version: 66.04
glider: 512
mission: 1
dive: 647
start: 2 6 111 21 58 51
data:
$ID,512
$MISSION,1
$DIVE,647
$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,-19978.102
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,215236,2247.014,-15805.169,14,1.9,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.1
$GPS2,215756,2247.051,-15805.139,15,1.9,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.198,-0.163
$KALMAN_X,-188189.0,-393.5,-367.7,199086.1,741.2
$KALMAN_Y,-549286.9,708.9,196.4,672064.8,1954.2
$MHEAD_RNG_PITCHd_Wd,119.4,3653,-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,16,-0.85,-146.0,0.0,0.0,0,71,0.00,0.00,-52.90,0.000,2,0.000,0.000,27,2624,3135
$GC,75,-0.85,-146.0,3.5,-5.2,7,108,10.55,2.12,-11.73,0.000,4,0.222,0.083,2570,3880,3769
$GC,198,-0.85,-146.0,43.8,-22.0,22,202,0.00,1.85,0.00,0.000,6,0.000,0.025,2570,2651,3770
$GC,468,-0.85,-146.0,113.5,-24.7,47,472,0.00,2.08,0.00,0.000,4,0.000,0.028,2572,1238,3771
$GC,507,-0.85,-146.0,123.0,-20.0,50,516,0.00,2.35,0.00,0.000,6,0.000,0.065,2563,2645,3771
$GC,771,-0.85,-146.0,179.4,-21.5,75,774,0.00,2.08,0.00,0.000,4,0.000,0.029,2562,1241,3773
$GC,818,-0.85,-146.0,187.9,-15.7,79,823,0.12,2.35,0.00,0.000,6,0.143,0.071,2584,2661,3773
$GC,1076,-0.85,-146.0,229.0,-16.9,91,1079,0.00,2.05,0.00,0.000,4,0.000,0.079,2577,3891,3774
$GC,1116,-0.85,-146.0,236.0,-15.0,91,1122,0.00,1.83,0.00,0.000,6,0.000,0.025,2577,2644,3774
$GC,1367,-0.85,-146.0,272.7,-14.4,98,1371,0.00,2.08,0.00,0.000,4,0.000,0.031,2577,1248,3774
$GC,1401,-0.85,-146.0,277.4,-12.6,98,1405,0.00,2.33,0.00,0.000,6,0.000,0.069,2576,2656,3774
$GC,1652,-0.85,-146.0,311.0,-14.2,104,1655,0.00,2.10,0.00,0.000,4,0.000,0.029,2576,1244,3775
$GC,1682,-0.85,-146.0,315.0,-13.0,104,1686,0.00,2.35,0.00,0.000,6,0.000,0.073,2576,2654,3774
$GC,1939,-0.85,-146.0,347.1,-12.8,111,1943,0.00,2.08,0.00,0.000,4,0.000,0.080,2576,3895,3774
$GC,2007,-0.85,-146.0,356.0,-11.4,112,2011,0.00,1.85,0.00,0.000,6,0.000,0.025,2576,2648,3774
$GC,2274,-0.85,-146.0,391.3,-13.4,119,2278,0.00,2.08,0.00,0.000,4,0.000,0.032,2576,1248,3774
$GC,2314,-0.85,-146.0,396.6,-11.5,119,2321,0.00,2.33,0.00,0.000,6,0.000,0.069,2576,2654,3773
$GC,2566,-0.85,-146.0,424.6,-11.4,126,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2655,3772
$GC,2809,-0.85,-146.0,454.2,-12.3,132,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2655,3771
$GC,3053,-0.85,-146.0,481.2,-10.8,138,3056,0.00,2.10,0.00,0.000,4,0.000,0.031,2576,1255,3769
$GC,3070,-0.85,-146.0,483.2,-10.9,138,3074,0.00,2.33,0.00,0.000,6,0.000,0.069,2576,2658,3769
$GC,3338,-0.85,-146.0,513.1,-11.6,145,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2658,3767
$GC,3584,-0.85,-146.0,540.6,-11.2,151,3588,0.00,2.10,0.00,0.000,4,0.000,0.082,2576,3903,3765
$GC,3607,-0.85,-146.0,543.6,-11.4,151,3611,0.00,1.85,0.00,0.000,6,0.000,0.028,2576,2653,3765
$GC,3875,-0.85,-146.0,571.3,-10.3,158,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2646,3763
$GC,4119,-0.85,-146.0,594.1,-9.3,164,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2647,3762
$STATE,4199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4199,begin apogee
