version: 66.04
glider: 512
mission: 1
dive: 423
start: 1 18 111 11 43 49
data:
$ID,512
$MISSION,1
$DIVE,423
$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,160
$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,-14062.641
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,113126,2247.692,-15800.111,9,2.0,10,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.8
$GPS2,114258,2247.577,-15800.064,16,2.3,35,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.231,0.128
$KALMAN_X,-167753.9,1597.2,-336.9,185358.0,499.1
$KALMAN_Y,-375837.9,-12.6,-80.7,500575.9,-2096.1
$MHEAD_RNG_PITCHd_Wd,288.9,5126,-16.2,-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,16,-0.84,-155.7,0.0,0.0,0,57,0.00,0.00,-38.50,0.000,2,0.000,0.000,31,2559,2939
$GC,60,-0.84,-155.7,3.3,-6.4,5,101,11.60,2.40,-19.65,0.000,4,0.258,0.109,2555,3889,3962
$GC,130,-0.84,-155.7,27.4,-39.7,15,139,0.00,2.03,0.00,0.000,6,0.000,0.028,2560,2561,3963
$GC,393,-0.84,-155.7,113.5,-28.6,40,397,0.00,2.40,0.00,0.000,4,0.000,0.109,2552,3890,3964
$GC,412,-0.84,-155.7,118.3,-26.4,41,416,0.00,2.03,0.00,0.000,6,0.000,0.030,2559,2517,3964
$GC,682,-0.84,-155.7,181.1,-22.0,66,686,0.00,2.53,0.00,0.000,4,0.000,0.117,2551,3890,3966
$GC,790,-0.84,-155.7,201.6,-15.4,75,794,0.00,1.98,0.00,0.000,6,0.000,0.027,2558,2545,3966
$GC,1051,-0.84,-155.7,251.8,-19.9,82,1056,0.00,2.50,0.00,0.000,4,0.000,0.118,2549,3890,3967
$GC,1124,-0.84,-155.7,265.3,-14.6,83,1128,0.00,1.98,0.00,0.000,6,0.000,0.028,2557,2531,3967
$GC,1379,-0.84,-155.7,308.1,-17.2,90,1383,0.00,2.53,0.00,0.000,4,0.000,0.119,2549,3896,3967
$GC,1419,-0.84,-155.7,314.8,-16.0,91,1423,0.00,1.98,0.00,0.000,6,0.000,0.029,2557,2549,3967
$GC,1709,-0.84,-155.7,361.8,-15.9,98,1713,0.00,2.50,0.00,0.000,4,0.000,0.120,2548,3891,3966
$GC,1752,-0.84,-155.7,368.7,-13.9,99,1756,0.00,1.98,0.00,0.000,6,0.000,0.029,2555,2544,3966
$GC,2037,-0.84,-155.7,409.7,-14.6,106,2042,0.00,2.50,0.00,0.000,4,0.000,0.119,2547,3890,3966
$GC,2082,-0.84,-155.7,416.3,-13.7,107,2085,0.00,1.98,0.00,0.000,6,0.000,0.029,2551,2546,3965
$GC,2365,-0.84,-155.7,457.0,-14.6,114,2370,0.00,2.50,0.00,0.000,4,0.000,0.118,2542,3890,3963
$GC,2433,-0.84,-155.7,466.5,-12.4,115,2437,0.10,1.98,0.00,0.000,6,0.153,0.028,2574,2536,3963
$GC,2693,-0.84,-155.7,496.3,-11.5,122,2697,0.00,2.55,0.00,0.000,4,0.000,0.120,2563,3899,3961
$GC,2726,-0.84,-155.7,500.3,-11.5,122,2732,0.00,1.98,0.00,0.000,6,0.000,0.030,2571,2553,3961
$GC,2976,-0.84,-155.7,528.4,-11.5,129,2980,0.00,2.50,0.00,0.000,4,0.000,0.119,2562,3899,3958
$GC,3016,-0.84,-155.7,532.9,-11.8,130,3019,0.00,2.00,0.00,0.000,6,0.000,0.030,2563,2543,3958
$GC,3305,-0.84,-155.7,567.7,-12.1,137,3309,0.00,2.50,0.00,0.000,4,0.000,0.116,2554,3892,3956
$GC,3365,-0.84,-155.7,575.0,-11.2,138,3369,0.00,2.00,0.00,0.000,6,0.000,0.030,2561,2540,3955
$STATE,3589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3589,begin apogee
