version: 66.04
glider: 512
mission: 1
dive: 988
start: 3 17 111 11 18 47
data:
$ID,512
$MISSION,1
$DIVE,988
$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,-27256.803
$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,43
$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,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
$GPS1,105316,2254.336,-15807.488,9,5.8,29,10.1
$_CALLS,3
$_XMS_NAKs,29
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.3
$GPS2,111755,2254.283,-15807.822,44,1.5,44,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.236,0.101
$KALMAN_X,-377841.0,-140.2,-149.7,383643.8,-455.4
$KALMAN_Y,-652255.4,575.5,95.7,788651.4,-2153.3
$MHEAD_RNG_PITCHd_Wd,56.8,4220,-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,-52.67,0.000,2,0.000,0.000,35,2669,2903
$GC,79,-0.85,-146.0,3.3,-4.6,7,111,11.70,1.98,-13.38,0.000,4,0.249,0.067,2583,3871,3556
$GC,133,-0.85,-146.0,18.3,-30.1,14,141,0.00,1.88,0.00,0.000,6,0.000,0.025,2590,2630,3557
$GC,400,-0.85,-146.0,91.5,-25.9,42,404,0.00,2.08,0.00,0.000,4,0.000,0.058,2582,3873,3558
$GC,417,-0.85,-146.0,95.3,-25.8,43,421,0.00,1.85,0.00,0.000,6,0.000,0.022,2590,2619,3558
$GC,687,-0.85,-146.0,152.2,-19.0,68,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2612,3559
$GC,952,-0.85,-146.0,199.6,-18.0,93,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2612,3559
$GC,1205,-0.85,-146.0,239.4,-15.0,100,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2612,3560
$GC,1449,-0.85,-146.0,275.0,-14.3,106,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2612,3559
$GC,1692,-0.85,-146.0,307.4,-12.7,112,1695,0.00,2.10,0.00,0.000,4,0.000,0.061,2582,3870,3559
$GC,1727,-0.85,-146.0,312.1,-13.1,112,1731,0.00,1.80,0.00,0.000,6,0.000,0.022,2589,2632,3559
$GC,1985,-0.85,-146.0,343.3,-12.5,119,1988,0.00,2.10,0.00,0.000,4,0.000,0.064,2581,3871,3558
$GC,2015,-0.85,-146.0,347.3,-12.9,119,2019,0.00,1.83,0.00,0.000,6,0.000,0.023,2589,2640,3557
$GC,2280,-0.85,-146.0,377.8,-11.6,126,2284,0.00,2.08,0.00,0.000,4,0.000,0.062,2581,3872,3556
$GC,2328,-0.85,-146.0,383.2,-10.0,127,2331,0.00,1.80,0.00,0.000,6,0.000,0.022,2588,2636,3556
$GC,2620,-0.85,-146.0,412.1,-9.7,134,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2629,3553
$GC,2863,-0.85,-146.0,435.2,-9.6,140,2867,0.00,2.10,0.00,0.000,4,0.000,0.062,2581,3875,3551
$GC,2899,-0.85,-146.0,439.2,-10.8,140,2903,0.00,1.83,0.00,0.000,6,0.000,0.024,2588,2634,3550
$GC,3157,-0.85,-146.0,467.0,-11.2,147,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2626,3549
$GC,3402,-0.85,-146.0,493.8,-10.9,153,3406,0.00,2.10,0.00,0.000,4,0.000,0.061,2581,3881,3547
$GC,3466,-0.85,-146.0,501.0,-10.3,154,3470,0.00,1.83,0.00,0.000,6,0.000,0.025,2588,2641,3546
$GC,3744,-0.85,-146.0,528.2,-9.8,161,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2635,3544
$GC,3985,-0.85,-146.0,551.0,-9.3,167,3989,0.00,2.08,0.00,0.000,4,0.000,0.063,2580,3872,3542
$GC,4044,-0.85,-146.0,556.7,-9.2,168,4047,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,2639,3541
