version: 66.04
glider: 512
mission: 1
dive: 939
start: 3 12 111 5 34 25
data:
$ID,512
$MISSION,1
$DIVE,939
$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,-26181.053
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2840
$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,35
$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
$GPS1,051807,2248.670,-15805.609,35,1.1,36,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.3
$GPS2,053332,2248.801,-15805.614,16,1.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.096,0.238
$KALMAN_X,-362556.3,-1745.4,-409.4,374026.0,4185.6
$KALMAN_Y,-653474.9,-917.5,143.2,781167.2,-1202.9
$MHEAD_RNG_PITCHd_Wd,327.9,8704,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,76,0.00,0.00,-52.72,0.000,2,0.000,0.000,39,2662,2964
$GC,83,-0.85,-146.0,3.6,-5.5,7,115,11.43,2.03,-12.23,0.000,4,0.247,0.076,2545,3865,3607
$GC,275,-0.85,-146.0,62.6,-26.9,29,279,0.00,1.85,0.00,0.000,6,0.000,0.028,2552,2651,3608
$GC,545,-0.85,-146.0,141.2,-26.5,54,549,0.00,2.12,0.00,0.000,4,0.000,0.030,2563,1221,3609
$GC,637,-0.85,-146.0,161.9,-17.5,62,641,0.00,2.40,0.00,0.000,6,0.000,0.078,2554,2614,3609
$GC,898,-0.85,-146.0,221.5,-24.5,80,902,0.00,2.20,0.00,0.000,4,0.000,0.079,2544,3909,3610
$GC,947,-0.85,-146.0,232.8,-20.3,81,951,0.00,1.90,0.00,0.000,6,0.000,0.025,2551,2629,3610
$GC,1240,-0.85,-146.0,293.1,-20.2,88,1244,0.00,2.08,0.00,0.000,4,0.000,0.031,2562,1228,3610
$GC,1288,-0.85,-146.0,300.9,-12.9,89,1292,0.00,2.38,0.00,0.000,6,0.000,0.068,2552,2649,3611
$GC,1576,-0.85,-146.0,349.5,-17.2,96,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2649,3611
$GC,1817,-0.85,-146.0,388.9,-16.1,102,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2650,3610
$GC,2060,-0.85,-146.0,427.7,-15.8,108,2064,0.00,2.15,0.00,0.000,4,0.000,0.031,2561,1222,3608
$GC,2112,-0.85,-146.0,435.4,-11.7,109,2117,0.00,2.40,0.00,0.000,6,0.000,0.066,2551,2650,3608
$GC,2395,-0.85,-146.0,476.1,-14.8,116,2398,0.00,2.10,0.00,0.000,4,0.000,0.074,2542,3895,3605
$GC,2475,-0.85,-146.0,488.1,-13.6,117,2479,0.00,1.90,0.00,0.000,6,0.000,0.025,2545,2631,3605
$GC,2732,-0.85,-146.0,525.8,-14.9,124,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2623,3603
$GC,2976,-0.85,-146.0,562.1,-14.9,130,2980,0.00,2.25,0.00,0.000,4,0.000,0.086,2537,3890,3600
$GC,3062,-0.85,-146.0,575.1,-14.5,131,3069,0.00,1.88,0.00,0.000,6,0.000,0.027,2542,2636,3599
$STATE,3229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3229,begin apogee
$GC,3241,-0.32,0.0,600.9,15.4,136,3366,0.68,0.00,122.62,1.056,6,0.159,0.000,2733,2466,3010
$STATE,3367,end apogee,CONTROL_FINISHED_OK
$STATE,3367,begin climb
$GC,3372,0.85,146.0,608.1,0.0,139,3513,1.15,2.28,129.43,1.032,4,0.084,0.031,3125,1036,2414
$GC,3526,0.85,146.0,608.5,15.8,143,3531,0.00,2.35,0.00,0.000,6,0.000,0.051,3123,2461,2411
