version: 66.04
glider: 512
mission: 1
dive: 862
start: 3 4 111 4 0 22
data:
$ID,512
$MISSION,1
$DIVE,862
$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,-24550.096
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,035004,2246.740,-15757.927,11,2.8,31,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.9
$GPS2,035925,2246.740,-15757.945,11,1.6,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.235,0.102
$KALMAN_X,-332650.7,532.4,419.8,354179.6,-1177.5
$KALMAN_Y,-601033.2,-365.6,167.1,724345.9,-1044.0
$MHEAD_RNG_PITCHd_Wd,283.3,8644,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.83,0.000,2,0.000,0.000,41,2663,2987
$GC,78,-0.85,-146.0,3.4,-5.4,7,110,11.75,2.17,-12.38,0.000,4,0.250,0.043,2607,1247,3636
$GC,190,-0.85,-146.0,33.7,-16.5,23,195,0.00,2.25,0.00,0.000,6,0.000,0.060,2598,2629,3638
$GC,456,-0.85,-146.0,95.1,-22.9,47,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2630,3639
$GC,721,-0.85,-146.0,146.6,-17.2,72,724,0.00,2.08,0.00,0.000,4,0.000,0.026,2605,1233,3640
$GC,793,-0.85,-146.0,157.1,-10.3,78,802,0.00,2.33,0.00,0.000,6,0.000,0.058,2596,2635,3640
$GC,1059,-0.85,-146.0,195.6,-15.6,103,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2635,3640
$GC,1332,-0.85,-146.0,238.4,-15.1,112,1336,0.00,2.05,0.00,0.000,4,0.000,0.026,2604,1239,3641
$GC,1384,-0.85,-146.0,245.2,-10.7,113,1388,0.00,2.28,0.00,0.000,6,0.000,0.056,2594,2640,3641
$GC,1663,-0.85,-146.0,278.8,-12.2,120,1667,0.00,2.05,0.00,0.000,4,0.000,0.065,2584,3902,3641
$GC,1727,-0.85,-146.0,286.0,-10.1,121,1731,0.00,1.85,0.00,0.000,6,0.000,0.024,2592,2627,3641
$GC,2001,-0.85,-146.0,317.5,-12.3,128,2005,0.00,2.03,0.00,0.000,4,0.000,0.027,2602,1232,3641
$GC,2064,-0.85,-146.0,325.2,-10.5,129,2068,0.00,2.30,0.00,0.000,6,0.000,0.054,2592,2661,3641
$GC,2336,-0.85,-146.0,359.1,-12.9,136,2340,0.00,2.03,0.00,0.000,4,0.000,0.067,2582,3901,3639
$GC,2428,-0.85,-146.0,370.6,-10.9,138,2432,0.00,1.88,0.00,0.000,6,0.000,0.025,2590,2634,3639
$GC,2719,-0.85,-146.0,403.5,-11.0,145,2723,0.00,2.05,0.00,0.000,4,0.000,0.027,2600,1228,3638
$GC,2755,-0.85,-146.0,407.0,-9.5,145,2759,0.00,2.22,0.00,0.000,6,0.000,0.051,2591,2636,3638
$GC,3013,-0.85,-146.0,434.2,-11.1,152,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2636,3635
$GC,3256,-0.85,-146.0,462.6,-11.6,158,3260,0.00,2.08,0.00,0.000,4,0.000,0.028,2600,1231,3635
$GC,3285,-0.85,-146.0,466.0,-11.6,158,3289,0.00,2.28,0.00,0.000,6,0.000,0.053,2590,2639,3635
$GC,3542,-0.85,-146.0,492.7,-10.5,165,3545,0.00,2.08,0.00,0.000,4,0.000,0.066,2580,3902,3632
$GC,3591,-0.85,-146.0,497.5,-9.5,166,3595,0.00,1.90,0.00,0.000,6,0.000,0.027,2588,2636,3631
$GC,3882,-0.85,-146.0,525.0,-9.1,173,3885,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1226,3630
$GC,3929,-0.85,-146.0,528.9,-6.7,174,3934,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2645,3630
$GC,4217,-0.85,-146.0,552.3,-8.4,181,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2645,3626
$GC,4459,-0.85,-146.0,573.5,-8.8,187,4463,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,1239,3625
