version: 66.04
glider: 512
mission: 1
dive: 815
start: 2 26 111 16 58 28
data:
$ID,512
$MISSION,1
$DIVE,815
$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,-23393.615
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2640
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,164914,2249.533,-15802.203,9,1.8,10,10.1
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-79.1
$GPS2,165736,2249.477,-15802.137,26,2.0,26,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.149,0.208
$KALMAN_X,-259219.4,37.4,31.5,274438.7,-542.8
$KALMAN_Y,-541163.0,640.9,203.1,668482.8,-4302.4
$MHEAD_RNG_PITCHd_Wd,25.5,9404,-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,17,-0.85,-146.0,0.0,0.0,0,71,0.00,0.00,-52.78,0.000,2,0.000,0.000,48,2668,3012
$GC,77,-0.85,-146.0,3.3,-3.9,7,110,12.02,1.98,-12.27,0.000,4,0.257,0.071,2579,3862,3657
$GC,223,-0.85,-146.0,43.6,-20.2,26,231,0.00,1.83,0.00,0.000,6,0.000,0.024,2586,2640,3659
$GC,489,-0.85,-146.0,104.2,-22.8,51,493,0.00,2.08,0.00,0.000,4,0.000,0.027,2596,1220,3660
$GC,584,-0.85,-146.0,121.1,-14.7,59,588,0.00,2.28,0.00,0.000,6,0.000,0.061,2587,2614,3660
$GC,847,-0.85,-146.0,167.7,-16.5,83,851,0.00,2.05,0.00,0.000,4,0.000,0.026,2595,1225,3661
$GC,918,-0.85,-146.0,178.1,-12.2,89,922,0.00,2.33,0.00,0.000,6,0.000,0.060,2586,2649,3662
$GC,1197,-0.85,-146.0,220.8,-16.1,106,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2649,3662
$GC,1440,-0.85,-146.0,262.4,-17.7,112,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2649,3662
$GC,1684,-0.85,-146.0,301.5,-15.9,118,1687,0.00,2.10,0.00,0.000,4,0.000,0.026,2595,1215,3662
$GC,1741,-0.85,-146.0,309.5,-11.2,119,1745,0.00,2.30,0.00,0.000,6,0.000,0.057,2586,2642,3662
$GC,2022,-0.85,-146.0,341.6,-11.4,126,2025,0.00,2.05,0.00,0.000,4,0.000,0.067,2576,3897,3661
$GC,2069,-0.85,-146.0,346.5,-9.1,127,2073,0.00,1.85,0.00,0.000,6,0.000,0.024,2577,2621,3661
$GC,2362,-0.85,-146.0,380.0,-12.1,134,2366,0.00,2.00,0.00,0.000,4,0.000,0.027,2587,1231,3660
$GC,2386,-0.85,-146.0,383.3,-12.8,134,2390,0.00,2.25,0.00,0.000,6,0.000,0.054,2577,2645,3660
$GC,2651,-0.85,-146.0,416.0,-13.1,141,2654,0.00,2.05,0.00,0.000,4,0.000,0.065,2568,3900,3658
$GC,2698,-0.85,-146.0,422.5,-12.7,142,2701,0.00,1.85,0.00,0.000,6,0.000,0.025,2575,2632,3658
$GC,2989,-0.85,-146.0,459.0,-12.4,149,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2624,3657
$GC,3232,-0.85,-146.0,486.6,-11.2,155,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2625,3655
$GC,3479,-0.85,-146.0,514.0,-11.3,161,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2625,3654
$GC,3720,-0.85,-146.0,541.4,-11.4,167,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2625,3652
$GC,3963,-0.85,-146.0,567.9,-10.8,173,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2625,3650
$GC,4207,-0.85,-146.0,592.8,-10.0,179,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2625,3649
$STATE,4285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4285,begin apogee
$GC,4295,-0.32,0.0,600.8,9.8,181,4422,0.65,0.00,124.03,1.050,6,0.152,0.000,2764,2521,3060
