version: 66.04
glider: 512
mission: 1
dive: 987
start: 3 17 111 8 28 0
data:
$ID,512
$MISSION,1
$DIVE,987
$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,-27212.129
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,081607,2253.360,-15808.186,41,1.4,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.2
$GPS2,082708,2253.373,-15808.226,18,1.9,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.133,0.219
$KALMAN_X,-376559.6,-477.9,-31.0,381884.1,234.6
$KALMAN_Y,-651556.6,567.8,316.4,786050.8,-2633.0
$MHEAD_RNG_PITCHd_Wd,21.2,4658,-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,-52.80,0.000,2,0.000,0.000,49,2667,2931
$GC,79,-0.85,-146.0,3.4,-4.8,7,111,11.73,2.03,-12.12,0.000,4,0.252,0.070,2589,3865,3559
$GC,138,-0.85,-146.0,22.5,-34.8,15,146,0.00,1.83,0.00,0.000,6,0.000,0.024,2596,2649,3560
$GC,410,-0.85,-146.0,95.3,-24.7,42,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2643,3562
$GC,677,-0.85,-146.0,151.9,-19.5,67,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2643,3563
$GC,941,-0.85,-146.0,199.1,-17.3,92,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2643,3563
$GC,1194,-0.85,-146.0,242.1,-16.8,99,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2643,3563
$GC,1438,-0.85,-146.0,277.5,-14.0,105,1442,0.00,2.08,0.00,0.000,4,0.000,0.025,2606,1224,3564
$GC,1467,-0.85,-146.0,281.4,-12.6,105,1472,0.00,2.28,0.00,0.000,6,0.000,0.054,2597,2619,3564
$GC,1725,-0.85,-146.0,311.4,-11.7,112,1729,0.00,2.12,0.00,0.000,4,0.000,0.061,2586,3903,3563
$GC,1822,-0.85,-146.0,322.5,-10.1,114,1826,0.00,1.88,0.00,0.000,6,0.000,0.023,2594,2617,3563
$GC,2110,-0.85,-146.0,352.8,-10.7,121,2113,0.00,2.15,0.00,0.000,4,0.000,0.064,2586,3890,3562
$GC,2140,-0.85,-146.0,356.5,-11.9,121,2144,0.00,1.83,0.00,0.000,6,0.000,0.023,2593,2636,3562
$GC,2405,-0.85,-146.0,385.5,-11.1,128,2409,0.00,2.12,0.00,0.000,4,0.000,0.062,2585,3904,3561
$GC,2463,-0.85,-146.0,392.1,-9.8,129,2467,0.00,1.85,0.00,0.000,6,0.000,0.023,2593,2639,3560
$GC,2747,-0.85,-146.0,421.7,-10.8,136,2750,0.00,2.12,0.00,0.000,4,0.000,0.061,2585,3904,3559
$GC,2784,-0.85,-146.0,426.6,-12.0,136,2787,0.00,1.88,0.00,0.000,6,0.000,0.024,2592,2630,3558
$GC,3043,-0.85,-146.0,453.7,-10.4,143,3047,0.00,2.15,0.00,0.000,4,0.000,0.062,2584,3904,3556
$GC,3097,-0.85,-146.0,459.3,-9.6,144,3100,0.00,1.88,0.00,0.000,6,0.000,0.025,2592,2634,3555
$GC,3385,-0.85,-146.0,486.6,-9.7,151,3389,0.00,2.12,0.00,0.000,4,0.000,0.061,2584,3894,3553
$GC,3444,-0.85,-146.0,492.8,-9.3,152,3447,0.00,1.88,0.00,0.000,6,0.000,0.025,2591,2627,3552
$GC,3724,-0.85,-146.0,520.2,-9.9,159,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2620,3551
$GC,3969,-0.85,-146.0,543.7,-9.5,165,3972,0.00,2.17,0.00,0.000,4,0.000,0.067,2583,3893,3549
$GC,4018,-0.85,-146.0,548.3,-9.3,166,4022,0.00,1.88,0.00,0.000,6,0.000,0.025,2591,2632,3548
$GC,4312,-0.85,-146.0,575.8,-9.4,173,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2624,3546
$GC,4554,-0.85,-146.0,597.6,-8.8,179,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2624,3545
