version: 66.04
glider: 512
mission: 1
dive: 981
start: 3 16 111 16 49 6
data:
$ID,512
$MISSION,1
$DIVE,981
$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,-27069.545
$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,37
$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,2960
$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
$GPS1,163930,2247.206,-15804.828,32,1.0,47,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.5
$GPS2,164813,2247.241,-15804.860,13,1.9,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.177,0.185
$KALMAN_X,-376192.3,-29.8,-194.0,387027.8,2109.1
$KALMAN_Y,-644841.6,-166.5,116.5,768922.2,-1245.7
$MHEAD_RNG_PITCHd_Wd,306.2,11643,-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,-52.67,0.000,2,0.000,0.000,42,2660,2906
$GC,83,-0.85,-146.0,3.3,-5.3,7,115,11.60,2.05,-12.90,0.000,4,0.249,0.072,2583,3874,3555
$GC,332,-0.85,-146.0,65.3,-17.5,35,340,0.00,1.88,0.00,0.000,6,0.000,0.024,2591,2624,3558
$GC,596,-0.85,-146.0,127.9,-20.6,60,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2618,3559
$GC,862,-0.85,-146.0,176.8,-17.7,85,866,0.00,2.05,0.00,0.000,4,0.000,0.026,2601,1222,3560
$GC,911,-0.85,-146.0,184.5,-13.7,89,915,0.00,2.33,0.00,0.000,6,0.000,0.059,2592,2623,3560
$GC,1188,-0.85,-146.0,228.3,-16.5,103,1191,0.00,2.12,0.00,0.000,4,0.000,0.067,2581,3900,3561
$GC,1251,-0.85,-146.0,238.1,-14.2,104,1255,0.00,1.88,0.00,0.000,6,0.000,0.022,2589,2636,3561
$GC,1527,-0.85,-146.0,276.0,-13.3,111,1531,0.00,2.15,0.00,0.000,4,0.000,0.066,2581,3906,3561
$GC,1608,-0.85,-146.0,286.0,-10.2,112,1612,0.00,1.88,0.00,0.000,6,0.000,0.023,2589,2642,3561
$GC,1866,-0.85,-146.0,316.4,-11.9,119,1870,0.00,2.05,0.00,0.000,4,0.000,0.025,2599,1232,3561
$GC,1919,-0.85,-146.0,322.2,-8.9,120,1923,0.00,2.35,0.00,0.000,6,0.000,0.058,2589,2647,3560
$GC,2204,-0.85,-146.0,353.2,-11.4,127,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2647,3560
$GC,2450,-0.85,-146.0,382.5,-12.1,133,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3559
$GC,2692,-0.85,-146.0,411.4,-11.9,139,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3557
$GC,2935,-0.85,-146.0,438.4,-10.8,145,2939,0.00,2.10,0.00,0.000,4,0.000,0.069,2580,3893,3555
$GC,2971,-0.85,-146.0,442.5,-10.7,145,2975,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2641,3555
$GC,3229,-0.85,-146.0,469.9,-11.0,152,3232,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1240,3553
$GC,3259,-0.85,-146.0,473.4,-11.2,152,3263,0.00,2.33,0.00,0.000,6,0.000,0.056,2589,2644,3553
$GC,3516,-0.85,-146.0,500.7,-11.0,159,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3550
$GC,3760,-0.85,-146.0,527.2,-10.8,165,3764,0.00,2.10,0.00,0.000,4,0.000,0.068,2580,3894,3549
$GC,3829,-0.85,-146.0,535.1,-11.5,166,3833,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2624,3548
$GC,4099,-0.85,-146.0,564.7,-10.8,173,4103,0.00,2.17,0.00,0.000,4,0.000,0.070,2579,3891,3547
$GC,4151,-0.85,-146.0,570.3,-9.5,174,4155,0.00,1.85,0.00,0.000,6,0.000,0.026,2586,2644,3546
$GC,4439,-0.85,-146.0,597.0,-9.3,181,4443,0.00,2.10,0.00,0.000,4,0.000,0.029,2597,1237,3544