$GC,3801,0.85,146.0,548.6,21.8,150,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2461,2405
$GC,4046,0.85,146.0,497.6,20.8,156,4050,0.00,2.12,0.00,0.000,4,0.000,0.029,3132,1036,2403
$GC,4110,0.85,146.0,484.0,21.0,157,4114,0.00,2.28,0.00,0.000,6,0.000,0.045,3124,2466,2402
$GC,4378,0.85,146.0,430.6,19.6,164,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2466,2399
$GC,4622,0.85,146.0,387.5,17.3,170,4625,0.00,2.12,0.00,0.000,4,0.000,0.028,3132,1036,2398
$GC,4696,0.85,146.0,375.9,15.6,171,4700,0.00,2.25,0.00,0.000,6,0.000,0.044,3124,2461,2398
$GC,4960,0.85,146.0,335.3,15.7,178,4964,0.00,2.12,0.00,0.000,4,0.000,0.029,3132,1028,2395
$GC,5057,0.85,146.0,321.1,12.8,180,5061,0.00,2.30,0.00,0.000,6,0.000,0.045,3123,2471,2396
$GC,5337,0.85,146.0,283.2,13.1,187,5340,0.00,2.15,0.00,0.000,4,0.000,0.028,3133,1042,2394
$GC,5598,0.85,146.0,255.6,9.9,192,5602,0.00,2.28,0.00,0.000,6,0.000,0.044,3123,2472,2394
$GC,5856,0.91,194.9,234.0,7.4,199,5900,0.00,2.20,39.58,0.822,4,0.000,0.028,3133,1031,2215
$GC,5960,0.91,194.9,222.0,13.8,201,5964,0.00,2.30,0.00,0.000,6,0.000,0.044,3124,2472,2212
$GC,6224,0.91,194.9,175.8,21.2,216,6228,0.00,2.28,0.00,0.000,4,0.000,0.058,3123,3869,2208
$GC,6279,0.91,194.9,165.3,19.1,220,6283,0.00,2.12,0.00,0.000,6,0.000,0.025,3133,2446,2208
$GC,6552,0.91,194.9,118.5,17.4,245,6555,0.00,2.05,0.00,0.000,4,0.000,0.027,3144,1047,2207
$GC,6681,0.91,194.9,99.0,14.3,256,6689,0.00,2.25,0.00,0.000,6,0.000,0.043,3137,2453,2206
$GC,6947,0.91,194.9,60.0,12.2,281,6951,0.00,2.08,0.00,0.000,4,0.000,0.026,3146,1054,2207
$GC,6998,0.91,194.9,54.1,12.0,285,7006,0.00,2.25,0.00,0.000,6,0.000,0.042,3137,2462,2207
$GC,7267,0.91,194.9,20.2,13.6,316,7275,0.00,2.12,0.00,0.000,4,0.000,0.026,3146,1039,2207
$GC,7365,0.91,194.9,5.4,14.9,333,7374,0.00,2.25,0.00,0.000,6,0.000,0.041,3146,2452,2207
$STATE,7380,end climb,SURFACE_DEPTH_REACHED
$STATE,7380,begin surface coast
$FINISH,0.5,1.023740
$STATE,7403,end surface coast,CONTROL_FINISHED_OK
$STATE,7403,begin surface
$SM_CCo,7430,81.55,0.609,0,0,1583,350.04
$SM_GC,1.52,0.00,0.00,81.55,0.000,0.000,0.609,48,2678,1583,-8.73,1.07,350.04
$IRIDIUM_FIX,2239.35,-15805.41,050600,050527
$TT8_MAMPS,0.023777
$HUMID,1879
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.8,122.511
$10V_AH,10.6,73.124
$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,22.225,74.275,291.625,81.550,0.000,60.815,68.868,566.227,0.000,0.000,0.000,16.802,719.298,4943.618,446.766,1279.107,1052.138,33.354,966.705,0.000,1276.959,0.000,0.544,0.000
$DEVICE_MAMPS,246.974,85.904,1056.159,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,229.018,532.873,549.693,129.232,524.759,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,29029,339
$CAP_FILE_SIZE,70016,0
$CFSIZE,260165632,224129024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,120311,074100,2249.669,-15806.115,31,1.9,35,10.1