version: 66.04
glider: 512
mission: 1
dive: 421
start: 1 18 111 6 39 2
data:
$ID,512
$MISSION,1
$DIVE,421
$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,-14002.597
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,59
$R_STBD_OVSHOOT,13
$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
$GPS1,063031,2248.081,-15757.152,11,2.0,16,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.7
$GPS2,063810,2248.067,-15757.104,11,2.1,30,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.244,0.101
$KALMAN_X,-166552.7,-665.2,-145.2,191316.5,1812.8
$KALMAN_Y,-374183.3,-938.5,1172.4,499497.8,-6925.4
$MHEAD_RNG_PITCHd_Wd,282.4,10260,-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,-155.7,0.0,0.0,0,86,0.00,0.00,-68.97,0.000,2,0.000,0.000,30,2555,3132
$GC,90,-0.84,-155.7,3.6,-5.8,9,123,11.68,2.35,-14.98,0.000,4,0.262,0.107,2559,3893,3961
$GC,202,-0.84,-155.7,44.0,-26.2,23,206,0.00,1.98,0.00,0.000,6,0.000,0.029,2562,2565,3963
$GC,469,-0.84,-155.7,124.0,-24.7,48,473,0.00,2.10,0.00,0.000,4,0.000,0.028,2571,1132,3964
$GC,507,-0.84,-155.7,132.0,-21.8,51,511,0.00,2.53,0.00,0.000,6,0.000,0.102,2563,2549,3965
$GC,769,-0.84,-155.7,187.0,-20.8,75,773,0.00,2.42,0.00,0.000,4,0.000,0.110,2552,3903,3966
$GC,890,-0.84,-155.7,208.8,-15.2,82,897,0.00,2.03,0.00,0.000,6,0.000,0.028,2560,2527,3967
$GC,1141,-0.84,-155.7,253.3,-18.0,89,1145,0.00,2.53,0.00,0.000,4,0.000,0.120,2551,3895,3968
$GC,1213,-0.84,-155.7,264.8,-13.2,90,1217,0.00,2.00,0.00,0.000,6,0.000,0.028,2559,2524,3968
$GC,1470,-0.84,-155.7,307.5,-16.9,97,1474,0.00,2.50,0.00,0.000,4,0.000,0.114,2549,3896,3968
$GC,1497,-0.84,-155.7,313.0,-17.9,97,1501,0.00,2.03,0.00,0.000,6,0.000,0.031,2557,2540,3968
$GC,1752,-0.84,-155.7,354.1,-15.8,104,1756,0.00,2.53,0.00,0.000,4,0.000,0.120,2548,3896,3968
$GC,1792,-0.84,-155.7,360.3,-14.7,105,1796,0.10,1.98,0.00,0.000,6,0.163,0.029,2573,2543,3967
$GC,2081,-0.84,-155.7,398.3,-13.3,112,2085,0.00,2.47,0.00,0.000,4,0.000,0.112,2563,3896,3967
$GC,2120,-0.84,-155.7,403.3,-12.8,113,2124,0.00,1.98,0.00,0.000,6,0.000,0.030,2572,2551,3967
$GC,2410,-0.84,-155.7,439.7,-12.7,120,2414,0.00,2.50,0.00,0.000,4,0.000,0.119,2563,3896,3966
$GC,2454,-0.84,-155.7,445.4,-11.2,121,2458,0.00,1.98,0.00,0.000,6,0.000,0.031,2571,2551,3965
$GC,2738,-0.84,-155.7,477.7,-11.5,128,2742,0.00,2.45,0.00,0.000,4,0.000,0.114,2562,3896,3964
$GC,2787,-0.84,-155.7,483.4,-10.2,129,2791,0.00,1.98,0.00,0.000,6,0.000,0.031,2562,2552,3963
$GC,3066,-0.84,-155.7,515.8,-11.9,136,3071,0.00,2.47,0.00,0.000,4,0.000,0.113,2552,3903,3962
$GC,3122,-0.84,-155.7,522.5,-10.6,137,3126,0.00,2.00,0.00,0.000,6,0.000,0.031,2561,2553,3961
$GC,3395,-0.84,-155.7,555.1,-12.2,144,3399,0.00,2.45,0.00,0.000,4,0.000,0.112,2551,3897,3959
$GC,3427,-0.84,-155.7,559.5,-12.4,144,3433,0.00,2.00,0.00,0.000,6,0.000,0.032,2560,2547,3958
$GC,3679,-0.84,-155.7,587.9,-11.3,151,3683,0.00,2.50,0.00,0.000,4,0.000,0.116,2551,3897,3957
$GC,3734,-0.84,-155.7,594.3,-10.2,152,3738,0.00,2.00,0.00,0.000,6,0.000,0.031,2559,2550,3956
