version: 66.04
glider: 512
mission: 1
dive: 1001
start: 3 18 111 23 12 58
data:
$ID,512
$MISSION,1
$DIVE,1001
$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,-27580.539
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,223440,2255.693,-15759.586,14,2.3,34,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.3
$GPS2,231206,2255.450,-15759.776,16,1.6,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.253,-0.039
$KALMAN_X,-400931.1,531.6,325.0,419408.8,-3366.7
$KALMAN_Y,-662372.2,296.6,-97.1,801415.6,-1978.7
$MHEAD_RNG_PITCHd_Wd,88.6,8141,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-90.78,0.000,2,0.000,0.000,39,2683,2801
$GC,116,-0.85,-146.0,3.0,-3.9,12,150,11.23,2.20,-15.98,0.000,4,0.238,0.038,2602,1222,3537
$GC,198,-0.85,-146.0,20.3,-18.0,24,207,0.00,2.30,0.00,0.000,6,0.000,0.054,2593,2612,3538
$GC,472,-0.85,-146.0,85.5,-25.8,53,476,0.00,2.10,0.00,0.000,4,0.000,0.059,2583,3906,3538
$GC,501,-0.85,-146.0,93.3,-23.8,55,509,0.00,1.90,0.00,0.000,6,0.000,0.023,2590,2628,3538
$GC,766,-0.85,-146.0,145.7,-19.3,80,770,0.00,2.12,0.00,0.000,4,0.000,0.061,2582,3906,3538
$GC,804,-0.85,-146.0,152.8,-18.7,83,807,0.00,1.85,0.00,0.000,6,0.000,0.022,2589,2635,3538
$GC,1075,-0.85,-146.0,198.5,-16.0,108,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2628,3538
$GC,1327,-0.85,-146.0,237.5,-14.5,115,1331,0.00,2.05,0.00,0.000,4,0.000,0.024,2599,1220,3538
$GC,1379,-0.85,-146.0,243.8,-9.6,116,1383,0.00,2.33,0.00,0.000,6,0.000,0.054,2590,2641,3538
$GC,1659,-0.85,-146.0,280.0,-13.5,123,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2641,3538
$GC,1903,-0.85,-146.0,310.3,-12.3,129,1907,0.00,2.10,0.00,0.000,4,0.000,0.064,2580,3910,3536
$GC,1944,-0.85,-146.0,315.7,-13.5,129,1950,0.00,1.88,0.00,0.000,6,0.000,0.023,2586,2631,3536
$GC,2198,-0.85,-146.0,342.5,-10.3,136,2201,0.00,2.17,0.00,0.000,4,0.000,0.068,2579,3908,3534
$GC,2234,-0.85,-146.0,346.8,-11.0,136,2237,0.00,1.88,0.00,0.000,6,0.000,0.024,2586,2630,3533
$GC,2494,-0.85,-146.0,375.2,-11.2,143,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2624,3532
$GC,2735,-0.85,-146.0,401.7,-10.7,149,2739,0.00,2.15,0.00,0.000,4,0.000,0.065,2578,3902,3529
$GC,2787,-0.85,-146.0,407.6,-10.8,150,2791,0.00,1.88,0.00,0.000,6,0.000,0.025,2586,2646,3528
$GC,3073,-0.85,-146.0,437.3,-10.4,157,3075,0.00,0.00,-0.08,0.000,6,0.000,0.000,2586,2640,3550
$GC,3319,-0.85,-146.0,462.0,-10.2,163,3323,0.00,2.15,0.00,0.000,4,0.000,0.069,2578,3910,3548
$GC,3349,-0.85,-146.0,465.6,-10.6,163,3353,0.00,1.90,0.00,0.000,6,0.000,0.025,2585,2648,3547
$GC,3612,-0.85,-146.0,490.8,-9.6,170,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2642,3546
$GC,3857,-0.85,-146.0,514.9,-10.0,176,3861,0.00,2.17,0.00,0.000,4,0.000,0.070,2577,3912,3543
$GC,3927,-0.85,-146.0,522.4,-10.8,177,3931,0.00,1.92,0.00,0.000,6,0.000,0.027,2584,2641,3542
$GC,4196,-0.85,-146.0,550.0,-10.3,184,4200,0.00,2.15,0.00,0.000,4,0.000,0.069,2576,3901,3540
$GC,4254,-0.85,-146.0,556.2,-10.5,185,4257,0.00,1.88,0.00,0.000,6,0.000,0.026,2581,2640,3540