$STATE,4589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4589,begin apogee
$GC,4600,-0.32,0.0,601.1,8.8,180,4725,0.62,0.00,121.88,1.071,6,0.148,0.000,2771,2482,2960
$STATE,4726,end apogee,CONTROL_FINISHED_OK
$STATE,4726,begin climb
$GC,4731,0.85,146.0,605.8,0.0,183,4869,1.10,2.38,128.88,1.048,4,0.078,0.055,3149,3868,2363
$GC,5006,0.85,146.0,569.5,25.1,189,5010,0.00,2.17,0.00,0.000,6,0.000,0.027,3158,2441,2356
$GC,5281,0.85,146.0,506.1,22.4,196,5285,0.00,2.10,0.00,0.000,4,0.000,0.030,3169,1041,2351
$GC,5368,0.85,146.0,487.6,22.3,197,5374,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2460,2350
$GC,5620,0.85,146.0,432.2,21.8,204,5624,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1047,2349
$GC,5633,0.85,146.0,429.0,22.0,204,5637,0.00,2.28,0.00,0.000,6,0.000,0.047,3164,2466,2348
$GC,5908,0.85,146.0,372.8,20.4,211,5912,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1037,2347
$GC,5989,0.85,146.0,357.5,18.2,212,5993,0.00,2.28,0.00,0.000,6,0.000,0.044,3164,2461,2346
$GC,6247,0.85,146.0,308.6,18.9,219,6251,0.00,2.30,0.00,0.000,4,0.000,0.052,3162,3875,2345
$GC,6356,0.85,146.0,286.7,21.9,221,6360,0.00,2.15,0.00,0.000,6,0.000,0.027,3171,2455,2344
$GC,6631,0.85,146.0,241.4,15.9,228,6635,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1045,2343
$GC,6892,0.85,146.0,212.1,12.3,233,6896,0.00,2.28,0.00,0.000,6,0.000,0.046,3176,2460,2343
$GC,7157,0.85,146.0,179.7,12.5,249,7160,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1051,2342
$GC,7395,0.85,146.0,147.7,14.6,270,7399,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2474,2342
$GC,7660,0.85,146.0,113.4,12.3,294,7663,0.00,2.15,0.00,0.000,4,0.000,0.027,3185,1034,2342
$GC,7919,0.91,189.5,90.7,7.7,317,7959,0.00,2.25,34.38,0.676,6,0.000,0.039,3176,2465,2187
$GC,8226,0.91,189.5,46.4,14.6,345,8229,0.00,2.12,0.00,0.000,4,0.000,0.026,3185,1037,2182
$GC,8265,0.91,189.5,39.4,17.4,348,8273,0.00,2.25,0.00,0.000,6,0.000,0.040,3176,2450,2181
$STATE,8502,end climb,SURFACE_DEPTH_REACHED
$STATE,8502,begin surface coast
$FINISH,0.3,1.023739
$STATE,8525,end surface coast,CONTROL_FINISHED_OK
$STATE,8525,begin surface
$SM_CCo,8553,84.50,0.595,0,0,1532,350.04
$SM_GC,1.49,0.00,0.00,84.50,0.000,0.000,0.595,42,2666,1532,-8.87,0.74,350.04
$IRIDIUM_FIX,2241.69,-15806.70,100600,050539
$TT8_MAMPS,0.023777
$HUMID,1909
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,128.504
$10V_AH,10.6,77.370
$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,22.500,76.500,285.125,84.500,0.000,23.899,35.789,427.844,0.250,0.000,0.000,18.489,820.780,5672.824,417.741,1508.123,879.924,33.373,1034.951,0.000,1492.782,0.000,0.545,0.000
$DEVICE_MAMPS,251.576,69.797,1071.499,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,263.812,618.295,636.354,138.050,565.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31975,390
$CAP_FILE_SIZE,73084,0
$CFSIZE,260165632,222167040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,1
$GPS,170311,105316,2254.336,-15807.488,9,5.8,29,10.1