AH,10.7,29.800
$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,21.575,70.250,353.400,43.650,0.000,29.847,36.029,143.019,0.000,0.000,0.000,17.530,697.604,4891.948,454.890,1231.903,381.533,33.335,956.566,0.000,1221.785,0.000,0.542,0.000
$DEVICE_MAMPS,264.615,123.487,1046.188,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,225.707,523.547,537.970,116.582,489.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28856,334
$CAP_FILE_SIZE,61632,0
$CFSIZE,260165632,245596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,160111,001632,2248.252,-15757.002,9,1.7,9,10.1