version: 66.04
glider: 512
mission: 1
dive: 946
start: 3 12 111 22 30 17
data:
$ID,512
$MISSION,1
$DIVE,946
$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,-26343.475
$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,54
$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
$GPS1,221324,2252.883,-15804.268,28,1.1,45,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.7
$GPS2,222925,2252.984,-15804.342,15,1.0,26,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.111,0.231
$KALMAN_X,-369254.4,-641.1,-79.6,381471.9,-1734.1
$KALMAN_Y,-661558.1,582.6,518.5,795109.9,-2902.5
$MHEAD_RNG_PITCHd_Wd,15.6,15115,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,77,0.00,0.00,-52.65,0.000,2,0.000,0.000,46,2686,2958
$GC,83,-0.85,-146.0,3.6,-5.5,7,115,11.12,1.92,-12.43,0.000,4,0.240,0.067,2540,3855,3604
$GC,158,-0.85,-146.0,29.6,-36.9,18,166,0.00,1.83,0.00,0.000,6,0.000,0.025,2547,2642,3605
$GC,424,-0.85,-146.0,117.6,-32.1,43,427,0.00,2.10,0.00,0.000,4,0.000,0.028,2558,1217,3606
$GC,473,-0.85,-146.0,132.7,-27.2,47,477,0.00,2.30,0.00,0.000,6,0.000,0.064,2549,2599,3607
$GC,738,-0.85,-146.0,198.6,-24.7,71,742,0.00,2.15,0.00,0.000,4,0.000,0.065,2539,3902,3607
$GC,762,-0.85,-146.0,205.4,-25.1,72,766,0.00,1.90,0.00,0.000,6,0.000,0.023,2546,2621,3607
$GC,1031,-0.85,-146.0,263.9,-21.2,79,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2614,3607
$GC,1275,-0.85,-146.0,311.7,-18.7,85,1279,0.00,2.17,0.00,0.000,4,0.000,0.068,2538,3907,3608
$GC,1333,-0.85,-146.0,324.0,-19.0,86,1337,0.00,1.88,0.00,0.000,6,0.000,0.024,2541,2647,3608
$GC,1615,-0.85,-146.0,374.9,-18.7,93,1619,0.00,2.08,0.00,0.000,4,0.000,0.025,2551,1225,3607
$GC,1645,-0.85,-146.0,380.2,-15.7,93,1649,0.00,2.35,0.00,0.000,6,0.000,0.061,2542,2643,3607
$GC,1908,-0.85,-146.0,422.1,-16.5,100,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2644,3606
$GC,2153,-0.85,-146.0,460.7,-15.4,106,2157,0.00,2.10,0.00,0.000,4,0.000,0.070,2532,3899,3604
$GC,2222,-0.85,-146.0,471.4,-13.7,107,2226,0.00,1.88,0.00,0.000,6,0.000,0.025,2539,2641,3603
$GC,2491,-0.85,-146.0,510.1,-14.6,114,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2634,3601
$GC,2734,-0.85,-146.0,546.1,-14.7,120,2738,0.00,2.12,0.00,0.000,4,0.000,0.068,2531,3894,3599
$GC,2770,-0.85,-146.0,551.5,-15.1,120,2774,0.00,1.85,0.00,0.000,6,0.000,0.025,2538,2635,3598
$GC,3028,-0.85,-146.0,588.8,-14.8,127,3031,0.00,2.08,0.00,0.000,4,0.000,0.028,2549,1231,3595
$GC,3052,-0.85,-146.0,592.5,-14.8,127,3056,0.00,2.35,0.00,0.000,6,0.000,0.059,2539,2646,3595
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3119,-0.32,0.0,600.2,13.1,129,3244,0.73,0.00,121.93,1.053,6,0.176,0.000,2733,2493,3010
$STATE,3244,end apogee,CONTROL_FINISHED_OK
$STATE,3244,begin climb
$GC,3249,0.85,146.0,606.6,0.0,132,3383,1.12,0.00,128.93,1.028,6,0.093,0.000,3104,2493,2414
