version: 66.04
glider: 512
mission: 1
dive: 428
start: 1 18 111 21 56 54
data:
$ID,512
$MISSION,1
$DIVE,428
$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,-14174.224
$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,49
$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
$GPS1,214904,2249.657,-15803.551,29,2.1,48,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-81.2
$GPS2,215602,2249.586,-15803.586,13,1.8,13,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.257,0.063
$KALMAN_X,-158464.2,-1246.0,-482.5,172999.8,6543.3
$KALMAN_Y,-381799.1,882.3,716.4,508554.4,-6121.5
$MHEAD_RNG_PITCHd_Wd,273.6,4892,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-38.65,0.000,2,0.000,0.000,43,2553,2947
$GC,59,-0.84,-155.7,3.1,-4.3,5,100,11.77,2.40,-19.75,0.000,4,0.264,0.106,2559,3890,3958
$GC,162,-0.84,-155.7,36.5,-28.0,19,167,0.00,2.00,-0.05,0.000,6,0.000,0.028,2565,2551,3965
$GC,429,-0.84,-155.7,120.6,-31.3,44,433,0.00,2.40,0.00,0.000,4,0.000,0.104,2555,3891,3967
$GC,516,-0.84,-155.7,143.0,-20.3,51,520,0.00,2.00,0.00,0.000,6,0.000,0.027,2561,2539,3967
$GC,785,-0.84,-155.7,199.6,-21.1,76,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2532,3969
$GC,1037,-0.84,-155.7,248.1,-19.0,83,1041,0.00,2.45,0.00,0.000,4,0.000,0.105,2552,3893,3970
$GC,1098,-0.84,-155.7,258.0,-13.4,84,1102,0.00,2.00,0.00,0.000,6,0.000,0.028,2560,2534,3971
$GC,1367,-0.84,-155.7,302.7,-17.2,91,1371,0.00,2.45,0.00,0.000,4,0.000,0.104,2551,3897,3971
$GC,1440,-0.84,-155.7,314.1,-12.6,92,1443,0.00,2.00,0.00,0.000,6,0.000,0.028,2559,2534,3971
$GC,1695,-0.84,-155.7,351.7,-14.9,99,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2528,3971
$GC,1939,-0.84,-155.7,386.5,-14.3,105,1943,0.00,2.42,0.00,0.000,4,0.000,0.104,2550,3898,3970
$GC,1989,-0.84,-155.7,393.7,-13.4,106,1993,0.00,2.00,0.00,0.000,6,0.000,0.029,2558,2542,3970
$GC,2273,-0.84,-155.7,434.0,-14.4,113,2277,0.00,2.40,0.00,0.000,4,0.000,0.097,2549,3895,3969
$GC,2323,-0.84,-155.7,441.1,-12.3,114,2326,0.00,2.00,0.00,0.000,6,0.000,0.029,2557,2538,3969
$GC,2602,-0.84,-155.7,480.0,-14.1,121,2606,0.00,2.42,0.00,0.000,4,0.000,0.101,2548,3891,3967
$GC,2646,-0.84,-155.7,486.6,-13.9,122,2649,0.00,2.00,0.00,0.000,6,0.000,0.030,2556,2538,3967
$GC,2929,-0.84,-155.7,525.1,-13.7,129,2934,0.00,2.42,0.00,0.000,4,0.000,0.102,2547,3891,3965
$GC,2957,-0.84,-155.7,529.0,-13.9,129,2962,0.10,2.00,0.00,0.000,6,0.161,0.031,2572,2536,3965
$GC,3213,-0.84,-155.7,557.6,-11.3,136,3217,0.00,2.42,0.00,0.000,4,0.000,0.100,2563,3897,3963
$GC,3258,-0.84,-155.7,562.8,-10.9,137,3261,0.00,2.00,0.00,0.000,6,0.000,0.031,2571,2546,3962
$GC,3542,-0.84,-155.7,593.9,-11.1,144,3546,0.00,2.40,0.00,0.000,4,0.000,0.098,2562,3894,3960
$GC,3575,-0.84,-155.7,597.8,-10.9,144,3581,0.00,2.00,0.00,0.000,6,0.000,0.031,2565,2548,3960
$STATE,3620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3620,begin apogee
$GC,3627,-0.32,0.0,602.7,10.7,146,3751,0.60,0.00,121.10,1.049,6,0.154,0.000,2742,2539,3367
$STATE,3751,end apogee,CONTROL_FINISHED_OK
