version: 66.04
glider: 512
mission: 1
dive: 937
start: 3 12 111 0 35 25
data:
$ID,512
$MISSION,1
$DIVE,937
$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,-26131.68
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2840
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3010
$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
$GPS1,001736,2247.585,-15804.243,38,1.0,39,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.4
$GPS2,003432,2247.632,-15804.331,10,1.5,10,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.122,0.225
$KALMAN_X,-366517.6,-237.3,176.2,378093.7,1369.7
$KALMAN_Y,-652504.2,211.0,88.4,776965.7,-1987.5
$MHEAD_RNG_PITCHd_Wd,321.5,11049,-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,19,-0.85,-146.0,0.0,0.0,0,74,0.00,0.00,-52.80,0.000,2,0.000,0.000,42,2667,2968
$GC,79,-0.85,-146.0,3.6,-5.4,7,112,11.18,2.05,-12.30,0.000,4,0.240,0.080,2545,3875,3605
$GC,290,-0.85,-146.0,62.9,-25.4,31,294,0.00,1.85,0.00,0.000,6,0.000,0.027,2552,2633,3607
$GC,560,-0.85,-146.0,141.6,-28.6,56,564,0.00,2.10,0.00,0.000,4,0.000,0.029,2563,1209,3607
$GC,608,-0.85,-146.0,152.7,-19.1,60,612,0.00,2.38,0.00,0.000,6,0.000,0.067,2553,2623,3608
$GC,900,-0.85,-146.0,217.6,-21.6,81,904,0.00,2.15,0.00,0.000,4,0.000,0.073,2543,3907,3608
$GC,975,-0.85,-146.0,234.2,-18.9,82,979,0.00,1.88,0.00,0.000,6,0.000,0.023,2550,2627,3608
$GC,1238,-0.85,-146.0,284.4,-19.6,89,1242,0.00,2.05,0.00,0.000,4,0.000,0.027,2561,1224,3609
$GC,1268,-0.85,-146.0,290.3,-18.6,89,1272,0.00,2.35,0.00,0.000,6,0.000,0.064,2552,2645,3609
$GC,1533,-0.85,-146.0,336.9,-18.1,96,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2645,3609
$GC,1774,-0.85,-146.0,376.2,-15.9,102,1778,0.00,2.10,0.00,0.000,4,0.000,0.026,2555,1236,3608
$GC,1804,-0.85,-146.0,380.5,-13.9,102,1808,0.00,2.33,0.00,0.000,6,0.000,0.058,2545,2656,3608
$GC,2061,-0.85,-146.0,416.7,-14.4,109,2065,0.00,2.05,0.00,0.000,4,0.000,0.068,2536,3898,3606
$GC,2155,-0.85,-146.0,429.3,-12.7,111,2159,0.00,1.85,0.00,0.000,6,0.000,0.024,2543,2629,3605
$GC,2448,-0.85,-146.0,469.6,-14.1,118,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2622,3602
$GC,2690,-0.85,-146.0,506.9,-15.5,124,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2623,3601
$GC,2935,-0.85,-146.0,544.6,-15.5,130,2938,0.00,2.17,0.00,0.000,4,0.000,0.073,2534,3892,3599
$GC,3004,-0.85,-146.0,555.7,-14.5,131,3008,0.00,1.85,0.00,0.000,6,0.000,0.025,2542,2637,3598
$GC,3273,-0.85,-146.0,596.7,-15.0,138,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2630,3595
$STATE,3308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3309,begin apogee
$GC,3320,-0.32,0.0,602.8,15.0,139,3445,0.68,0.00,121.95,1.055,6,0.160,0.000,2733,2476,3010
$STATE,3445,end apogee,CONTROL_FINISHED_OK
$STATE,3446,begin climb
$GC,3451,0.85,146.0,610.0,0.0,142,3588,1.15,2.25,129.40,1.034,4,0.085,0.028,3125,1026,2413