$GC,3618,0.85,146.0,561.1,21.2,141,3622,0.00,2.22,0.00,0.000,4,0.000,0.031,3115,1033,2405
$GC,3756,0.85,146.0,533.6,19.5,144,3761,0.00,2.33,0.00,0.000,6,0.000,0.051,3110,2457,2404
$GC,4045,0.85,146.0,478.2,18.8,151,4049,0.00,2.15,0.00,0.000,4,0.000,0.029,3120,1029,2400
$GC,4108,0.85,146.0,466.3,17.3,152,4113,0.00,2.35,0.00,0.000,6,0.000,0.054,3120,2469,2399
$GC,4378,0.85,146.0,420.3,17.0,159,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2469,2398
$GC,4621,0.85,146.0,377.1,17.8,165,4624,0.00,2.15,0.00,0.000,4,0.000,0.028,3130,1026,2396
$GC,4684,0.85,146.0,365.9,17.1,166,4688,0.00,2.30,0.00,0.000,6,0.000,0.046,3124,2459,2396
$GC,4952,0.85,146.0,327.2,14.3,173,4956,0.00,2.15,0.00,0.000,4,0.000,0.030,3132,1024,2394
$GC,5092,0.85,146.0,311.0,11.1,176,5096,0.00,2.33,0.00,0.000,6,0.000,0.048,3123,2469,2394
$GC,5377,0.85,146.0,273.5,14.4,183,5381,0.00,2.30,0.00,0.000,4,0.000,0.058,3123,3883,2393
$GC,5475,0.85,146.0,261.2,12.3,185,5479,0.00,2.17,0.00,0.000,6,0.000,0.026,3133,2431,2392
$GC,5755,0.85,146.0,232.5,10.1,192,5759,0.00,2.40,0.00,0.000,4,0.000,0.052,3124,3886,2391
$GC,6016,0.85,146.0,200.1,12.2,197,6022,0.00,2.12,0.00,0.000,6,0.000,0.025,3133,2455,2390
$GC,6281,0.85,146.0,171.6,9.7,222,6285,0.00,2.08,0.00,0.000,4,0.000,0.027,3144,1054,2390
$GC,6542,0.86,149.4,148.6,9.5,245,6546,0.00,2.22,0.00,0.000,6,0.000,0.041,3137,2474,2390
$GC,6812,0.86,149.4,123.5,10.9,270,6816,0.00,2.28,0.00,0.000,4,0.000,0.054,3137,3876,2390
$GC,7073,0.98,249.1,107.2,5.2,293,7162,0.00,2.10,83.82,0.693,6,0.000,0.025,3146,2448,1994
$GC,7422,0.98,249.1,39.9,22.8,324,7426,0.00,2.05,0.00,0.000,4,0.000,0.027,3157,1061,1987
$GC,7450,0.98,249.1,34.0,22.4,326,7454,0.00,2.20,0.00,0.000,6,0.000,0.041,3151,2464,1986
$STATE,7588,end climb,SURFACE_DEPTH_REACHED
$STATE,7589,begin surface coast
$FINISH,0.4,1.001189
$STATE,7605,end surface coast,CONTROL_FINISHED_OK
$STATE,7605,begin surface
$SM_CCo,7631,48.88,0.594,0,0,1583,350.04
$SM_GC,1.82,0.00,0.00,48.88,0.000,0.000,0.594,46,2676,1583,-8.73,1.02,350.04
$IRIDIUM_FIX,2246.36,-15803.66,050600,222245
$TT8_MAMPS,0.023777
$HUMID,1940
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.7,123.434
$10V_AH,10.6,73.738
$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,21.800,73.450,334.675,48.875,0.000,59.661,90.893,568.636,0.000,0.000,0.000,26.551,741.577,5031.753,413.482,1374.803,1083.311,33.366,985.029,0.000,1353.698,0.000,0.544,0.000
$DEVICE_MAMPS,240.071,69.797,1053.091,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,237.672,564.401,580.796,119.589,489.550,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28724,352
$CAP_FILE_SIZE,70288,0
$CFSIZE,260165632,223842304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,130311,003937,2253.733,-15803.829,31,1.2,32,10.1