version: 66.04
glider: 512
mission: 1
dive: 990
start: 3 17 111 16 30 38
data:
$ID,512
$MISSION,1
$DIVE,990
$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,-27314.561
$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,52
$R_STBD_OVSHOOT,55
$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
$GPS1,161745,2254.430,-15805.989,43,3.2,63,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.8
$GPS2,162946,2254.527,-15806.086,15,2.4,34,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.210,0.147
$KALMAN_X,-381494.2,242.8,-121.9,389872.8,-2244.9
$KALMAN_Y,-653211.6,375.0,306.6,790048.9,-1874.0
$MHEAD_RNG_PITCHd_Wd,44.9,18160,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.85,-146.0,0.0,0.0,0,74,0.00,0.00,-52.78,0.000,2,0.000,0.000,43,2686,2912
$GC,79,-0.85,-146.0,3.1,-4.8,7,112,11.57,1.95,-13.18,0.000,4,0.248,0.062,2583,3860,3555
$GC,139,-0.85,-146.0,20.0,-30.6,15,147,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2649,3557
$GC,409,-0.85,-146.0,87.6,-24.5,43,413,0.00,2.03,0.00,0.000,4,0.000,0.059,2582,3858,3557
$GC,446,-0.85,-146.0,97.5,-24.2,46,450,0.00,1.83,0.00,0.000,6,0.000,0.022,2589,2609,3557
$GC,716,-0.85,-146.0,155.8,-21.8,71,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2602,3558
$GC,1000,-0.85,-146.0,208.4,-17.3,95,1004,0.00,2.08,0.00,0.000,4,0.000,0.058,2581,3852,3559
$GC,1063,-0.85,-146.0,218.7,-13.9,96,1067,0.00,1.77,0.00,0.000,6,0.000,0.021,2588,2632,3559
$GC,1338,-0.85,-146.0,262.3,-16.7,103,1341,0.00,2.03,0.00,0.000,4,0.000,0.025,2598,1238,3560
$GC,1379,-0.85,-146.0,268.3,-12.6,103,1385,0.00,2.22,0.00,0.000,6,0.000,0.052,2589,2607,3560
$GC,1631,-0.85,-146.0,303.3,-14.5,110,1635,0.00,2.12,0.00,0.000,4,0.000,0.061,2579,3900,3560
$GC,1672,-0.85,-146.0,309.4,-13.1,110,1680,0.00,1.88,0.00,0.000,6,0.000,0.022,2587,2636,3560
$GC,1925,-0.85,-146.0,342.0,-13.2,117,1928,0.00,2.10,0.00,0.000,4,0.000,0.060,2579,3897,3560
$GC,1954,-0.85,-146.0,346.1,-12.8,117,1958,0.00,1.85,0.00,0.000,6,0.000,0.023,2586,2626,3559
$GC,2219,-0.85,-146.0,377.2,-12.0,124,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2618,3558
$GC,2462,-0.85,-146.0,405.9,-11.8,130,2465,0.00,2.15,0.00,0.000,4,0.000,0.064,2578,3896,3557
$GC,2531,-0.85,-146.0,414.0,-10.9,131,2534,0.00,1.85,0.00,0.000,6,0.000,0.024,2586,2632,3556
$GC,2800,-0.85,-146.0,443.4,-11.1,138,2804,0.00,2.12,0.00,0.000,4,0.000,0.061,2578,3896,3554
$GC,2848,-0.85,-146.0,448.6,-10.1,139,2852,0.00,1.85,0.00,0.000,6,0.000,0.024,2585,2632,3554
$GC,3141,-0.85,-146.0,480.3,-10.9,146,3145,0.00,2.15,0.00,0.000,4,0.000,0.064,2577,3901,3551
$GC,3177,-0.85,-146.0,484.5,-10.6,146,3181,0.00,1.85,0.00,0.000,6,0.000,0.024,2585,2640,3550
$GC,3437,-0.85,-146.0,509.5,-9.6,153,3441,0.00,2.12,0.00,0.000,4,0.000,0.062,2577,3895,3549
$GC,3479,-0.85,-146.0,514.1,-9.8,153,3485,0.00,1.85,0.00,0.000,6,0.000,0.025,2585,2638,3548
$GC,3731,-0.85,-146.0,538.9,-10.1,160,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2632,3546
$GC,3976,-0.85,-146.0,565.3,-10.8,166,3979,0.00,2.15,0.00,0.000,4,0.000,0.065,2577,3899,3544
