version: 66.04
glider: 512
mission: 1
dive: 975
start: 3 16 111 1 28 38
data:
$ID,512
$MISSION,1
$DIVE,975
$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,-26952.629
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2980
$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
$GPS1,011616,2244.394,-15759.535,13,2.1,33,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.1
$GPS2,012746,2244.417,-15759.663,16,3.2,35,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.252,0.047
$KALMAN_X,-381048.1,-252.3,-264.9,401115.2,1649.2
$KALMAN_Y,-639915.0,-1325.7,-192.2,760250.5,3394.8
$MHEAD_RNG_PITCHd_Wd,270.4,7440,-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,-52.80,0.000,2,0.000,0.000,46,2670,2938
$GC,79,-0.85,-146.0,3.7,-5.7,7,111,11.65,2.03,-12.07,0.000,4,0.250,0.068,2585,3873,3576
$GC,356,-0.85,-146.0,69.8,-18.4,38,365,0.00,1.85,0.00,0.000,6,0.000,0.024,2592,2642,3577
$GC,622,-0.85,-146.0,131.2,-25.3,63,626,0.00,2.08,0.00,0.000,4,0.000,0.026,2602,1225,3579
$GC,650,-0.85,-146.0,137.3,-21.4,65,654,0.00,2.30,0.00,0.000,6,0.000,0.057,2593,2624,3579
$GC,920,-0.85,-146.0,188.7,-19.1,90,923,0.00,2.10,0.00,0.000,4,0.000,0.065,2582,3896,3580
$GC,969,-0.85,-146.0,198.2,-18.9,94,973,0.00,1.85,0.00,0.000,6,0.000,0.023,2590,2629,3580
$GC,1228,-0.85,-146.0,241.2,-16.1,101,1232,0.00,2.05,0.00,0.000,4,0.000,0.025,2600,1223,3581
$GC,1252,-0.85,-146.0,245.1,-15.0,101,1257,0.00,2.30,0.00,0.000,6,0.000,0.051,2591,2648,3581
$GC,1525,-0.85,-146.0,283.2,-14.4,108,1528,0.00,2.10,0.00,0.000,4,0.000,0.025,2599,1219,3581
$GC,1554,-0.85,-146.0,287.6,-12.7,108,1558,0.00,2.30,0.00,0.000,6,0.000,0.052,2590,2643,3581
$GC,1818,-0.85,-146.0,319.9,-12.8,115,1822,0.00,2.05,0.00,0.000,4,0.000,0.062,2579,3902,3580
$GC,1916,-0.85,-146.0,331.6,-10.7,117,1920,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2637,3580
$GC,2203,-0.85,-146.0,367.1,-12.5,124,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2632,3579
$GC,2446,-0.85,-146.0,396.8,-12.2,130,2450,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1233,3577
$GC,2470,-0.85,-146.0,399.8,-11.8,130,2474,0.00,2.30,0.00,0.000,6,0.000,0.051,2589,2637,3577
$GC,2733,-0.85,-146.0,427.7,-10.6,137,2737,0.00,2.08,0.00,0.000,4,0.000,0.062,2580,3900,3574
$GC,2792,-0.85,-146.0,433.8,-9.3,138,2795,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2640,3574
$GC,3072,-0.85,-146.0,463.6,-10.8,145,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3572
$GC,3317,-0.85,-146.0,488.5,-10.3,151,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3570
$GC,3559,-0.85,-146.0,513.4,-10.0,157,3563,0.00,2.15,0.00,0.000,4,0.000,0.065,2579,3898,3568
$GC,3584,-0.85,-146.0,516.0,-10.2,157,3588,0.00,1.88,0.00,0.000,6,0.000,0.026,2586,2636,3568
$GC,3854,-0.85,-146.0,541.8,-9.4,164,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2629,3566
$GC,4097,-0.85,-146.0,564.4,-9.2,170,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2629,3563
$GC,4342,-0.85,-146.0,586.7,-9.1,176,4346,0.00,2.15,0.00,0.000,4,0.000,0.065,2578,3898,3562
$GC,4412,-0.85,-146.0,593.0,-8.6,177,4416,0.00,1.88,0.00,0.000,6,0.000,0.027,2586,2641,3561