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4423,begin climb
$GC,4427,0.85,146.0,606.1,0.0,184,4562,1.08,0.00,129.93,1.029,6,0.073,0.000,3140,2521,2464
$GC,4795,0.85,146.0,568.1,20.5,193,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2521,2455
$GC,5040,0.85,146.0,522.4,18.7,199,5044,0.00,2.10,0.00,0.000,4,0.000,0.030,3150,1107,2452
$GC,5064,0.85,146.0,518.0,17.4,199,5068,0.00,2.22,0.00,0.000,6,0.000,0.046,3150,2519,2452
$GC,5329,0.85,146.0,470.6,18.0,206,5333,0.00,2.08,0.00,0.000,4,0.000,0.028,3159,1102,2450
$GC,5359,0.85,146.0,465.2,16.5,206,5363,0.00,2.25,0.00,0.000,6,0.000,0.047,3159,2527,2450
$GC,5621,0.85,146.0,420.7,16.7,213,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2527,2448
$GC,5865,0.85,146.0,381.8,16.0,219,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2527,2446
$GC,6109,0.85,146.0,346.1,14.5,225,6113,0.00,2.17,0.00,0.000,4,0.000,0.054,3150,3898,2445
$GC,6368,0.85,146.0,306.0,15.2,230,6372,0.00,2.05,0.00,0.000,6,0.000,0.027,3158,2510,2444
$GC,6626,0.85,146.0,274.5,11.8,237,6630,0.00,2.22,0.00,0.000,4,0.000,0.050,3150,3897,2444
$GC,6650,0.85,146.0,271.6,11.1,237,6654,0.00,2.03,0.00,0.000,6,0.000,0.025,3158,2518,2443
$GC,6919,0.86,146.2,245.2,9.6,244,6923,0.00,2.08,0.00,0.000,4,0.000,0.028,3169,1110,2442
$GC,7178,0.86,146.2,220.4,10.1,249,7182,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2520,2443
$GC,7435,0.86,149.4,195.4,9.5,258,7438,0.00,2.22,0.00,0.000,4,0.000,0.056,3163,3905,2442
$GC,7693,0.86,149.4,169.6,12.1,281,7696,0.00,2.05,0.00,0.000,6,0.000,0.027,3171,2519,2442
$GC,7963,0.97,237.2,149.0,5.7,306,8049,0.00,2.17,75.85,0.732,4,0.000,0.027,3181,1114,2090
$GC,8304,0.97,237.2,87.9,19.4,335,8312,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2517,2084
$GC,8569,0.97,237.2,29.2,22.4,360,8577,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1113,2083
$GC,8630,0.97,237.2,16.8,19.3,370,8639,0.00,2.25,0.00,0.000,6,0.000,0.042,3177,2526,2083
$STATE,8692,end climb,SURFACE_DEPTH_REACHED
$STATE,8692,begin surface coast
$FINISH,0.5,1.023940
$STATE,8704,end surface coast,CONTROL_FINISHED_OK
$STATE,8705,begin surface
$SM_CCo,8729,58.12,0.599,0,0,1633,350.04
$SM_GC,1.33,0.00,0.00,58.12,0.000,0.000,0.599,52,2668,1633,-8.81,0.79,350.04
$IRIDIUM_FIX,2239.35,-15804.53,220500,141402
$TT8_MAMPS,0.023777
$HUMID,1895
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,107.223
$10V_AH,10.6,62.118
$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,22.675,63.725,329.800,58.125,0.000,29.250,39.634,268.440,0.250,0.000,0.000,26.227,788.783,6030.237,428.582,1388.109,657.095,33.368,1003.578,0.000,1369.186,0.000,0.543,0.000
$DEVICE_MAMPS,256.945,70.564,1050.023,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.994,589.166,606.967,121.785,503.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31874,383
$CAP_FILE_SIZE,68970,0
$CFSIZE,260165632,229212160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,260211,192624,2249.651,-15801.596,32,1.1,43,10.1