$GC,4208,-0.32,0.0,601.6,9.2,166,4334,0.57,0.00,123.57,1.067,6,0.118,0.000,2758,2540,3170
$STATE,4335,end apogee,CONTROL_FINISHED_OK
$STATE,4335,begin climb
$GC,4339,0.85,146.0,607.2,0.0,169,4476,1.02,2.35,128.30,1.028,4,0.045,0.064,3150,3891,2572
$GC,4730,0.85,146.0,577.4,17.0,178,4734,0.00,2.00,0.00,0.000,6,0.000,0.028,3158,2559,2566
$GC,5021,0.85,146.0,535.2,13.9,185,5025,0.00,2.17,0.00,0.000,4,0.000,0.056,3159,3901,2561
$GC,5278,0.85,146.0,497.6,14.5,190,5282,0.00,2.03,0.00,0.000,6,0.000,0.029,3168,2547,2560
$GC,5534,0.85,146.0,467.6,11.4,197,5538,0.00,2.10,0.00,0.000,4,0.000,0.031,3178,1141,2558
$GC,5729,0.85,146.0,447.0,12.0,201,5734,0.15,2.25,0.00,0.000,6,0.225,0.051,3144,2558,2558
$GC,6002,0.85,146.0,415.9,11.6,208,6006,0.00,2.12,0.00,0.000,4,0.000,0.052,3138,3910,2555
$GC,6014,0.85,146.0,414.5,11.4,208,6018,0.00,2.03,0.00,0.000,6,0.000,0.027,3146,2543,2556
$GC,6293,0.85,146.0,386.2,9.7,215,6297,0.00,2.08,0.00,0.000,4,0.000,0.030,3157,1131,2554
$GC,6395,0.89,174.9,377.5,8.3,217,6426,0.00,2.25,23.58,0.899,6,0.000,0.048,3151,2549,2455
$GC,6671,0.89,174.9,343.4,13.1,224,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2550,2451
$GC,6915,0.89,174.9,310.3,13.7,230,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2549,2449
$GC,7159,0.89,174.9,275.9,13.9,236,7163,0.00,2.12,0.00,0.000,4,0.000,0.031,3159,1128,2449
$GC,7418,0.89,174.9,241.6,10.6,241,7422,0.00,2.25,0.00,0.000,6,0.000,0.047,3159,2557,2448
$GC,7669,0.89,174.9,214.2,10.8,247,7673,0.00,2.10,0.00,0.000,4,0.000,0.028,3168,1134,2448
$GC,7776,0.89,174.9,202.7,10.2,249,7780,0.00,2.22,0.00,0.000,6,0.000,0.046,3164,2548,2448
$GC,8045,0.89,174.9,174.8,10.5,270,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2548,2448
$GC,8310,0.91,190.8,147.6,8.9,295,8326,0.00,0.00,14.20,0.700,6,0.000,0.000,3163,2548,2392
$GC,8585,0.91,190.8,114.4,10.7,320,8589,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1129,2389
$GC,8846,1.01,272.6,90.4,6.0,343,8924,0.00,2.22,70.57,0.683,6,0.000,0.046,3172,2558,2057
$GC,9184,1.01,272.6,25.8,21.9,375,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2558,2050
$STATE,9276,end climb,SURFACE_DEPTH_REACHED
$STATE,9276,begin surface coast
$FINISH,0.3,1.024042
$STATE,9289,end surface coast,CONTROL_FINISHED_OK
$STATE,9289,begin surface
$SM_CCo,9311,37.85,0.606,0,0,1742,350.04
$SM_GC,1.36,0.00,0.00,37.85,0.000,0.000,0.606,39,2677,1742,-8.83,0.76,350.04
$IRIDIUM_FIX,2237.01,-15803.24,020500,191909
$TT8_MAMPS,0.023777
$HUMID,1873
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.6,85.702
$10V_AH,10.7,47.298
$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,20.650,76.900,360.225,37.850,0.000,27.446,32.785,127.584,0.000,0.000,0.000,18.599,838.499,6393.906,432.665,1519.662,493.568,33.359,1090.961,0.000,1517.766,0.000,0.542,0.000
$DEVICE_MAMPS,225.498,82.836,1066.897,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,266.683,591.379,613.079,122.900,500.496,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31993,394
$CAP_FILE_SIZE,75143,0
$CFSIZE,260165632,236462080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,070211,003636,2246.393,-15804.107,72,1.4,73,10.1