$GC,3687,0.85,146.0,593.2,21.0,147,3692,0.00,2.30,0.00,0.000,6,0.000,0.049,3123,2454,2408
$GC,3974,0.85,146.0,530.3,22.0,154,3978,0.00,2.35,0.00,0.000,4,0.000,0.061,3124,3883,2403
$GC,4048,0.85,146.0,513.0,23.7,155,4052,0.00,2.17,0.00,0.000,6,0.000,0.026,3133,2434,2401
$GC,4305,0.85,146.0,457.9,21.1,162,4309,0.00,2.08,0.00,0.000,4,0.000,0.029,3144,1039,2400
$GC,4448,0.85,146.0,430.1,19.0,165,4452,0.00,2.28,0.00,0.000,6,0.000,0.047,3137,2464,2399
$GC,4729,0.85,146.0,377.7,18.2,172,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2464,2397
$GC,4971,0.85,146.0,336.3,16.8,178,4975,0.00,2.12,0.00,0.000,4,0.000,0.029,3146,1033,2396
$GC,5231,0.85,146.0,301.0,14.5,183,5236,0.00,2.28,0.00,0.000,6,0.000,0.043,3137,2472,2395
$GC,5483,0.85,146.0,268.8,12.8,189,5487,0.00,2.12,0.00,0.000,4,0.000,0.028,3146,1043,2393
$GC,5626,0.85,146.0,251.1,13.4,192,5630,0.00,2.25,0.00,0.000,6,0.000,0.044,3137,2458,2393
$GC,5906,0.86,149.1,221.7,9.5,199,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2458,2392
$GC,6149,0.86,149.1,197.2,9.9,205,6153,0.00,2.33,0.00,0.000,4,0.000,0.058,3137,3875,2391
$GC,6331,0.86,149.1,179.7,11.2,220,6335,0.00,2.12,0.00,0.000,6,0.000,0.027,3146,2445,2391
$GC,6600,0.88,167.0,149.7,8.8,245,6626,0.00,2.12,15.18,0.703,4,0.000,0.027,3157,1051,2328
$GC,6664,0.88,167.0,143.4,11.4,250,6668,0.00,2.22,0.00,0.000,6,0.000,0.042,3151,2465,2327
$GC,6928,0.88,167.0,111.0,11.6,274,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2465,2327
$GC,7194,0.89,174.5,86.9,9.3,299,7208,0.00,2.17,8.12,0.588,4,0.000,0.027,3159,1047,2298
$GC,7280,0.90,180.6,79.0,9.3,306,7294,0.12,2.22,7.05,0.560,6,0.224,0.041,3136,2470,2272
$GC,7557,0.90,180.6,50.0,10.1,331,7560,0.00,2.10,0.00,0.000,4,0.000,0.026,3146,1040,2271
$GC,7774,0.90,180.6,28.4,10.1,351,7782,0.00,2.25,0.00,0.000,6,0.000,0.041,3137,2457,2271
$STATE,8019,end climb,SURFACE_DEPTH_REACHED
$STATE,8019,begin surface coast
$FINISH,0.5,1.023710
$STATE,8047,end surface coast,CONTROL_FINISHED_OK
$STATE,8047,begin surface
$SM_CCo,8074,93.55,0.599,0,0,1582,350.04
$SM_GC,1.75,0.00,0.00,93.55,0.000,0.000,0.599,44,2677,1582,-8.74,1.05,350.04
$IRIDIUM_FIX,2237.01,-15807.58,040600,222254
$TT8_MAMPS,0.023777
$HUMID,1861
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.8,122.247
$10V_AH,10.7,72.954
$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,22.175,69.425,281.700,93.550,0.000,125.679,132.998,411.532,0.000,0.000,0.000,10.717,828.230,5337.580,435.483,1542.600,1043.658,33.352,1022.675,0.000,1542.946,0.000,0.544,0.000
$DEVICE_MAMPS,240.071,79.768,1055.392,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,271.403,674.561,694.020,163.280,674.269,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32173,401
$CAP_FILE_SIZE,72646,0
$CFSIZE,260165632,224210944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,120311,025238,2248.309,-15804.661,16,1.8,17,10.1