$GC,4029,-0.85,-146.0,571.3,-10.8,167,4032,0.00,1.88,0.00,0.000,6,0.000,0.025,2584,2636,3544
$STATE,4311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4311,begin apogee
$GC,4323,-0.32,0.0,601.8,10.8,174,4447,0.65,0.00,121.22,1.068,6,0.151,0.000,2770,2476,2960
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4453,0.85,146.0,608.2,0.0,177,4597,1.10,2.28,130.52,1.035,4,0.071,0.028,3164,1023,2363
$GC,4823,0.85,146.0,555.9,22.6,185,4827,0.00,2.33,0.00,0.000,6,0.000,0.050,3163,2456,2354
$GC,5092,0.85,146.0,491.0,24.0,192,5096,0.00,2.15,0.00,0.000,4,0.000,0.029,3172,1021,2351
$GC,5191,0.85,146.0,469.2,21.5,194,5195,0.00,2.33,0.00,0.000,6,0.000,0.046,3168,2470,2350
$GC,5472,0.85,146.0,405.5,23.1,201,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2470,2348
$GC,5714,0.85,146.0,353.2,20.9,207,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2470,2347
$GC,5960,0.85,146.0,310.5,16.8,213,5964,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3871,2345
$GC,5973,0.85,146.0,307.8,16.4,213,5977,0.00,2.15,0.00,0.000,6,0.000,0.026,3171,2447,2344
$GC,6254,0.85,146.0,265.9,14.7,220,6257,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1038,2343
$GC,6515,0.85,146.0,231.1,13.4,225,6519,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2462,2342
$GC,6768,0.85,146.0,199.5,12.0,231,6772,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1035,2342
$GC,6851,0.85,146.0,189.8,12.0,238,6855,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2459,2342
$GC,7117,0.85,146.0,156.9,12.2,262,7121,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1033,2341
$GC,7268,0.85,146.0,140.6,9.7,275,7275,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2456,2341
$GC,7532,0.93,203.7,117.6,7.1,300,7582,0.00,0.00,46.17,0.704,6,0.000,0.000,3176,2456,2128
$GC,7846,0.93,203.7,67.3,18.1,328,7850,0.00,2.28,0.00,0.000,4,0.000,0.053,3176,3859,2122
$GC,7912,0.93,203.7,54.5,18.2,333,7916,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2455,2122
$STATE,8170,end climb,SURFACE_DEPTH_REACHED
$STATE,8171,begin surface coast
$FINISH,0.4,1.023927
$STATE,8183,end surface coast,CONTROL_FINISHED_OK
$STATE,8183,begin surface
$SM_CCo,8210,70.72,0.601,0,0,1532,350.04
$SM_GC,1.39,0.00,0.00,70.72,0.000,0.000,0.601,45,2643,1532,-8.86,0.08,350.04
$IRIDIUM_FIX,2248.70,-15808.88,100600,131332
$TT8_MAMPS,0.023777
$HUMID,1920
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,128.916
$10V_AH,10.6,77.647
$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,22.425,75.175,297.925,70.725,0.000,24.655,45.483,458.175,0.500,0.000,0.000,35.591,775.538,5488.082,413.099,1417.703,908.801,33.373,997.567,0.000,1390.690,0.000,0.543,0.000
$DEVICE_MAMPS,247.741,65.195,1068.431,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,250.594,589.136,605.992,130.014,531.802,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28951,371
$CAP_FILE_SIZE,70503,0
$CFSIZE,260165632,222044160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,170311,185006,2254.943,-15805.277,37,1.5,38,10.1