version: 66.04
glider: 512
mission: 1
dive: 717
start: 2 15 111 4 51 49
data:
$ID,512
$MISSION,1
$DIVE,717
$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,-21449.973
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$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,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,044107,2251.885,-15755.546,41,0.9,41,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.5
$GPS2,045056,2251.986,-15755.554,14,1.2,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.252,0.051
$KALMAN_X,-199473.7,160.9,332.3,225593.9,-3054.0
$KALMAN_Y,-510556.2,-934.5,-379.9,644713.2,1813.4
$MHEAD_RNG_PITCHd_Wd,68.5,2806,-16.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,67,0.00,0.00,-45.17,0.000,2,0.000,0.000,42,2728,2907
$GC,72,-0.85,-146.0,3.1,-4.8,6,105,11.00,1.95,-17.23,0.000,4,0.232,0.081,2582,3868,3758
$GC,162,-0.85,-146.0,28.2,-23.3,20,170,0.00,1.75,0.00,0.000,6,0.000,0.028,2582,2720,3759
$GC,434,-0.85,-146.0,101.0,-27.7,46,438,0.00,2.15,0.00,0.000,4,0.000,0.037,2582,1295,3760
$GC,507,-0.85,-146.0,118.5,-19.2,52,515,0.00,2.33,0.00,0.000,6,0.000,0.069,2572,2677,3760
$GC,770,-0.85,-146.0,178.9,-21.9,77,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2677,3761
$GC,1040,-0.85,-146.0,231.5,-19.0,91,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2678,3762
$GC,1281,-0.85,-146.0,272.3,-16.0,97,1285,0.00,2.08,0.00,0.000,4,0.000,0.029,2575,1282,3763
$GC,1315,-0.85,-146.0,277.5,-14.0,97,1320,0.12,2.33,0.00,0.000,6,0.155,0.064,2598,2707,3763
$GC,1566,-0.85,-146.0,306.2,-11.3,103,1570,0.00,1.98,0.00,0.000,4,0.000,0.079,2590,3889,3763
$GC,1596,-0.85,-146.0,309.6,-11.3,103,1599,0.00,1.75,0.00,0.000,6,0.000,0.025,2595,2687,3763
$GC,1858,-0.85,-146.0,337.5,-10.9,110,1862,0.00,2.05,0.00,0.000,4,0.000,0.029,2606,1296,3763
$GC,1906,-0.85,-146.0,342.2,-9.4,111,1911,0.00,2.25,0.00,0.000,6,0.000,0.053,2597,2714,3762
$GC,2192,-0.85,-146.0,371.9,-10.6,118,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2715,3761
$GC,2435,-0.85,-146.0,398.5,-11.0,124,2439,0.00,2.12,0.00,0.000,4,0.000,0.030,2605,1289,3760
$GC,2469,-0.85,-146.0,402.4,-11.1,124,2473,0.00,2.28,0.00,0.000,6,0.000,0.059,2596,2703,3760
$GC,2727,-0.85,-146.0,429.3,-10.7,131,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2704,3758
$GC,2970,-0.85,-146.0,453.9,-9.9,137,2974,0.00,2.10,0.00,0.000,4,0.000,0.031,2604,1301,3757
$GC,3010,-0.85,-146.0,457.5,-7.6,137,3016,0.00,2.28,0.00,0.000,6,0.000,0.060,2596,2704,3757
$GC,3262,-0.85,-146.0,480.2,-9.1,144,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2703,3755
$GC,3506,-0.85,-146.0,501.0,-8.6,150,3509,0.00,2.10,0.00,0.000,4,0.000,0.031,2604,1298,3753
$GC,3555,-0.85,-146.0,504.8,-7.4,151,3559,0.00,2.28,0.00,0.000,6,0.000,0.060,2595,2699,3753
$GC,3839,-0.85,-146.0,531.4,-9.5,158,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2700,3750
$GC,4083,-0.85,-146.0,554.1,-9.2,164,4087,0.00,2.12,0.00,0.000,4,0.000,0.033,2603,1295,3749
$GC,4118,-0.85,-146.0,557.1,-8.4,164,4122,0.00,2.30,0.00,0.000,6,0.000,0.059,2594,2710,3748
$GC,4377,-0.85,-146.0,578.9,-8.6,171,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2710,3747
$STATE,4614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4624,-0.32,0.0,600.3,8.8,177,4750,0.60,0.00,123.20,1.047,6,0.148,0.000,2769,2621,3160
$STATE,4751,end apogee,CONTROL_FINISHED_OK
$STATE,4751,begin climb
$GC,4755,0.85,146.0,607.0,0.0,180,4891,1.15,2.30,128.90,1.024,4,0.101,0.044,3157,1206,2564
$GC,4904,1.03,289.3,619.4,3.3,183,5038,0.20,2.40,126.28,1.006,6,0.142,0.061,3200,2636,1980
$GC,5283,1.03,289.3,494.2,37.7,192,5287,0.00,2.17,0.00,0.000,4,0.000,0.041,3211,1238,1972
$GC,5479,1.03,289.3,428.7,31.4,196,5483,0.00,2.22,0.00,0.000,6,0.000,0.051,3205,2632,1968
$GC,5752,1.03,289.3,332.1,35.6,203,5756,0.00,2.15,0.00,0.000,4,0.000,0.038,3214,1231,1966
$GC,5832,1.03,289.3,304.9,31.4,204,5836,0.00,2.25,0.00,0.000,6,0.000,0.055,3206,2629,1965
$GC,6090,1.03,289.3,221.9,33.2,211,6093,0.00,2.12,0.00,0.000,4,0.000,0.035,3214,1230,1964
$GC,6146,1.03,289.3,203.9,30.2,212,6151,0.00,2.25,0.00,0.000,6,0.000,0.053,3206,2638,1964
$GC,6413,1.03,289.3,125.8,27.2,235,6416,0.00,2.15,0.00,0.000,4,0.000,0.033,3214,1216,1963
$GC,6449,1.03,289.3,117.2,21.6,238,6453,0.00,2.25,0.00,0.000,6,0.000,0.054,3214,2626,1962
$GC,6715,1.03,289.3,49.7,27.6,262,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2625,1962
$STATE,6879,end climb,SURFACE_DEPTH_REACHED
$STATE,6879,begin surface coast
$FINISH,0.2,1.002819
$STATE,6891,end surface coast,CONTROL_FINISHED_OK
$STATE,6891,begin surface
$SM_CCo,6915,30.48,0.602,0,0,1732,350.04
$SM_GC,0.90,0.00,0.00,30.48,0.000,0.000,0.602,43,2731,1732,-8.85,0.88,350.04
$IRIDIUM_FIX,2244.02,-15759.32,110500,040410
$TT8_MAMPS,0.024544
$HUMID,1970
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.5,95.131
$10V_AH,10.6,53.426
$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,21.550,60.650,378.375,30.475,0.000,56.041,92.654,233.213,0.000,0.000,0.000,15.024,613.090,4826.154,427.700,1029.962,643.057,33.369,897.064,0.000,1025.260,0.000,0.543,0.000
$DEVICE_MAMPS,231.634,81.302,1046.955,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,195.309,422.735,437.360,95.063,392.730,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22581,289
$CAP_FILE_SIZE,60302,0
$CFSIZE,260165632,233459712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,150211,064832,2251.921,-15754.535,12,1.8,13,10.1