version: 66.04
glider: 512
mission: 1
dive: 940
start: 3 12 111 7 53 58
data:
$ID,512
$MISSION,1
$DIVE,940
$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,-26215.756
$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,52
$R_STBD_OVSHOOT,44
$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
$GPS1,074100,2249.669,-15806.115,31,1.9,35,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.8
$GPS2,075306,2249.731,-15806.072,18,1.7,34,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.082,0.243
$KALMAN_X,-362679.6,-1482.4,-515.3,373215.5,3820.0
$KALMAN_Y,-654854.2,-687.4,53.0,784136.4,-1499.5
$MHEAD_RNG_PITCHd_Wd,331.3,7048,-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,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.75,0.000,2,0.000,0.000,47,2678,2960
$GC,78,-0.85,-146.0,3.5,-5.3,7,111,11.30,1.98,-12.43,0.000,4,0.245,0.071,2544,3860,3607
$GC,257,-0.85,-146.0,58.9,-24.1,28,261,0.00,1.83,0.00,0.000,6,0.000,0.026,2551,2651,3608
$GC,528,-0.85,-146.0,137.6,-26.6,53,532,0.00,2.10,0.00,0.000,4,0.000,0.027,2561,1222,3608
$GC,599,-0.85,-146.0,153.8,-17.5,59,603,0.00,2.30,0.00,0.000,6,0.000,0.064,2552,2609,3609
$GC,880,-0.85,-146.0,220.8,-24.5,79,884,0.00,2.12,0.00,0.000,4,0.000,0.067,2542,3900,3610
$GC,973,-0.85,-146.0,242.4,-19.9,81,977,0.00,1.88,0.00,0.000,6,0.000,0.023,2549,2640,3610
$GC,1264,-0.85,-146.0,302.0,-20.5,88,1268,0.00,2.05,0.00,0.000,4,0.000,0.025,2559,1228,3610
$GC,1294,-0.85,-146.0,307.7,-18.0,88,1298,0.00,2.35,0.00,0.000,6,0.000,0.061,2550,2649,3610
$GC,1557,-0.85,-146.0,352.8,-17.5,95,1561,0.00,2.08,0.00,0.000,4,0.000,0.071,2540,3899,3610
$GC,1606,-0.85,-146.0,360.6,-16.2,96,1610,0.00,1.85,0.00,0.000,6,0.000,0.024,2546,2630,3610
$GC,1897,-0.85,-146.0,408.6,-16.6,103,1901,0.00,2.03,0.00,0.000,4,0.000,0.025,2556,1240,3610
$GC,1955,-0.85,-146.0,417.1,-12.5,104,1960,0.00,2.33,0.00,0.000,6,0.000,0.061,2546,2642,3610
$GC,2237,-0.85,-146.0,460.3,-15.9,111,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2642,3607
$GC,2479,-0.85,-146.0,497.8,-15.1,117,2483,0.00,2.10,0.00,0.000,4,0.000,0.070,2537,3895,3605
$GC,2517,-0.85,-146.0,503.3,-15.4,117,2520,0.00,1.88,0.00,0.000,6,0.000,0.025,2543,2632,3605
$GC,2776,-0.85,-146.0,539.3,-13.8,124,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2625,3603
$GC,3018,-0.85,-146.0,573.2,-14.0,130,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2625,3601
$STATE,3216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3217,begin apogee
$GC,3228,-0.32,0.0,600.8,13.4,135,3354,0.68,0.00,122.75,1.055,6,0.166,0.000,2731,2481,3010
$STATE,3354,end apogee,CONTROL_FINISHED_OK
$STATE,3354,begin climb
$GC,3360,0.85,146.0,606.2,0.0,138,3493,1.15,0.00,129.18,1.035,6,0.088,0.000,3107,2481,2414
$GC,3705,0.85,146.0,562.8,21.7,147,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2481,2406
$GC,3951,0.85,146.0,511.5,21.1,153,3954,0.00,2.17,0.00,0.000,4,0.000,0.028,3118,1040,2403
