version: 66.04
glider: 512
mission: 1
dive: 643
start: 2 6 111 13 24 58
data:
$ID,512
$MISSION,1
$DIVE,643
$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,-19909.668
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2865
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3170
$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
$GPS1,131906,2248.384,-15804.207,10,1.6,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.1
$GPS2,132402,2248.393,-15804.190,15,1.8,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.234,-0.030
$KALMAN_X,-187480.8,-756.9,-76.5,200078.7,4965.9
$KALMAN_Y,-553186.9,39.6,232.4,679069.0,-2186.8
$MHEAD_RNG_PITCHd_Wd,252.5,3284,-18.6,-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,16,-0.90,-122.1,0.0,0.0,0,64,0.00,0.00,-45.28,0.000,2,0.000,0.000,31,2681,2879
$GC,68,-0.92,-146.0,3.1,-4.7,6,108,10.68,2.17,-18.85,0.000,4,0.230,0.040,2564,1249,3768
$GC,192,-0.92,-146.0,32.0,-18.6,26,196,0.00,2.28,0.00,0.000,6,0.000,0.064,2555,2631,3770
$GC,455,-0.92,-146.0,107.0,-25.2,50,459,0.00,2.08,0.00,0.000,4,0.000,0.068,2545,3906,3771
$GC,501,-0.92,-146.0,119.6,-25.7,54,505,0.00,1.83,0.00,0.000,6,0.000,0.025,2546,2649,3771
$GC,771,-0.92,-146.0,188.2,-24.7,79,775,0.00,2.05,0.00,0.000,4,0.000,0.027,2547,1243,3773
$GC,831,-0.92,-146.0,201.2,-18.3,84,835,0.00,2.30,0.00,0.000,6,0.000,0.063,2538,2654,3774
$GC,1105,-0.92,-146.0,258.0,-21.3,91,1109,0.12,2.00,0.00,0.000,4,0.176,0.064,2559,3895,3775
$GC,1144,-0.92,-146.0,266.2,-17.9,91,1150,0.00,1.83,0.00,0.000,6,0.000,0.025,2561,2635,3775
$GC,1396,-0.92,-146.0,306.1,-16.2,98,1399,0.00,2.03,0.00,0.000,4,0.000,0.027,2561,1251,3774
$GC,1435,-0.92,-146.0,312.3,-13.7,98,1441,0.00,2.28,0.00,0.000,6,0.000,0.058,2552,2663,3775
$GC,1686,-0.92,-146.0,352.9,-16.8,105,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2664,3774
$GC,1931,-0.92,-146.0,391.2,-15.8,111,1934,0.00,2.10,0.00,0.000,4,0.000,0.028,2552,1239,3774
$GC,1948,-0.92,-146.0,394.4,-15.8,111,1952,0.00,2.30,0.00,0.000,6,0.000,0.061,2542,2658,3774
$GC,2215,-0.92,-146.0,437.7,-16.5,118,2219,0.00,2.03,0.00,0.000,4,0.000,0.072,2533,3889,3773
$GC,2307,-0.92,-146.0,452.1,-13.6,120,2311,0.12,1.80,0.00,0.000,6,0.149,0.026,2565,2644,3772
$GC,2597,-0.92,-146.0,488.7,-12.5,127,2601,0.00,2.08,0.00,0.000,4,0.000,0.028,2566,1226,3771
$GC,2643,-0.92,-146.0,494.4,-10.9,128,2647,0.00,2.35,0.00,0.000,6,0.000,0.067,2563,2646,3771
$GC,2927,-0.92,-146.0,529.9,-12.6,135,2931,0.00,2.08,0.00,0.000,4,0.000,0.077,2553,3893,3769
$GC,2978,-0.92,-146.0,535.6,-10.2,136,2982,0.00,1.83,0.00,0.000,6,0.000,0.026,2553,2642,3768
$GC,3263,-0.92,-146.0,569.2,-12.2,143,3266,0.00,2.05,0.00,0.000,4,0.000,0.031,2553,1263,3767
$GC,3285,-0.92,-146.0,572.6,-13.8,143,3290,0.00,2.30,0.00,0.000,6,0.000,0.067,2542,2659,3766
$STATE,3505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3505,begin apogee
$GC,3514,-0.32,0.0,604.3,14.8,149,3642,0.70,0.00,124.82,1.072,6,0.131,0.000,2757,2546,3170
$STATE,3642,end apogee,CONTROL_FINISHED_OK
$STATE,3643,begin climb
$GC,3647,0.92,146.0,612.3,0.0,152,3783,1.10,2.25,127.82,1.048,4,0.051,0.032,3181,1146,2574
