version: 66.04
glider: 512
mission: 1
dive: 943
start: 3 12 111 15 6 48
data:
$ID,512
$MISSION,1
$DIVE,943
$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,-26260.264
$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,46
$R_STBD_OVSHOOT,25
$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
$GPS1,144831,2252.688,-15806.641,36,1.6,37,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.7
$GPS2,150556,2252.663,-15806.613,16,1.2,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.245,0.074
$KALMAN_X,-364349.6,63.5,-102.9,371988.3,848.7
$KALMAN_Y,-660570.5,1129.7,217.9,793293.2,-3986.8
$MHEAD_RNG_PITCHd_Wd,63.0,19023,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.70,0.000,2,0.000,0.000,48,2651,2964
$GC,78,-0.85,-146.0,3.2,-4.0,7,111,11.45,2.20,-12.43,0.000,4,0.249,0.041,2563,1222,3607
$GC,127,-0.85,-146.0,19.6,-35.5,13,135,0.00,2.33,0.00,0.000,6,0.000,0.058,2555,2619,3608
$GC,394,-0.85,-146.0,105.2,-30.9,40,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2619,3609
$GC,659,-0.85,-146.0,178.6,-26.0,65,663,0.00,2.05,0.00,0.000,4,0.000,0.026,2562,1223,3609
$GC,721,-0.85,-146.0,192.1,-17.9,70,729,0.00,2.40,0.00,0.000,6,0.000,0.067,2554,2632,3609
$GC,975,-0.85,-146.0,245.5,-21.2,80,979,0.00,2.10,0.00,0.000,4,0.000,0.067,2544,3905,3610
$GC,1017,-0.85,-146.0,254.4,-20.8,80,1024,0.00,1.90,0.00,0.000,6,0.000,0.024,2551,2634,3610
$GC,1269,-0.85,-146.0,299.9,-18.2,87,1272,0.00,2.05,0.00,0.000,4,0.000,0.025,2562,1226,3611
$GC,1327,-0.85,-146.0,309.0,-12.8,88,1331,0.00,2.33,0.00,0.000,6,0.000,0.058,2553,2640,3610
$GC,1601,-0.85,-146.0,355.2,-17.5,95,1605,0.00,2.12,0.00,0.000,4,0.000,0.073,2542,3906,3610
$GC,1660,-0.85,-146.0,365.0,-15.8,96,1663,0.00,1.88,0.00,0.000,6,0.000,0.024,2550,2622,3610
$GC,1940,-0.85,-146.0,411.6,-16.5,103,1943,0.00,2.05,0.00,0.000,4,0.000,0.029,2560,1236,3609
$GC,1992,-0.85,-146.0,418.7,-10.6,104,1996,0.00,2.35,0.00,0.000,6,0.000,0.061,2551,2652,3608
$GC,2273,-0.85,-146.0,455.6,-13.4,111,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2653,3606
$GC,2515,-0.85,-146.0,488.3,-13.5,117,2519,0.00,2.10,0.00,0.000,4,0.000,0.075,2541,3895,3604
$GC,2589,-0.85,-146.0,498.2,-12.1,118,2593,0.00,1.85,0.00,0.000,6,0.000,0.025,2548,2638,3603
$GC,2852,-0.85,-146.0,534.9,-14.4,125,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2630,3601
$GC,3098,-0.85,-146.0,569.3,-14.1,131,3101,0.00,2.20,0.00,0.000,4,0.000,0.079,2540,3890,3599
$GC,3167,-0.85,-146.0,579.1,-13.5,132,3170,0.00,1.85,0.00,0.000,6,0.000,0.025,2543,2639,3598
$STATE,3350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3350,begin apogee
$GC,3361,-0.32,0.0,603.9,13.5,137,3486,0.68,0.00,122.32,1.060,6,0.167,0.000,2730,2475,3010
$STATE,3487,end apogee,CONTROL_FINISHED_OK
$STATE,3487,begin climb
