version: 66.04
glider: 512
mission: 1
dive: 993
start: 3 18 111 1 5 1
data:
$ID,512
$MISSION,1
$DIVE,993
$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,623.29712
$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,-27370.133
$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,51
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2940
$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
$GPS1,002707,2255.782,-15803.970,42,0.9,42,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.4
$GPS2,010408,2255.815,-15804.361,14,1.3,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.240,0.090
$KALMAN_X,-386046.2,18.7,97.0,397388.5,-2669.1
$KALMAN_Y,-655582.6,55.8,-96.0,795534.7,-1212.9
$MHEAD_RNG_PITCHd_Wd,59.4,15715,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-90.72,0.000,2,0.000,0.000,42,2677,2835
$GC,117,-0.85,-146.0,3.2,-4.3,12,148,11.85,0.00,-14.75,0.000,6,0.255,0.000,2596,2677,3537
$GC,413,-0.85,-146.0,83.8,-26.4,47,417,0.00,2.00,0.00,0.000,4,0.000,0.064,2588,3875,3538
$GC,451,-0.85,-146.0,94.2,-26.7,50,454,0.00,1.83,0.00,0.000,6,0.000,0.024,2593,2637,3538
$GC,723,-0.85,-146.0,149.4,-19.2,75,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2631,3538
$GC,989,-0.85,-146.0,197.6,-16.1,100,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2630,3538
$GC,1251,-0.85,-146.0,239.7,-15.8,108,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2630,3538
$GC,1495,-0.85,-146.0,276.7,-15.2,114,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2630,3537
$GC,1740,-0.85,-146.0,308.5,-13.0,120,1743,0.00,2.10,0.00,0.000,4,0.000,0.066,2585,3875,3536
$GC,1781,-0.85,-146.0,314.0,-12.2,120,1788,0.00,1.85,0.00,0.000,6,0.000,0.023,2593,2634,3536
$GC,2033,-0.85,-146.0,343.3,-11.8,127,2036,0.00,2.10,0.00,0.000,4,0.000,0.066,2585,3871,3534
$GC,2063,-0.85,-146.0,347.0,-11.8,127,2066,0.00,1.83,0.00,0.000,6,0.000,0.023,2592,2629,3534
$GC,2327,-0.85,-146.0,376.1,-11.0,134,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2619,3532
$GC,2570,-0.85,-146.0,402.7,-10.9,140,2574,0.00,2.15,0.00,0.000,4,0.000,0.074,2585,3869,3530
$GC,2611,-0.85,-146.0,407.4,-10.6,140,2618,0.00,1.85,0.00,0.000,6,0.000,0.025,2592,2640,3529
$GC,2865,-0.85,-146.0,432.9,-10.1,147,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2633,3527
$GC,3107,-0.85,-146.0,458.3,-10.4,153,3112,0.00,2.22,-0.08,0.000,4,0.000,0.084,2584,3875,3549
$GC,3132,-0.85,-146.0,461.2,-11.0,153,3135,0.00,1.83,0.00,0.000,6,0.000,0.025,2591,2641,3549
$GC,3401,-0.85,-146.0,489.0,-10.4,160,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2633,3547
$GC,3646,-0.85,-146.0,512.6,-9.5,166,3649,0.00,2.15,0.00,0.000,4,0.000,0.073,2584,3876,3545
$GC,3716,-0.85,-146.0,519.6,-9.6,167,3720,0.00,1.88,0.00,0.000,6,0.000,0.025,2591,2639,3544
$GC,3985,-0.85,-146.0,545.3,-9.7,174,3989,0.00,2.15,0.00,0.000,4,0.000,0.073,2584,3872,3542
$GC,4025,-0.85,-146.0,549.7,-10.5,174,4032,0.00,1.85,0.00,0.000,6,0.000,0.026,2591,2630,3541
$GC,4280,-0.85,-146.0,574.1,-9.8,181,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2624,3540
$GC,4522,-0.85,-146.0,596.0,-8.9,187,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2624,3537
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4609,-0.32,0.0,602.9,8.6,189,4737,0.62,0.00,124.53,1.073,6,0.145,0.000,2773,2459,2940
$STATE,4738,end apogee,CONTROL_FINISHED_OK
$STATE,4738,begin climb
$GC,4743,0.85,146.0,607.7,0.0,192,4883,1.12,0.00,131.20,1.035,6,0.074,0.000,3157,2459,2345
$GC,5128,0.85,146.0,544.5,25.7,202,5132,0.00,2.15,0.00,0.000,4,0.000,0.029,3167,1033,2333
$GC,5180,0.85,146.0,531.1,25.0,203,5185,0.00,2.25,0.00,0.000,6,0.000,0.045,3163,2443,2332
$GC,5461,0.85,146.0,464.7,23.5,210,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2443,2329
$GC,5705,0.85,146.0,409.1,22.5,216,5709,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1034,2328
$GC,5781,0.85,146.0,392.9,20.8,217,5785,0.00,2.28,0.00,0.000,6,0.000,0.041,3163,2475,2327
$GC,6041,0.85,146.0,337.6,21.2,224,6044,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1042,2326
$GC,6179,0.85,146.0,310.3,19.3,227,6183,0.00,2.25,0.00,0.000,6,0.000,0.042,3163,2459,2325
$GC,6470,0.85,146.0,259.8,17.2,234,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2459,2324
$GC,6713,0.85,146.0,224.8,14.4,240,6717,0.00,2.33,0.00,0.000,4,0.000,0.056,3162,3873,2323
$GC,6908,0.85,146.0,195.2,16.7,245,6911,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2445,2322
$GC,7178,0.85,146.0,155.4,13.8,270,7181,0.00,2.08,0.00,0.000,4,0.000,0.027,3182,1048,2321
$GC,7239,0.85,146.0,145.9,15.5,275,7246,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2456,2321
$GC,7504,0.85,146.0,116.4,10.8,300,7508,0.00,2.12,0.00,0.000,4,0.000,0.027,3184,1034,2321
$GC,7765,0.93,205.6,93.3,7.0,323,7817,0.00,2.25,47.10,0.697,6,0.000,0.039,3176,2466,2101
$GC,8084,0.93,205.6,42.6,17.2,352,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2466,2094
$STATE,8274,end climb,SURFACE_DEPTH_REACHED
$STATE,8274,begin surface coast
$FINISH,0.5,1.023719
$STATE,8292,end surface coast,CONTROL_FINISHED_OK
$STATE,8292,begin surface
$SM_CCo,8319,204.60,0.608,0,0,399,623.30
$SM_GC,1.17,0.00,0.00,204.60,0.000,0.000,0.608,46,2651,399,-8.85,0.34,623.30
$IRIDIUM_FIX,2246.36,-15805.83,110600,010158
$TT8_MAMPS,0.023777
$HUMID,1888
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.7,129.487
$10V_AH,10.6,77.943
$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,22.525,54.650,302.825,204.600,0.000,151.479,196.690,1430.220,0.250,0.000,0.000,14.660,752.928,5912.762,582.092,1318.490,2180.503,33.370,1127.557,0.000,1316.331,0.000,0.545,0.000
$DEVICE_MAMPS,254.644,84.370,1073.033,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.870,607.135,624.803,134.612,552.647,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31919,384
$CAP_FILE_SIZE,72515,0
$CFSIZE,260165632,221900800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,180311,032808,2255.963,-15803.469,13,1.8,14,10.1