$GC,4045,0.92,146.0,591.0,15.5,161,4049,0.00,2.22,0.00,0.000,6,0.000,0.046,3178,2557,2566
$GC,4335,0.92,146.0,544.1,16.1,168,4339,0.00,2.12,0.00,0.000,4,0.000,0.031,3187,1146,2563
$GC,4571,0.92,146.0,508.3,14.1,173,4575,0.00,2.22,0.00,0.000,6,0.000,0.049,3187,2559,2562
$GC,4844,0.92,146.0,470.3,13.8,180,4848,0.00,2.15,0.00,0.000,4,0.000,0.031,3197,1133,2560
$GC,4917,0.92,146.0,461.8,10.2,181,4921,0.00,2.22,0.00,0.000,6,0.000,0.048,3192,2550,2559
$GC,5174,0.92,146.0,433.4,11.1,188,5178,0.00,2.15,0.00,0.000,4,0.000,0.055,3192,3905,2558
$GC,5433,0.94,155.9,406.9,9.1,193,5446,0.15,2.03,7.00,0.783,6,0.257,0.028,3172,2529,2534
$GC,5690,0.94,155.9,379.2,11.5,200,5693,0.00,2.17,0.00,0.000,4,0.000,0.051,3163,3897,2532
$GC,5712,0.94,155.9,376.3,11.8,200,5716,0.00,2.00,0.00,0.000,6,0.000,0.028,3172,2554,2532
$GC,5980,0.94,155.9,343.0,12.5,207,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2548,2531
$GC,6224,0.94,155.9,316.0,10.7,213,6227,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1138,2531
$GC,6454,0.98,187.3,298.7,7.9,218,6491,0.00,2.22,28.45,0.848,6,0.000,0.050,3177,2548,2408
$GC,6735,0.98,187.3,261.3,14.6,225,6739,0.00,2.12,0.00,0.000,4,0.000,0.030,3185,1132,2402
$GC,6752,0.98,187.3,258.4,15.6,225,6756,0.00,2.25,0.00,0.000,6,0.000,0.051,3177,2549,2403
$GC,7026,0.98,187.3,216.2,15.8,232,7029,0.00,2.10,0.00,0.000,4,0.000,0.030,3185,1134,2401
$GC,7037,0.98,187.3,214.1,15.8,232,7042,0.00,2.22,0.00,0.000,6,0.000,0.050,3177,2553,2401
$GC,7304,0.98,187.3,181.0,12.3,249,7307,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1140,2401
$GC,7331,0.98,187.3,177.9,11.2,251,7338,0.00,2.22,0.00,0.000,6,0.000,0.044,3177,2548,2400
$GC,7594,0.98,187.3,148.6,11.3,276,7598,0.00,2.12,0.00,0.000,4,0.000,0.052,3176,3897,2401
$GC,7609,0.98,187.3,147.0,10.8,277,7613,0.00,2.00,0.00,0.000,6,0.000,0.026,3184,2540,2400
$GC,7878,0.98,187.3,115.2,11.7,302,7882,0.00,2.15,0.00,0.000,4,0.000,0.048,3178,3893,2399
$GC,8136,1.05,249.5,88.2,6.3,325,8197,0.00,1.98,53.50,0.679,6,0.000,0.025,3187,2538,2152
$GC,8453,1.05,249.5,30.3,21.1,354,8457,0.00,2.17,0.00,0.000,4,0.000,0.052,3187,3892,2147
$STATE,8564,end climb,SURFACE_DEPTH_REACHED
$STATE,8564,begin surface coast
$FINISH,0.3,1.024077
$STATE,8576,end surface coast,CONTROL_FINISHED_OK
$STATE,8576,begin surface
$SM_CCo,8600,46.95,0.606,0,0,1742,350.04
$SM_GC,1.92,0.00,0.00,46.95,0.000,0.000,0.606,43,2647,1742,-8.82,-0.08,350.04
$IRIDIUM_FIX,2241.69,-15804.53,020500,121214
$TT8_MAMPS,0.023777
$HUMID,1866
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.70
$XPDR_PINGS,2
$24V_AH,23.6,85.274
$10V_AH,10.7,47.002
$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,21.175,93.075,341.600,46.950,0.000,23.597,37.858,112.678,0.500,0.000,0.000,15.166,820.762,5734.616,421.207,1528.686,452.509,33.348,1080.356,0.000,1512.033,0.000,0.543,0.000
$DEVICE_MAMPS,256.945,76.700,1072.266,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,254.539,573.279,591.197,122.519,500.477,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32089,376
$CAP_FILE_SIZE,75610,0
$CFSIZE,260165632,236613632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,060211,155030,2247.994,-15805.047,41,1.3,42,10.1