version: 66.04
glider: 512
mission: 1
dive: 909
start: 3 9 111 11 4 54
data:
$ID,512
$MISSION,1
$DIVE,909
$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,-25578.664
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2820
$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,39
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3010
$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
$GPS1,105407,2245.450,-15800.951,43,1.0,44,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.0
$GPS2,110401,2245.502,-15800.965,11,1.5,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.253,-0.042
$KALMAN_X,-367626.3,-1.2,52.7,384887.3,2384.3
$KALMAN_Y,-646665.0,100.9,41.2,767352.2,1126.6
$MHEAD_RNG_PITCHd_Wd,250.5,4446,-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,-52.72,0.000,2,0.000,0.000,39,2654,2985
$GC,78,-0.85,-146.0,3.5,-5.6,7,109,11.12,2.17,-11.75,0.000,4,0.242,0.043,2544,1228,3608
$GC,246,-0.85,-146.0,51.7,-23.6,27,250,0.00,2.30,0.00,0.000,6,0.000,0.058,2535,2631,3610
$GC,512,-0.85,-146.0,134.5,-32.4,51,516,0.00,2.08,0.00,0.000,4,0.000,0.062,2525,3907,3611
$GC,552,-0.85,-146.0,146.9,-24.8,54,560,0.00,1.90,0.00,0.000,6,0.000,0.024,2532,2634,3611
$GC,844,-0.85,-146.0,224.8,-28.4,76,848,0.00,2.08,0.00,0.000,4,0.000,0.057,2524,3907,3612
$GC,869,-0.85,-146.0,231.5,-25.2,76,873,0.00,1.88,0.00,0.000,6,0.000,0.022,2532,2622,3612
$GC,1137,-0.85,-146.0,284.3,-19.2,83,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2613,3613
$GC,1382,-0.85,-146.0,330.9,-19.3,89,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2614,3613
$GC,1624,-0.85,-146.0,377.4,-19.1,95,1628,0.00,2.12,0.00,0.000,4,0.000,0.064,2524,3896,3612
$GC,1705,-0.85,-146.0,391.5,-15.3,96,1709,0.00,1.85,0.00,0.000,6,0.000,0.024,2527,2633,3611
$GC,1962,-0.85,-146.0,436.3,-17.5,103,1966,0.00,2.12,0.00,0.000,4,0.000,0.064,2518,3904,3610
$GC,2065,-0.85,-146.0,454.0,-15.8,105,2069,0.00,1.88,0.00,0.000,6,0.000,0.024,2525,2625,3609
$GC,2345,-0.85,-146.0,501.9,-17.2,112,2349,0.00,2.15,0.00,0.000,4,0.000,0.064,2516,3908,3607
$GC,2380,-0.85,-146.0,508.4,-18.2,112,2383,0.00,1.88,0.00,0.000,6,0.000,0.025,2525,2633,3607
$GC,2637,-0.85,-146.0,548.9,-15.3,119,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2626,3605
$GC,2881,-0.85,-146.0,582.5,-13.7,125,2884,0.00,2.12,0.00,0.000,4,0.000,0.065,2516,3897,3603
$GC,2950,-0.85,-146.0,591.9,-12.6,126,2954,0.00,1.88,0.00,0.000,6,0.000,0.025,2523,2645,3602
$STATE,3010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3011,begin apogee
$GC,3022,-0.32,0.0,600.3,13.3,128,3148,0.68,0.00,123.30,1.048,6,0.176,0.000,2707,2478,3010
$STATE,3149,end apogee,CONTROL_FINISHED_OK
$STATE,3149,begin climb
$GC,3154,0.85,146.0,604.4,0.0,131,3290,1.17,2.25,129.12,1.032,4,0.102,0.029,3096,1041,2414
