version: 66.04
glider: 512
mission: 1
dive: 745
start: 2 18 111 12 59 21
data:
$ID,512
$MISSION,1
$DIVE,745
$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,-21983.742
$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,2690
$C_ROLL_CLIMB,2540
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,124800,2255.730,-15801.672,36,1.3,42,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-78.8
$GPS2,125826,2255.714,-15801.645,15,1.7,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.255,-0.023
$KALMAN_X,-221680.5,797.4,86.4,236931.0,-3055.2
$KALMAN_Y,-501084.3,-268.3,-334.1,641419.7,241.0
$MHEAD_RNG_PITCHd_Wd,85.1,11256,-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,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,40,2730,2943
$GC,69,-0.85,-146.0,3.2,-4.7,6,102,10.85,1.90,-16.85,0.000,4,0.226,0.070,2581,3875,3799
$GC,144,-0.85,-146.0,26.9,-31.9,17,151,0.00,1.77,0.00,0.000,6,0.000,0.025,2587,2693,3800
$GC,417,-0.85,-146.0,94.1,-24.4,43,420,0.00,2.08,0.00,0.000,4,0.000,0.028,2596,1283,3801
$GC,554,-0.85,-146.0,118.6,-14.2,55,558,0.00,2.22,0.00,0.000,6,0.000,0.057,2590,2662,3801
$GC,819,-0.85,-146.0,164.7,-17.3,79,823,0.00,2.00,0.00,0.000,4,0.000,0.066,2580,3896,3802
$GC,903,-0.85,-146.0,177.8,-11.6,86,910,0.00,1.80,0.00,0.000,6,0.000,0.022,2580,2664,3803
$GC,1170,-0.85,-146.0,221.8,-17.3,103,1174,0.00,2.00,0.00,0.000,4,0.000,0.025,2580,1286,3804
$GC,1250,-0.85,-146.0,233.5,-11.6,104,1254,0.00,2.28,0.00,0.000,6,0.000,0.058,2576,2697,3804
$GC,1509,-0.85,-146.0,274.6,-16.6,111,1512,0.00,2.05,0.00,0.000,4,0.000,0.025,2577,1292,3805
$GC,1545,-0.85,-146.0,280.6,-16.4,111,1549,0.00,2.28,0.00,0.000,6,0.000,0.059,2577,2691,3804
$GC,1798,-0.85,-146.0,316.6,-14.2,117,1801,0.00,2.05,0.00,0.000,4,0.000,0.025,2576,1284,3804
$GC,1849,-0.85,-146.0,323.7,-11.8,118,1854,0.00,2.28,0.00,0.000,6,0.000,0.059,2577,2695,3804
$GC,2129,-0.85,-146.0,358.3,-12.5,125,2132,0.00,2.08,0.00,0.000,4,0.000,0.025,2576,1283,3803
$GC,2163,-0.85,-146.0,362.3,-11.4,125,2167,0.00,2.28,0.00,0.000,6,0.000,0.060,2576,2688,3803
$GC,2416,-0.85,-146.0,389.8,-11.2,131,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2688,3802
$GC,2660,-0.85,-146.0,416.6,-10.9,137,2663,0.00,2.05,0.00,0.000,4,0.000,0.027,2576,1298,3800
$GC,2706,-0.85,-146.0,421.7,-9.8,138,2711,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2698,3800
$GC,2991,-0.85,-146.0,453.6,-11.5,145,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2697,3798
$GC,3237,-0.85,-146.0,481.2,-11.3,151,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2698,3796
$GC,3480,-0.85,-146.0,507.7,-10.9,157,3484,0.00,2.10,0.00,0.000,4,0.000,0.029,2576,1301,3795
$GC,3509,-0.85,-146.0,511.3,-11.3,157,3513,0.00,2.28,0.00,0.000,6,0.000,0.061,2576,2698,3795
$GC,3765,-0.85,-146.0,540.1,-11.6,164,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2698,3793
$GC,4009,-0.85,-146.0,567.1,-10.9,170,4013,0.00,2.10,0.00,0.000,4,0.000,0.029,2576,1295,3790
$GC,4038,-0.85,-146.0,570.3,-10.6,170,4043,0.12,2.28,0.00,0.000,6,0.148,0.061,2600,2687,3790
$GC,4301,-0.85,-146.0,591.6,-7.9,177,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2688,3788
$STATE,4418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4418,begin apogee
