version: 66.04
glider: 512
mission: 1
dive: 526
start: 1 29 111 0 42 55
data:
$ID,512
$MISSION,1
$DIVE,526
$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,-17285.455
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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,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
$GPS1,003720,2253.526,-15758.102,12,2.0,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.1
$GPS2,004202,2253.566,-15758.109,17,1.4,17,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.238,0.115
$KALMAN_X,-174718.1,798.3,341.2,195783.9,-10751.3
$KALMAN_Y,-519673.7,70.1,466.6,654870.4,-7478.0
$MHEAD_RNG_PITCHd_Wd,54.1,4453,-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,16,-0.84,-155.7,0.0,0.0,0,64,0.00,0.00,-45.65,0.000,2,0.000,0.000,47,2680,2868
$GC,67,-0.84,-155.7,3.1,-4.0,6,108,10.48,1.98,-21.52,0.000,4,0.236,0.075,2507,3866,3963
$GC,138,-0.84,-155.7,26.9,-41.3,16,146,0.00,1.83,0.00,0.000,6,0.000,0.025,2515,2645,3964
$GC,402,-0.84,-155.7,124.9,-32.9,41,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2637,3966
$GC,665,-0.84,-155.7,202.5,-26.8,66,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2637,3968
$GC,909,-0.84,-155.7,264.6,-25.0,72,913,0.00,2.08,0.00,0.000,4,0.000,0.028,2522,1228,3969
$GC,976,-0.84,-155.7,278.4,-15.7,73,980,0.00,2.28,0.00,0.000,6,0.000,0.060,2513,2635,3969
$GC,1238,-0.84,-155.7,333.8,-22.1,80,1242,0.00,2.03,0.00,0.000,4,0.000,0.066,2503,3890,3969
$GC,1356,-0.84,-155.7,356.2,-16.5,82,1360,0.00,1.83,0.00,0.000,6,0.000,0.025,2508,2635,3969
$GC,1618,-0.84,-155.7,410.1,-21.3,89,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2627,3969
$GC,1862,-0.84,-155.7,457.0,-19.0,95,1866,0.00,2.03,0.00,0.000,4,0.000,0.031,2519,1251,3969
$GC,1890,-0.84,-155.7,462.3,-17.5,95,1894,0.00,2.28,0.00,0.000,6,0.000,0.061,2510,2657,3969
$GC,2146,-0.84,-155.7,507.4,-18.2,102,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2656,3967
$GC,2389,-0.84,-155.7,551.8,-18.4,108,2393,0.00,2.10,0.00,0.000,4,0.000,0.031,2518,1254,3967
$GC,2429,-0.84,-155.7,559.0,-17.1,108,2435,0.00,2.28,0.00,0.000,6,0.000,0.063,2510,2653,3967
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2676,begin apogee
$GC,2684,-0.32,0.0,602.6,17.9,115,2811,0.65,0.00,123.38,1.029,6,0.170,0.000,2693,2542,3367
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin climb
$GC,2815,0.84,155.7,611.2,0.0,118,2956,1.25,2.22,132.40,1.015,4,0.134,0.037,3075,1170,2732
$GC,3211,0.94,239.3,618.6,6.1,127,3291,0.12,2.22,72.22,1.018,6,0.205,0.055,3093,2550,2390
$GC,3563,0.94,239.3,552.5,21.6,136,3567,0.00,2.12,0.00,0.000,4,0.000,0.038,3103,1166,2382
$GC,3822,0.94,239.3,504.6,16.5,141,3826,0.00,2.22,0.00,0.000,6,0.000,0.056,3095,2550,2379
$GC,4073,0.94,239.3,459.8,18.2,147,4076,0.00,2.12,0.00,0.000,4,0.000,0.037,3103,1152,2377
$GC,4331,0.94,239.3,416.3,17.2,152,4335,0.00,2.25,0.00,0.000,6,0.000,0.057,3095,2555,2375
$GC,4581,0.94,239.3,376.0,15.8,158,4585,0.00,2.10,0.00,0.000,4,0.000,0.035,3103,1160,2374
$GC,4604,0.94,239.3,371.8,17.6,158,4608,0.00,2.22,0.00,0.000,6,0.000,0.057,3096,2549,2374
$GC,4865,0.94,239.3,329.4,15.7,165,4869,0.00,2.20,0.00,0.000,4,0.000,0.066,3094,3904,2373
$GC,4917,0.94,239.3,321.1,16.6,166,4921,0.00,2.00,0.00,0.000,6,0.000,0.031,3102,2568,2372
$GC,5202,0.94,239.3,275.6,16.3,173,5206,0.00,2.17,0.00,0.000,4,0.000,0.062,3097,3897,2371
$GC,5275,0.94,239.3,263.5,16.2,174,5278,0.00,2.03,0.00,0.000,6,0.000,0.030,3105,2538,2371
$GC,5539,0.94,239.3,226.4,13.4,181,5543,0.00,2.08,0.00,0.000,4,0.000,0.031,3116,1140,2371
$GC,5727,0.94,239.3,202.5,12.3,185,5731,0.00,2.22,0.00,0.000,6,0.000,0.051,3110,2550,2370
$GC,5997,0.94,239.3,168.8,11.8,208,6001,0.00,2.17,0.00,0.000,4,0.000,0.058,3110,3909,2370
$GC,6022,0.94,239.3,165.5,12.9,210,6025,0.00,2.03,0.00,0.000,6,0.000,0.028,3119,2543,2370
$GC,6291,0.94,239.3,131.5,12.5,235,6295,0.00,2.08,0.00,0.000,4,0.000,0.029,3130,1135,2370
$GC,6317,0.94,239.3,128.3,12.4,237,6321,0.00,2.22,0.00,0.000,6,0.000,0.046,3124,2566,2370
$GC,6585,0.95,243.1,98.5,9.5,262,6589,0.00,2.12,0.00,0.000,4,0.000,0.028,3133,1140,2370
$GC,6644,1.06,335.9,94.8,5.8,267,6730,0.00,2.22,78.30,0.688,6,0.000,0.048,3134,2558,1996
$GC,6986,1.06,335.9,23.0,24.0,300,6994,0.00,2.15,0.00,0.000,4,0.000,0.027,3144,1145,1990
$GC,7029,1.06,335.9,12.6,23.8,307,7038,0.00,2.22,0.00,0.000,6,0.000,0.044,3144,2544,1989
$STATE,7070,end climb,SURFACE_DEPTH_REACHED
$STATE,7070,begin surface coast
$FINISH,0.1,1.010932
$STATE,7082,end surface coast,CONTROL_FINISHED_OK
$STATE,7082,begin surface
$SM_CCo,7103,5.53,0.471,0,0,1940,350.04
$SM_GC,2.80,0.00,0.00,5.53,0.000,0.000,0.471,32,2676,1940,-8.65,0.74,350.04
$IRIDIUM_FIX,2246.36,-15756.28,230400,232324
$TT8_MAMPS,0.023777
$HUMID,1877
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.6,69.055
$10V_AH,10.7,40.016
$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,20.625,68.375,406.300,5.525,0.000,27.631,34.773,108.678,0.250,0.000,0.000,17.319,677.725,4632.143,420.205,1292.165,381.990,33.332,1001.681,0.000,1279.897,0.000,0.542,0.000
$DEVICE_MAMPS,236.236,75.166,1029.314,470.938,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,212.941,494.671,508.469,105.079,431.011,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25610,316
$CAP_FILE_SIZE,62087,0
$CFSIZE,260165632,240414720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,290111,024325,2253.571,-15757.448,79,0.9,80,10.1