$GC,4324,-0.85,-146.0,583.1,-9.3,175,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2633,3540
$STATE,4522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4522,begin apogee
$GC,4534,-0.32,0.0,601.5,9.0,180,4657,0.65,0.00,120.47,1.065,6,0.153,0.000,2771,2494,2960
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4664,0.85,146.0,606.1,0.0,183,4797,1.12,0.00,128.80,1.045,6,0.082,0.000,3152,2494,2364
$GC,5074,0.85,146.0,541.1,23.9,193,5078,0.00,2.22,0.00,0.000,4,0.000,0.031,3161,1034,2353
$GC,5138,0.85,146.0,526.9,21.2,194,5142,0.00,2.30,0.00,0.000,6,0.000,0.049,3162,2440,2352
$GC,5408,0.85,146.0,467.5,22.4,201,5412,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1032,2350
$GC,5433,0.85,146.0,462.1,19.6,201,5437,0.00,2.28,0.00,0.000,6,0.000,0.042,3162,2469,2350
$GC,5696,0.85,146.0,405.4,21.4,208,5700,0.00,2.17,0.00,0.000,4,0.000,0.028,3171,1022,2348
$GC,5894,0.85,146.0,366.6,18.5,212,5898,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2456,2347
$GC,6168,0.85,146.0,314.0,18.5,219,6172,0.00,2.35,0.00,0.000,4,0.000,0.058,3162,3877,2346
$GC,6309,0.85,146.0,285.8,17.4,222,6314,0.00,2.17,0.00,0.000,6,0.000,0.028,3172,2443,2344
$GC,6590,0.85,146.0,240.7,15.8,229,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2437,2343
$GC,6833,0.85,146.0,206.8,13.8,235,6837,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1038,2343
$GC,6950,0.85,146.0,192.2,12.3,239,6954,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2470,2343
$GC,7215,0.85,146.0,157.7,12.7,263,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2470,2342
$GC,7480,0.85,146.0,126.2,10.7,288,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2471,2341
$GC,7747,0.91,191.4,101.3,7.6,313,7787,0.00,2.20,35.88,0.691,4,0.000,0.027,3185,1034,2179
$GC,7848,0.91,191.4,89.7,14.7,321,7853,0.00,2.25,0.00,0.000,6,0.000,0.040,3176,2461,2176
$GC,8115,0.91,191.4,47.7,14.0,345,8119,0.00,2.25,0.00,0.000,4,0.000,0.051,3176,3869,2173
$GC,8369,0.91,191.4,6.2,19.0,381,8378,0.00,2.12,0.00,0.000,6,0.000,0.023,3185,2449,2173
$STATE,8384,end climb,SURFACE_DEPTH_REACHED
$STATE,8384,begin surface coast
$FINISH,0.4,1.024110
$STATE,8401,end surface coast,CONTROL_FINISHED_OK
$STATE,8401,begin surface
$SM_CCo,8429,81.47,0.594,0,0,1532,350.04
$SM_GC,1.50,0.00,0.00,81.47,0.000,0.000,0.594,48,2678,1532,-8.85,1.07,350.04
$IRIDIUM_FIX,2244.02,-15808.88,100600,111151
$TT8_MAMPS,0.024544
$HUMID,1939
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,128.666
$10V_AH,10.6,77.466
$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,22.475,62.825,285.150,81.475,0.000,83.759,114.247,944.645,0.250,0.000,0.000,44.047,774.489,5873.951,410.657,1392.358,1540.070,33.374,970.198,0.000,1361.309,0.000,0.544,0.000
$DEVICE_MAMPS,248.508,67.496,1064.596,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.104,611.449,630.073,137.243,559.585,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31899,386
$CAP_FILE_SIZE,75836,0
$CFSIZE,260165632,222121984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,170311,134207,2254.467,-15806.715,39,1.4,40,10.1