$GC,4428,-0.32,0.0,601.0,7.8,180,4554,0.52,0.00,123.10,1.040,6,0.117,0.000,2766,2561,3200
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4559,0.85,146.0,607.6,0.0,183,4696,1.08,2.33,127.57,1.016,4,0.077,0.061,3137,3905,2603
$GC,4955,0.85,146.0,588.1,15.7,192,4959,0.00,2.08,0.00,0.000,6,0.000,0.031,3145,2540,2596
$GC,5246,0.85,146.0,550.8,12.2,199,5249,0.00,2.22,0.00,0.000,4,0.000,0.057,3146,3905,2592
$GC,5339,0.85,146.0,540.0,12.2,201,5342,0.00,2.08,0.00,0.000,6,0.000,0.031,3154,2534,2591
$GC,5632,0.86,148.7,510.8,9.5,208,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2527,2589
$GC,5873,0.86,153.9,487.6,9.4,214,5880,0.00,0.00,5.45,0.743,6,0.000,0.000,3155,2527,2572
$GC,6117,0.86,153.9,464.6,9.6,220,6120,0.00,2.20,0.00,0.000,4,0.000,0.053,3151,3905,2570
$GC,6208,0.86,153.9,454.5,10.8,222,6212,0.00,2.05,0.00,0.000,6,0.000,0.029,3158,2537,2570
$GC,6499,0.90,179.8,429.2,8.5,229,6535,0.00,2.22,26.17,0.877,4,0.000,0.053,3151,3905,2466
$GC,6676,0.90,179.8,404.8,15.1,232,6680,0.00,2.08,0.00,0.000,6,0.000,0.029,3159,2536,2464
$GC,6963,0.90,179.8,365.8,13.7,239,6967,0.00,2.12,0.00,0.000,4,0.000,0.034,3169,1121,2460
$GC,7222,0.90,179.8,332.3,13.2,244,7226,0.00,2.22,0.00,0.000,6,0.000,0.045,3162,2545,2459
$GC,7482,0.90,179.8,301.0,11.9,251,7486,0.00,2.15,0.00,0.000,4,0.000,0.032,3171,1119,2458
$GC,7741,0.94,215.2,277.6,8.0,256,7777,0.00,2.22,31.25,0.834,6,0.000,0.044,3162,2544,2321
$GC,8034,0.94,215.2,232.0,17.2,264,8038,0.00,2.15,0.00,0.000,4,0.000,0.031,3171,1115,2315
$GC,8204,0.94,215.2,207.5,14.0,267,8208,0.00,2.28,0.00,0.000,6,0.000,0.051,3163,2540,2315
$GC,8466,0.94,215.2,169.4,13.5,285,8469,0.00,2.12,0.00,0.000,4,0.000,0.030,3172,1113,2314
$GC,8558,0.94,215.2,156.1,13.2,293,8562,0.00,2.28,0.00,0.000,6,0.000,0.051,3163,2540,2314
$GC,8823,0.94,215.2,125.9,9.7,317,8826,0.00,2.20,0.00,0.000,4,0.000,0.059,3162,3906,2313
$GC,9084,0.99,256.5,103.6,7.8,340,9125,0.00,2.03,35.15,0.673,6,0.000,0.025,3171,2518,2155
$GC,9390,0.99,256.5,55.2,18.2,368,9394,0.00,2.20,0.00,0.000,4,0.000,0.047,3163,3904,2151
$GC,9588,0.99,256.5,16.5,20.9,391,9596,0.00,2.03,0.00,0.000,6,0.000,0.025,3171,2549,2149
$STATE,9649,end climb,SURFACE_DEPTH_REACHED
$STATE,9650,begin surface coast
$FINISH,0.3,1.017278
$STATE,9667,end surface coast,CONTROL_FINISHED_OK
$STATE,9667,begin surface
$SM_CCo,9691,49.75,0.585,0,0,1773,350.04
$SM_GC,2.37,0.00,0.00,49.75,0.000,0.000,0.585,38,2717,1773,-8.86,0.76,350.04
$IRIDIUM_FIX,2248.70,-15800.62,140500,131312
$TT8_MAMPS,0.023777
$HUMID,1837
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.6,98.533
$10V_AH,10.7,55.907
$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,20.875,85.825,348.700,49.750,0.000,56.886,79.286,270.859,0.000,0.000,0.000,15.492,892.414,6631.987,425.553,1667.057,755.293,33.374,1128.909,0.000,1650.355,0.000,0.543,0.000
$DEVICE_MAMPS,226.265,69.797,1040.052,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,274.518,606.606,623.475,128.137,531.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31896,405
$CAP_FILE_SIZE,83932,0
$CFSIZE,260165632,232210432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,180211,154258,2255.562,-15800.938,11,3.3,31,10.1