$GC,3437,0.85,146.0,576.2,18.9,137,3441,0.00,2.30,0.00,0.000,6,0.000,0.051,3096,2461,2407
$GC,3700,0.85,146.0,525.6,19.2,144,3704,0.00,2.33,0.00,0.000,4,0.000,0.062,3096,3875,2404
$GC,3763,0.85,146.0,513.6,18.5,145,3767,0.00,2.15,0.00,0.000,6,0.000,0.028,3106,2439,2401
$GC,4032,0.85,146.0,462.9,19.1,152,4036,0.00,2.05,0.00,0.000,4,0.000,0.031,3117,1057,2399
$GC,4129,0.85,146.0,445.4,18.1,154,4133,0.00,2.22,0.00,0.000,6,0.000,0.046,3110,2464,2399
$GC,4416,0.85,146.0,394.4,17.3,161,4420,0.00,2.30,0.00,0.000,4,0.000,0.057,3110,3875,2397
$GC,4518,0.85,146.0,374.3,18.8,163,4522,0.00,2.12,0.00,0.000,6,0.000,0.027,3119,2457,2396
$GC,4792,0.85,146.0,329.5,16.1,170,4796,0.00,2.30,0.00,0.000,4,0.000,0.054,3110,3878,2395
$GC,4866,0.85,146.0,315.6,18.6,171,4870,0.00,2.12,0.00,0.000,6,0.000,0.027,3120,2450,2395
$GC,5124,0.85,146.0,278.1,13.6,178,5128,0.00,2.08,0.00,0.000,4,0.000,0.028,3130,1052,2394
$GC,5187,0.85,146.0,269.9,12.0,179,5191,0.00,2.25,0.00,0.000,6,0.000,0.047,3123,2463,2394
$GC,5458,0.85,146.0,240.0,11.5,186,5462,0.00,2.12,0.00,0.000,4,0.000,0.030,3133,1040,2393
$GC,5721,0.86,149.6,217.7,9.5,191,5725,0.00,2.28,0.00,0.000,6,0.000,0.045,3124,2472,2392
$GC,5976,0.89,173.1,194.4,8.6,200,6003,0.00,0.00,20.67,0.761,6,0.000,0.000,3124,2473,2305
$GC,6261,0.89,173.1,158.8,12.8,227,6265,0.00,2.28,0.00,0.000,4,0.000,0.056,3123,3873,2301
$GC,6485,0.89,173.1,121.5,12.0,246,6489,0.00,2.10,0.00,0.000,6,0.000,0.025,3133,2459,2300
$GC,6757,0.89,173.1,93.6,10.3,271,6760,0.00,2.08,0.00,0.000,4,0.000,0.028,3144,1053,2300
$GC,6819,0.89,173.1,87.2,10.0,276,6828,0.08,2.25,0.00,0.000,6,0.213,0.044,3117,2457,2300
$GC,7089,0.90,186.3,60.8,9.0,301,7107,0.00,2.30,13.00,0.603,4,0.000,0.054,3110,3878,2249
$GC,7355,0.90,186.4,33.7,9.6,324,7362,0.00,2.12,0.00,0.000,6,0.000,0.025,3120,2458,2248
$STATE,7613,end climb,SURFACE_DEPTH_REACHED
$STATE,7613,begin surface coast
$FINISH,0.5,1.023681
$STATE,7636,end surface coast,CONTROL_FINISHED_OK
$STATE,7636,begin surface
$SM_CCo,7662,90.85,0.590,0,0,1582,350.04
$SM_GC,1.46,0.00,0.00,90.85,0.000,0.000,0.590,40,2681,1582,-8.69,1.16,350.04
$IRIDIUM_FIX,2237.01,-15800.20,020600,111130
$TT8_MAMPS,0.023777
$HUMID,1866
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.7,119.250
$10V_AH,10.7,70.668
$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,21.725,72.925,286.100,90.850,0.000,56.576,74.154,237.215,0.250,0.000,0.000,16.447,790.935,4922.150,418.117,1498.917,721.986,33.368,1015.227,0.000,1490.562,0.000,0.545,0.000
$DEVICE_MAMPS,241.605,65.195,1047.722,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,252.299,619.893,636.920,150.352,617.315,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31903,373
$CAP_FILE_SIZE,71031,0
$CFSIZE,260165632,225308672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,090311,131536,2245.110,-15801.624,36,1.1,41,10.1