$STATE,4514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4514,begin apogee
$GC,4525,-0.32,0.0,602.3,8.7,180,4650,0.65,0.00,121.55,1.069,6,0.147,0.000,2773,2479,2980
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4656,0.85,146.0,606.7,0.0,183,4794,1.08,2.28,129.32,1.045,4,0.071,0.029,3160,1039,2384
$GC,4965,0.85,146.0,566.5,22.6,190,4969,0.00,2.30,0.00,0.000,6,0.000,0.047,3161,2473,2376
$GC,5251,0.85,146.0,500.6,22.7,197,5254,0.00,2.17,0.00,0.000,4,0.000,0.028,3171,1027,2371
$GC,5343,0.85,146.0,480.7,20.6,199,5348,0.00,2.30,0.00,0.000,6,0.000,0.044,3162,2466,2371
$GC,5636,0.85,146.0,419.7,20.8,206,5640,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1033,2369
$GC,5762,0.85,146.0,395.4,17.5,208,5766,0.00,2.28,0.00,0.000,6,0.000,0.042,3162,2470,2369
$GC,6014,0.85,146.0,347.7,19.3,214,6018,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1031,2367
$GC,6049,0.85,146.0,341.3,17.7,214,6053,0.00,2.28,0.00,0.000,6,0.000,0.042,3163,2466,2367
$GC,6302,0.85,146.0,299.7,15.7,220,6306,0.00,2.30,0.00,0.000,4,0.000,0.054,3161,3875,2366
$GC,6394,0.85,146.0,285.1,16.2,222,6398,0.00,2.17,0.00,0.000,6,0.000,0.027,3171,2436,2364
$GC,6685,0.85,146.0,243.5,14.3,229,6689,0.00,2.08,0.00,0.000,4,0.000,0.030,3182,1047,2363
$GC,6946,0.88,166.6,216.4,8.7,234,6967,0.00,2.28,15.48,0.784,6,0.000,0.047,3176,2461,2300
$GC,7227,0.88,166.6,180.2,14.7,249,7231,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1047,2296
$GC,7321,0.88,166.6,167.4,14.5,257,7325,0.00,2.28,0.00,0.000,6,0.000,0.046,3176,2464,2296
$GC,7587,0.88,168.5,134.0,9.5,281,7591,0.00,2.28,0.00,0.000,4,0.000,0.051,3176,3877,2295
$GC,7848,0.88,168.5,104.2,11.2,303,7855,0.00,2.17,0.00,0.000,6,0.000,0.026,3185,2448,2295
$GC,8113,0.95,220.7,82.4,7.3,328,8163,0.00,0.00,46.60,0.665,6,0.000,0.000,3185,2447,2079
$GC,8420,0.95,220.7,30.1,18.5,357,8423,0.00,2.08,0.00,0.000,4,0.000,0.027,3195,1047,2075
$GC,8478,0.95,220.7,19.9,18.4,366,8486,0.00,2.33,0.00,0.000,6,0.000,0.048,3191,2463,2074
$STATE,8560,end climb,SURFACE_DEPTH_REACHED
$STATE,8561,begin surface coast
$FINISH,0.4,1.023673
$STATE,8573,end surface coast,CONTROL_FINISHED_OK
$STATE,8573,begin surface
$SM_CCo,8601,64.35,0.597,0,0,1553,350.04
$SM_GC,1.07,0.00,0.00,64.35,0.000,0.000,0.597,53,2667,1553,-8.84,0.76,350.04
$IRIDIUM_FIX,2234.68,-15758.03,080600,222236
$TT8_MAMPS,0.023777
$HUMID,1904
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.30
$XPDR_PINGS,221
$24V_AH,23.6,127.010
$10V_AH,10.6,76.307
$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,22.350,81.650,312.950,64.350,0.000,28.923,33.955,440.974,55.250,0.000,0.000,36.718,817.205,5722.639,409.227,1527.596,879.665,33.373,1041.834,0.000,1495.073,0.000,0.544,0.000
$DEVICE_MAMPS,250.042,68.263,1069.198,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.936,602.659,622.404,135.238,556.218,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32002,383
$CAP_FILE_SIZE,75820,0
$CFSIZE,260165632,222654464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,160311,035436,2244.517,-15800.924,38,1.0,44,10.1