$STATE,4470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4470,begin apogee
$GC,4484,-0.32,0.0,600.3,8.0,181,4609,0.60,0.00,121.85,1.069,6,0.149,0.000,2765,2466,2960
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4615,0.85,146.0,604.4,0.0,184,4752,1.12,2.42,128.85,1.047,4,0.071,0.058,3150,3869,2363
$GC,4816,0.85,146.0,586.9,26.3,188,4820,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2477,2358
$GC,5079,0.85,146.0,518.3,26.7,195,5083,0.00,2.15,0.00,0.000,4,0.000,0.028,3170,1030,2353
$GC,5243,0.85,146.0,480.4,24.0,198,5247,0.00,2.30,0.00,0.000,6,0.000,0.048,3163,2457,2352
$GC,5507,0.85,146.0,419.7,23.1,205,5510,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1038,2349
$GC,5665,0.85,146.0,387.0,19.6,208,5669,0.00,2.30,0.00,0.000,6,0.000,0.047,3162,2473,2348
$GC,5933,0.85,146.0,335.9,19.0,215,5937,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1042,2347
$GC,6105,0.85,146.0,305.1,18.3,218,6109,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2467,2346
$GC,6358,0.85,146.0,262.6,16.0,224,6362,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1028,2345
$GC,6394,0.85,146.0,257.2,14.3,224,6398,0.00,2.33,0.00,0.000,6,0.000,0.048,3163,2469,2345
$GC,6653,0.85,146.0,223.8,12.4,231,6657,0.00,2.33,0.00,0.000,4,0.000,0.058,3162,3873,2344
$GC,6812,0.85,146.0,201.8,14.5,234,6816,0.00,2.15,0.00,0.000,6,0.000,0.027,3171,2447,2342
$GC,7078,0.85,146.0,167.5,13.5,258,7082,0.00,2.35,0.00,0.000,4,0.000,0.051,3162,3881,2342
$GC,7112,0.85,146.0,162.4,14.5,260,7120,0.00,2.17,0.00,0.000,6,0.000,0.026,3172,2460,2342
$GC,7378,0.85,146.0,130.5,10.7,285,7382,0.00,2.12,0.00,0.000,4,0.000,0.028,3183,1028,2342
$GC,7406,0.85,146.0,127.6,10.6,287,7410,0.00,2.30,0.00,0.000,6,0.000,0.046,3175,2457,2342
$GC,7676,0.94,214.8,101.3,6.6,312,7739,0.00,2.17,55.30,0.700,4,0.000,0.028,3184,1044,2084
$GC,7777,0.94,214.8,90.9,15.8,320,7781,0.00,2.30,0.00,0.000,6,0.000,0.048,3176,2461,2081
$GC,8043,0.94,214.8,44.6,16.7,344,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2462,2078
$STATE,8265,end climb,SURFACE_DEPTH_REACHED
$STATE,8265,begin surface coast
$FINISH,0.4,1.023735
$STATE,8282,end surface coast,CONTROL_FINISHED_OK
$STATE,8282,begin surface
$SM_CCo,8310,66.68,0.607,0,0,1532,350.04
$SM_GC,1.54,0.00,0.00,66.68,0.000,0.000,0.607,50,2678,1532,-8.85,1.07,350.04
$IRIDIUM_FIX,2239.35,-15800.20,090600,141455
$TT8_MAMPS,0.023777
$HUMID,1938
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.6,127.771
$10V_AH,10.6,76.826
$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,22.375,81.800,306.000,66.675,0.000,29.136,45.213,285.440,0.000,0.000,0.000,13.251,796.469,5499.410,409.739,1461.382,736.169,33.378,1024.149,0.000,1452.153,0.000,0.542,0.000
$DEVICE_MAMPS,249.275,72.098,1069.198,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.957,609.380,627.248,134.739,556.035,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31935,380
$CAP_FILE_SIZE,71626,0
$CFSIZE,260165632,222412800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,160311,191004,2248.011,-15805.625,11,3.1,31,10.1