$GC,4507,-0.85,-146.0,577.5,-7.5,188,4511,0.00,2.30,0.00,0.000,6,0.000,0.056,2589,2649,3625
$STATE,4787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4787,begin apogee
$GC,4798,-0.32,0.0,603.5,9.2,195,4924,0.62,0.00,122.78,1.064,6,0.145,0.000,2772,2516,3040
$STATE,4925,end apogee,CONTROL_FINISHED_OK
$STATE,4925,begin climb
$GC,4930,0.85,146.0,609.8,0.0,198,5068,1.08,2.33,130.40,1.062,4,0.074,0.058,3149,3902,2443
$GC,5270,0.85,146.0,570.5,22.4,205,5275,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2458,2435
$GC,5523,0.85,146.0,514.6,22.4,211,5527,0.00,2.08,0.00,0.000,4,0.000,0.030,3169,1062,2432
$GC,5638,0.85,146.0,490.8,18.3,213,5642,0.00,2.25,0.00,0.000,6,0.000,0.048,3163,2480,2430
$GC,5901,0.85,146.0,437.5,20.0,220,5905,0.00,2.28,0.00,0.000,4,0.000,0.056,3163,3902,2429
$GC,5992,0.85,146.0,420.8,18.6,222,5995,0.00,2.15,0.00,0.000,6,0.000,0.029,3172,2470,2427
$GC,6277,0.85,146.0,373.6,16.5,229,6281,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1046,2426
$GC,6340,0.85,146.0,363.8,15.2,230,6344,0.00,2.25,0.00,0.000,6,0.000,0.046,3176,2481,2426
$GC,6614,0.85,146.0,326.0,13.5,237,6617,0.00,2.28,0.00,0.000,4,0.000,0.055,3176,3895,2425
$GC,6806,0.85,146.0,296.7,15.3,241,6810,0.00,2.12,0.00,0.000,6,0.000,0.026,3185,2463,2424
$GC,7092,0.85,146.0,263.5,11.1,248,7096,0.00,2.30,0.00,0.000,4,0.000,0.050,3176,3902,2423
$GC,7352,0.90,182.5,238.4,8.0,253,7387,0.00,2.12,29.45,0.816,6,0.000,0.028,3185,2469,2295
$GC,7639,0.90,182.5,194.2,16.7,263,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2469,2291
$GC,7902,0.90,182.5,149.2,15.8,288,7906,0.00,2.08,0.00,0.000,4,0.000,0.029,3195,1068,2291
$GC,8152,0.90,182.5,114.8,13.4,310,8156,0.00,2.22,0.00,0.000,6,0.000,0.046,3192,2479,2290
$GC,8416,0.90,182.5,84.5,10.1,334,8420,0.00,2.28,0.00,0.000,4,0.000,0.054,3191,3903,2290
$GC,8558,0.93,208.6,70.5,8.5,346,8588,0.00,2.10,23.38,0.650,6,0.000,0.024,3201,2466,2188
$GC,8853,0.93,208.6,27.2,14.6,373,8861,0.00,2.05,0.00,0.000,4,0.000,0.025,3211,1081,2185
$GC,8882,0.93,208.6,22.6,15.1,377,8890,0.00,2.20,0.00,0.000,6,0.000,0.038,3205,2484,2185
$STATE,8991,end climb,SURFACE_DEPTH_REACHED
$STATE,8991,begin surface coast
$FINISH,0.2,1.023711
$STATE,9012,end surface coast,CONTROL_FINISHED_OK
$STATE,9012,begin surface
$SM_CCo,9038,75.12,0.590,0,0,1613,350.04
$SM_GC,1.08,0.00,0.00,75.12,0.000,0.000,0.590,49,2684,1613,-8.85,1.24,350.04
$IRIDIUM_FIX,2241.69,-15759.32,280500,010123
$TT8_MAMPS,0.023777
$HUMID,1867
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.5,113.507
$10V_AH,10.6,66.474
$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,22.725,86.450,306.000,75.125,0.000,28.457,36.298,342.447,0.500,0.000,0.000,11.294,858.488,6013.865,428.443,1608.730,771.791,33.373,1101.497,0.000,1599.536,0.000,0.543,0.000
$DEVICE_MAMPS,250.042,67.496,1063.829,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,270.549,620.633,640.149,139.134,570.019,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31947,400
$CAP_FILE_SIZE,79047,0
$CFSIZE,260165632,227237888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,040311,063336,2246.425,-15759.368,33,1.0,34,10.1