$STATE,3752,begin climb
$GC,3754,0.84,155.7,610.4,0.0,149,3894,1.12,2.42,132.07,1.026,4,0.095,0.077,3111,3896,2731
$GC,4026,0.93,228.3,626.0,6.6,155,4095,0.00,2.05,62.65,1.021,6,0.000,0.031,3120,2542,2436
$GC,4339,0.93,228.3,564.2,22.6,163,4342,0.00,2.25,0.00,0.000,4,0.000,0.064,3120,3898,2427
$GC,4349,0.93,228.3,561.5,22.0,163,4353,0.00,2.03,0.00,0.000,6,0.000,0.031,3130,2553,2427
$GC,4628,0.93,228.3,505.2,19.3,170,4631,0.00,2.10,0.00,0.000,4,0.000,0.032,3140,1141,2425
$GC,4706,0.93,228.3,491.0,18.0,171,4710,0.00,2.28,0.00,0.000,6,0.000,0.057,3137,2553,2424
$GC,4956,0.93,228.3,447.0,17.2,177,4960,0.00,2.10,0.00,0.000,4,0.000,0.032,3146,1142,2423
$GC,5034,0.93,228.3,433.1,17.5,178,5038,0.00,2.28,0.00,0.000,6,0.000,0.057,3146,2560,2422
$GC,5289,0.93,228.3,385.4,19.0,185,5293,0.00,2.10,0.00,0.000,4,0.000,0.031,3155,1135,2421
$GC,5341,0.93,228.3,376.2,18.2,186,5345,0.00,2.28,0.00,0.000,6,0.000,0.055,3150,2558,2421
$GC,5618,0.93,228.3,326.8,17.0,193,5622,0.00,2.10,0.00,0.000,4,0.000,0.031,3159,1133,2420
$GC,5674,0.93,228.3,317.6,16.4,194,5678,0.00,2.30,0.00,0.000,6,0.000,0.060,3158,2551,2419
$GC,5949,0.93,228.3,274.6,15.2,201,5952,0.00,2.17,0.00,0.000,4,0.000,0.067,3150,3897,2418
$GC,6027,0.93,228.3,261.8,16.0,202,6031,0.00,2.00,0.00,0.000,6,0.000,0.031,3159,2550,2418
$GC,6282,0.93,228.3,227.0,12.9,209,6286,0.00,2.08,0.00,0.000,4,0.000,0.031,3169,1142,2417
$GC,6476,0.93,228.3,204.1,12.2,213,6480,0.00,2.28,0.00,0.000,6,0.000,0.056,3162,2557,2418
$GC,6739,0.93,228.3,173.6,10.9,236,6743,0.00,2.15,0.00,0.000,4,0.000,0.065,3162,3893,2417
$GC,6785,0.93,228.3,167.7,13.2,240,6789,0.00,2.00,0.00,0.000,6,0.000,0.029,3171,2536,2417
$GC,7055,0.93,228.3,137.6,9.7,265,7058,0.00,2.05,0.00,0.000,4,0.000,0.028,3181,1132,2417
$GC,7193,1.02,300.9,126.9,6.6,277,7262,0.00,2.28,58.30,0.722,6,0.000,0.054,3176,2540,2141
$GC,7516,1.02,300.9,73.3,19.0,307,7520,0.00,2.22,0.00,0.000,4,0.000,0.070,3176,3896,2135
$GC,7770,1.02,300.9,13.5,26.0,336,7778,0.00,2.03,0.00,0.000,6,0.000,0.029,3184,2553,2134
$STATE,7816,end climb,SURFACE_DEPTH_REACHED
$STATE,7816,begin surface coast
$FINISH,0.1,1.023969
$STATE,7828,end surface coast,CONTROL_FINISHED_OK
$STATE,7828,begin surface
$SM_CCo,7848,28.73,0.601,0,0,1939,350.04
$SM_GC,2.61,0.00,0.00,28.73,0.000,0.000,0.601,50,2543,1939,-8.75,-0.20,350.04
$IRIDIUM_FIX,2239.35,-15802.37,130400,202008
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.9,55.508
$10V_AH,10.7,32.167
$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,22.475,91.725,374.125,28.725,0.000,27.745,34.591,252.589,0.250,0.000,0.000,15.675,754.954,5237.455,418.932,1380.060,514.294,33.341,1036.812,0.000,1368.716,0.000,0.543,0.000
$DEVICE_MAMPS,263.848,105.846,1049.256,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,234.116,530.639,547.446,108.812,451.822,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28955,346
$CAP_FILE_SIZE,73056,0
$CFSIZE,260165632,244326400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,190111,000954,2248.941,-15804.543,45,0.9,64,10.1