$GC,4014,0.85,146.0,498.3,19.6,154,4018,0.00,2.30,0.00,0.000,6,0.000,0.048,3119,2467,2402
$GC,4284,0.85,146.0,447.8,18.3,161,4288,0.00,2.28,0.00,0.000,4,0.000,0.052,3110,3875,2399
$GC,4313,0.85,146.0,441.7,19.9,161,4317,0.00,2.15,0.00,0.000,6,0.000,0.027,3119,2454,2399
$GC,4576,0.85,146.0,393.8,17.7,168,4580,0.00,2.10,0.00,0.000,4,0.000,0.029,3130,1036,2398
$GC,4663,0.85,146.0,379.5,16.2,169,4669,0.00,2.28,0.00,0.000,6,0.000,0.044,3124,2470,2397
$GC,4916,0.85,146.0,334.1,18.8,176,4919,0.00,2.15,0.00,0.000,4,0.000,0.028,3132,1036,2395
$GC,4936,0.85,146.0,330.9,17.2,176,4940,0.00,2.28,0.00,0.000,6,0.000,0.045,3133,2461,2395
$GC,5204,0.85,146.0,290.4,15.8,183,5208,0.00,2.12,0.00,0.000,4,0.000,0.028,3143,1042,2394
$GC,5240,0.85,146.0,286.2,11.3,183,5244,0.00,2.25,0.00,0.000,6,0.000,0.044,3137,2463,2394
$GC,5497,0.85,146.0,257.3,10.8,190,5501,0.00,2.30,0.00,0.000,4,0.000,0.054,3137,3882,2393
$GC,5520,0.85,146.0,254.7,10.2,190,5525,0.15,2.15,0.00,0.000,6,0.265,0.027,3120,2458,2392
$GC,5777,0.85,146.0,228.8,9.9,197,5781,0.00,2.12,0.00,0.000,4,0.000,0.028,3129,1028,2392
$GC,5864,0.85,146.0,220.4,10.1,198,5870,0.00,2.30,0.00,0.000,6,0.000,0.044,3123,2471,2392
$GC,6117,0.88,164.7,197.4,8.8,205,6140,0.00,2.35,13.55,0.736,4,0.000,0.055,3124,3874,2336
$GC,6275,0.88,164.7,178.8,13.8,218,6282,0.00,2.17,0.00,0.000,6,0.000,0.026,3133,2443,2336
$GC,6542,0.88,164.7,145.2,11.3,243,6545,0.00,2.05,0.00,0.000,4,0.000,0.027,3143,1053,2334
$GC,6799,0.88,164.7,115.2,11.6,266,6803,0.00,2.22,0.00,0.000,6,0.000,0.043,3137,2463,2335
$GC,7064,0.91,187.2,90.1,8.6,290,7090,0.00,2.17,20.73,0.654,4,0.000,0.027,3146,1037,2245
$GC,7162,0.91,187.2,79.9,13.1,298,7166,0.00,2.25,0.00,0.000,6,0.000,0.044,3146,2463,2244
$GC,7427,0.91,187.2,45.1,10.6,322,7431,0.00,2.10,0.00,0.000,4,0.000,0.025,3155,1056,2242
$GC,7574,0.91,187.2,28.4,10.6,336,7582,0.00,2.25,0.00,0.000,6,0.000,0.042,3150,2463,2243
$STATE,7766,end climb,SURFACE_DEPTH_REACHED
$STATE,7767,begin surface coast
$FINISH,0.5,1.023734
$STATE,7789,end surface coast,CONTROL_FINISHED_OK
$STATE,7789,begin surface
$SM_CCo,7815,85.80,0.601,0,0,1582,350.04
$SM_GC,1.68,0.00,0.00,85.80,0.000,0.000,0.601,49,2655,1582,-8.72,0.40,350.04
$IRIDIUM_FIX,2241.69,-15807.58,050600,050518
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.8,122.639
$10V_AH,10.6,73.213
$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,22.075,77.850,286.200,85.800,0.000,29.394,36.935,474.718,0.250,0.000,0.000,34.072,773.136,5132.679,442.282,1376.091,907.140,33.357,977.517,0.000,1357.655,0.000,0.544,0.000
$DEVICE_MAMPS,265.382,71.331,1054.625,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,253.369,611.629,632.120,144.770,587.377,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32028,375
$CAP_FILE_SIZE,70087,0
$CFSIZE,260165632,224088064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,2
$GPS,120311,100707,2250.821,-15806.470,38,0.9,39,10.1