$GC,4534,-0.85,-146.0,583.9,-9.7,192,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2632,3538
$STATE,4692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4693,begin apogee
$GC,4705,-0.32,0.0,600.7,10.3,196,4833,0.68,0.00,124.47,1.053,6,0.151,0.000,2773,2477,2940
$STATE,4833,end apogee,CONTROL_FINISHED_OK
$STATE,4833,begin climb
$GC,4839,0.85,146.0,606.9,0.0,199,4983,1.08,2.40,131.43,1.027,4,0.071,0.057,3150,3887,2343
$GC,5040,0.85,146.0,593.1,26.6,203,5045,0.00,2.22,0.00,0.000,6,0.000,0.028,3159,2444,2339
$GC,5298,0.85,146.0,530.2,24.1,210,5302,0.00,2.33,0.00,0.000,4,0.000,0.051,3159,3885,2333
$GC,5312,0.85,146.0,526.9,23.5,210,5315,0.00,2.17,0.00,0.000,6,0.000,0.027,3168,2448,2333
$GC,5586,0.85,146.0,460.3,24.5,217,5590,0.00,2.10,0.00,0.000,4,0.000,0.030,3179,1042,2330
$GC,5684,0.85,146.0,436.3,23.1,219,5689,0.00,2.30,0.00,0.000,6,0.000,0.048,3176,2475,2330
$GC,5967,0.85,146.0,372.3,23.1,226,5971,0.00,2.15,0.00,0.000,4,0.000,0.030,3185,1043,2327
$GC,6174,0.85,146.0,329.9,20.6,230,6178,0.00,2.28,0.00,0.000,6,0.000,0.044,3177,2468,2326
$GC,6437,0.85,146.0,278.7,19.3,237,6440,0.00,2.15,0.00,0.000,4,0.000,0.029,3185,1039,2325
$GC,6461,0.85,146.0,273.7,19.2,237,6465,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2472,2325
$GC,6725,0.85,146.0,227.2,17.1,244,6728,0.00,2.15,0.00,0.000,4,0.000,0.028,3185,1032,2323
$GC,6988,0.85,146.0,190.3,13.5,252,6992,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2466,2323
$GC,7255,0.85,146.0,156.1,11.9,276,7258,0.00,2.15,0.00,0.000,4,0.000,0.028,3185,1031,2323
$GC,7521,0.85,146.0,125.9,10.1,299,7525,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2470,2322
$GC,7787,0.85,146.0,98.4,10.6,323,7791,0.00,2.28,0.00,0.000,4,0.000,0.051,3175,3871,2322
$GC,7812,0.85,146.0,95.7,9.8,324,7820,0.00,2.15,0.00,0.000,6,0.000,0.025,3185,2447,2321
$GC,8078,0.94,215.8,73.1,6.5,349,8144,0.00,2.15,55.50,0.664,4,0.000,0.028,3195,1054,2059
$GC,8272,0.94,215.8,41.2,20.4,365,8280,0.00,2.25,0.00,0.000,6,0.000,0.041,3192,2454,2055
$STATE,8430,end climb,SURFACE_DEPTH_REACHED
$STATE,8431,begin surface coast
$FINISH,0.6,1.023828
$STATE,8448,end surface coast,CONTROL_FINISHED_OK
$STATE,8448,begin surface
$SM_CCo,8475,194.40,0.591,0,0,398,623.30
$SM_GC,1.31,0.00,0.00,194.40,0.000,0.000,0.591,42,2679,398,-8.87,1.13,623.30
$IRIDIUM_FIX,2248.70,-15800.62,110600,232340
$TT8_MAMPS,0.024544
$HUMID,1898
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.7,130.851
$10V_AH,10.6,78.733
$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,21.925,81.650,311.400,194.400,0.000,148.453,194.798,1448.038,0.500,0.000,0.000,32.423,804.732,5825.885,571.770,1497.680,2216.743,33.377,1204.796,0.000,1472.732,0.000,0.544,0.000
$DEVICE_MAMPS,237.770,69.797,1053.091,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.469,629.650,649.514,142.379,587.419,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31904,392
$CAP_FILE_SIZE,80537,0
$CFSIZE,260165632,221564928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,1
$GPS,190311,013852,2254.799,-15759.154,14,3.4,34,10.1