$GC,3492,0.85,146.0,610.0,0.0,140,3635,1.12,2.42,130.50,1.026,4,0.085,0.073,3107,3865,2413
$GC,3753,0.85,146.0,587.0,24.0,146,3757,0.00,2.15,0.00,0.000,6,0.000,0.028,3116,2448,2407
$GC,4045,0.85,146.0,525.1,20.4,153,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2442,2403
$GC,4288,0.85,146.0,476.1,20.2,159,4291,0.00,2.08,0.00,0.000,4,0.000,0.028,3128,1039,2401
$GC,4340,0.85,146.0,466.3,18.3,160,4344,0.00,2.28,0.00,0.000,6,0.000,0.048,3123,2459,2400
$GC,4619,0.85,146.0,414.7,18.6,167,4623,0.00,2.12,0.00,0.000,4,0.000,0.029,3132,1043,2398
$GC,4728,0.85,146.0,397.0,14.7,169,4732,0.00,2.28,0.00,0.000,6,0.000,0.046,3124,2464,2397
$GC,5004,0.85,146.0,354.6,15.6,176,5008,0.00,2.30,0.00,0.000,4,0.000,0.057,3123,3876,2395
$GC,5264,0.85,146.0,311.0,16.0,181,5271,0.00,2.12,0.00,0.000,6,0.000,0.027,3133,2450,2394
$GC,5518,0.85,146.0,276.7,13.0,188,5522,0.00,2.33,0.00,0.000,4,0.000,0.051,3123,3881,2393
$GC,5779,0.85,146.0,244.2,13.1,193,5785,0.00,2.12,0.00,0.000,6,0.000,0.027,3133,2459,2393
$GC,6031,0.87,160.3,220.7,9.0,200,6045,0.00,2.35,9.57,0.728,4,0.000,0.054,3124,3882,2356
$GC,6302,0.87,160.3,189.6,11.0,212,6306,0.00,2.12,0.00,0.000,6,0.000,0.027,3133,2457,2355
$GC,6572,0.87,160.3,161.2,11.7,237,6576,0.00,2.08,0.00,0.000,4,0.000,0.028,3144,1058,2354
$GC,6832,0.87,160.3,136.2,10.4,260,6836,0.00,2.22,0.00,0.000,6,0.000,0.042,3137,2474,2354
$GC,7096,0.90,183.8,110.8,8.6,284,7125,0.00,0.00,22.05,0.676,6,0.000,0.000,3137,2474,2259
$GC,7383,0.90,183.8,77.8,12.6,311,7386,0.00,2.12,0.00,0.000,4,0.000,0.026,3146,1056,2256
$GC,7518,0.90,183.8,59.9,13.2,323,7522,0.00,2.20,0.00,0.000,6,0.000,0.041,3137,2460,2256
$GC,7784,0.90,183.8,26.9,11.5,349,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2461,2256
$STATE,7966,end climb,SURFACE_DEPTH_REACHED
$STATE,7966,begin surface coast
$FINISH,0.7,1.023773
$STATE,7993,end surface coast,CONTROL_FINISHED_OK
$STATE,7993,begin surface
$SM_CCo,8020,87.35,0.593,0,0,1581,350.04
$SM_GC,1.74,0.00,0.00,87.35,0.000,0.000,0.593,50,2674,1581,-8.72,0.96,350.04
$IRIDIUM_FIX,2244.02,-15804.53,050600,151529
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.7,123.026
$10V_AH,10.6,73.476
$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,22.250,69.550,284.450,87.350,0.000,91.390,119.556,534.746,0.000,0.000,0.000,16.897,805.908,5251.944,426.474,1559.699,1112.427,33.359,1048.236,0.000,1547.437,0.000,0.544,0.000
$DEVICE_MAMPS,248.508,79.001,1059.994,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.341,638.614,657.116,144.796,601.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31928,387
$CAP_FILE_SIZE,74568,0
$CFSIZE,260165632,223961088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,120311,172316,2252.750,-15805.951,11,3.6,31,10.1