$GC,3596,-0.32,0.0,601.5,11.8,144,3719,0.62,0.00,120.62,1.075,6,0.157,0.000,2745,2532,3367
$STATE,3720,end apogee,CONTROL_FINISHED_OK
$STATE,3720,begin climb
$GC,3723,0.84,155.7,608.4,0.0,147,3864,1.10,2.25,132.38,1.057,4,0.083,0.029,3128,1148,2731
$GC,4007,0.96,253.6,623.3,5.6,153,4098,0.12,2.30,84.80,1.052,6,0.111,0.052,3162,2554,2333
$GC,4350,0.96,253.6,543.4,27.4,162,4354,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1142,2324
$GC,4422,0.96,253.6,524.7,24.4,163,4427,0.00,2.30,0.00,0.000,6,0.000,0.058,3164,2549,2324
$GC,4678,0.96,253.6,461.1,24.8,170,4682,0.00,2.10,0.00,0.000,4,0.000,0.032,3172,1148,2320
$GC,4724,0.96,253.6,450.5,21.9,171,4729,0.00,2.25,0.00,0.000,6,0.000,0.055,3164,2553,2320
$GC,5008,0.96,253.6,383.8,23.3,178,5012,0.00,2.10,0.00,0.000,4,0.000,0.031,3172,1135,2318
$GC,5047,0.96,253.6,374.8,21.7,178,5053,0.00,2.28,0.00,0.000,6,0.000,0.054,3164,2563,2318
$GC,5297,0.96,253.6,319.6,22.3,185,5301,0.00,2.10,0.00,0.000,4,0.000,0.031,3173,1142,2316
$GC,5403,0.96,253.6,297.3,21.2,187,5407,0.00,2.25,0.00,0.000,6,0.000,0.055,3164,2550,2316
$GC,5670,0.96,253.6,244.9,19.1,194,5673,0.00,2.17,0.00,0.000,4,0.000,0.067,3162,3896,2314
$GC,5770,0.96,253.6,223.9,20.5,196,5774,0.00,2.00,0.00,0.000,6,0.000,0.031,3171,2547,2314
$GC,6034,0.96,253.6,175.6,16.7,210,6038,0.00,2.08,0.00,0.000,4,0.000,0.031,3181,1145,2314
$GC,6150,0.96,253.6,158.3,14.2,220,6154,0.00,2.28,0.00,0.000,6,0.000,0.059,3176,2547,2313
$GC,6412,0.96,253.6,122.2,13.3,244,6415,0.00,2.22,0.00,0.000,4,0.000,0.073,3176,3899,2313
$GC,6669,0.96,253.6,92.8,11.2,267,6673,0.00,2.00,0.00,0.000,6,0.000,0.030,3185,2537,2313
$GC,6938,0.96,253.6,64.3,12.2,292,6942,0.00,2.20,0.00,0.000,4,0.000,0.058,3176,3902,2313
$GC,7051,0.96,253.6,48.6,15.5,302,7055,0.00,2.00,0.00,0.000,6,0.000,0.028,3185,2535,2313
$GC,7316,0.96,253.6,8.6,14.8,339,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2528,2313
$STATE,7345,end climb,SURFACE_DEPTH_REACHED
$STATE,7345,begin surface coast
$FINISH,0.4,1.024010
$STATE,7363,end surface coast,CONTROL_FINISHED_OK
$STATE,7363,begin surface
$SM_CCo,7383,53.12,0.618,0,0,1939,350.04
$SM_GC,0.92,0.00,0.00,53.12,0.000,0.000,0.618,52,2524,1939,-8.74,-0.74,350.04
$IRIDIUM_FIX,2239.35,-15757.16,130400,111157
$TT8_MAMPS,0.023777
$HUMID,1788
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.8,54.796
$10V_AH,10.7,31.823
$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,22.300,88.275,337.800,53.125,0.000,55.978,76.309,281.446,0.250,0.000,0.000,38.295,748.385,4841.115,422.879,1425.987,695.280,33.353,1016.306,0.000,1391.472,0.000,0.544,0.000
$DEVICE_MAMPS,258.479,120.419,1075.334,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,235.041,555.371,570.846,127.560,528.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28813,347
$CAP_FILE_SIZE,72250,0
$CFSIZE,260165632,244506624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,180111,134907,2247.896,-15801.278,42,1.0,43,10.1