$STATE,3801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3801,begin apogee
$GC,3807,-0.32,0.0,601.8,11.0,154,3931,0.62,0.00,120.35,1.057,6,0.154,0.000,2744,2540,3367
$STATE,3931,end apogee,CONTROL_FINISHED_OK
$STATE,3931,begin climb
$GC,3934,0.84,155.7,608.4,0.0,157,4076,1.10,2.22,132.48,1.035,4,0.086,0.032,3127,1152,2731
$GC,4333,0.95,241.1,615.7,6.1,166,4414,0.00,2.30,73.20,1.041,6,0.000,0.053,3124,2572,2384
$GC,4703,0.95,241.1,539.4,24.7,175,4706,0.00,2.15,0.00,0.000,4,0.000,0.033,3132,1153,2375
$GC,4865,0.95,241.1,503.2,20.6,178,4869,0.00,2.25,0.00,0.000,6,0.000,0.056,3133,2543,2373
$GC,5120,0.95,241.1,447.0,21.8,185,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2544,2371
$GC,5365,0.95,241.1,397.4,20.0,191,5369,0.00,2.08,0.00,0.000,4,0.000,0.032,3143,1145,2369
$GC,5381,0.95,241.1,393.8,19.9,191,5385,0.00,2.28,0.00,0.000,6,0.000,0.057,3137,2554,2369
$GC,5654,0.95,241.1,340.9,19.8,198,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2554,2368
$GC,5897,0.95,241.1,294.4,18.5,204,5901,0.00,2.10,0.00,0.000,4,0.000,0.032,3146,1139,2367
$GC,5964,0.95,241.1,282.1,18.7,205,5968,0.00,2.28,0.00,0.000,6,0.000,0.058,3146,2555,2367
$GC,6231,0.95,241.1,233.3,18.4,212,6235,0.00,2.17,0.00,0.000,4,0.000,0.064,3146,3900,2366
$GC,6377,0.95,241.1,207.0,15.8,215,6381,0.00,2.00,0.00,0.000,6,0.000,0.032,3155,2556,2364
$GC,6645,0.95,241.1,166.5,15.1,235,6649,0.00,2.20,0.00,0.000,4,0.000,0.060,3150,3906,2365
$GC,6704,0.95,241.1,157.6,14.3,240,6708,0.00,2.03,0.00,0.000,6,0.000,0.032,3159,2540,2364
$GC,6974,0.95,241.1,128.5,11.4,265,6977,0.00,2.22,0.00,0.000,4,0.000,0.066,3159,3896,2364
$GC,7230,0.95,241.1,101.8,11.6,288,7234,0.00,2.00,0.00,0.000,6,0.000,0.031,3168,2537,2364
$GC,7500,1.07,344.6,85.2,5.3,313,7588,0.00,2.17,83.18,0.693,4,0.000,0.031,3178,1148,1962
$GC,7803,1.07,344.6,21.0,26.5,342,7811,0.00,2.30,0.00,0.000,6,0.000,0.055,3175,2539,1953
$STATE,7865,end climb,SURFACE_DEPTH_REACHED
$STATE,7865,begin surface coast
$FINISH,0.3,1.024013
$STATE,7872,end surface coast,CONTROL_FINISHED_OK
$STATE,7872,begin surface
$SM_CCo,7891,1.35,0.086,0,0,1940,350.04
$SM_GC,2.49,0.00,0.00,1.35,0.000,0.000,0.086,53,2540,1940,-8.74,-0.28,350.04
$IRIDIUM_FIX,2239.35,-15800.20,130400,050528
$TT8_MAMPS,0.023777
$HUMID,1832
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.9,54.534
$10V_AH,10.7,31.657
$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,22.300,88.475,409.200,1.350,0.000,30.561,45.959,261.016,0.500,0.000,0.000,33.889,763.818,5159.766,424.177,1475.749,540.235,33.343,1079.622,0.000,1444.554,0.000,0.542,0.000
$DEVICE_MAMPS,262.314,119.652,1056.926,85.904,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,238.784,550.892,566.523,112.218,469.222,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,29011,354
$CAP_FILE_SIZE,73158,0
$CFSIZE,260165632,244588544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,180111,085237,2247.913,-15758.512,82,1.9,83,10.1