version: 66.04
glider: 512
mission: 1
dive: 747
start: 2 18 111 18 43 49
data:
$ID,512
$MISSION,1
$DIVE,747
$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,-22034.525
$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,55
$R_STBD_OVSHOOT,31
$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
$GPS1,183625,2255.338,-15800.035,39,1.8,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.2
$GPS2,184256,2255.354,-15800.011,12,1.8,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,-0.010
$KALMAN_X,-224766.1,309.4,287.6,243106.4,-3129.2
$KALMAN_Y,-501435.2,-100.7,233.4,640367.5,93.5
$MHEAD_RNG_PITCHd_Wd,82.1,8427,-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,-45.22,0.000,2,0.000,0.000,40,2706,2954
$GC,69,-0.85,-146.0,3.6,-5.7,6,102,10.88,1.98,-16.20,0.000,4,0.228,0.073,2582,3882,3798
$GC,238,-0.85,-146.0,41.3,-14.9,28,242,0.00,1.75,0.00,0.000,6,0.000,0.025,2589,2699,3800
$GC,509,-0.85,-146.0,103.8,-24.2,53,513,0.00,2.12,0.00,0.000,4,0.000,0.034,2591,1281,3801
$GC,637,-0.85,-146.0,128.2,-14.1,64,645,0.00,2.33,0.00,0.000,6,0.000,0.063,2581,2675,3802
$GC,900,-0.85,-146.0,182.2,-19.2,89,904,0.00,2.03,0.00,0.000,4,0.000,0.071,2571,3908,3803
$GC,983,-0.85,-146.0,194.9,-12.0,96,987,0.00,1.80,0.00,0.000,6,0.000,0.024,2571,2677,3803
$GC,1273,-0.85,-146.0,246.8,-18.0,106,1276,0.00,2.05,0.00,0.000,4,0.000,0.029,2571,1286,3804
$GC,1358,-0.85,-146.0,259.2,-11.5,107,1365,0.12,2.30,0.00,0.000,6,0.135,0.063,2597,2692,3805
$GC,1611,-0.85,-146.0,288.5,-11.6,114,1614,0.00,1.98,0.00,0.000,4,0.000,0.069,2589,3899,3805
$GC,1658,-0.85,-146.0,293.6,-8.5,115,1662,0.00,1.77,0.00,0.000,6,0.000,0.023,2589,2676,3805
$GC,1949,-0.85,-146.0,324.9,-11.0,122,1953,0.00,2.05,0.00,0.000,4,0.000,0.030,2589,1292,3805
$GC,2017,-0.85,-146.0,332.0,-9.0,123,2021,0.00,2.30,0.00,0.000,6,0.000,0.063,2589,2704,3805
$GC,2279,-0.85,-146.0,362.5,-12.1,130,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2704,3804
$GC,2526,-0.85,-146.0,391.8,-12.0,136,2529,0.00,2.12,0.00,0.000,4,0.000,0.029,2594,1291,3803
$GC,2583,-0.85,-146.0,398.5,-9.9,137,2587,0.00,2.25,0.00,0.000,6,0.000,0.057,2586,2682,3804
$GC,2856,-0.85,-146.0,428.9,-11.4,144,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2682,3802
$GC,3101,-0.85,-146.0,455.1,-10.6,150,3104,0.00,2.08,0.00,0.000,4,0.000,0.030,2593,1293,3801
$GC,3130,-0.85,-146.0,458.3,-10.7,150,3134,0.00,2.28,0.00,0.000,6,0.000,0.057,2585,2700,3801
$GC,3392,-0.85,-146.0,482.6,-9.2,157,3396,0.00,2.10,0.00,0.000,4,0.000,0.030,2593,1296,3799
$GC,3439,-0.85,-146.0,486.3,-6.9,158,3443,0.00,2.25,0.00,0.000,6,0.000,0.056,2584,2689,3798
$GC,3724,-0.85,-146.0,512.0,-9.4,165,3728,0.00,2.03,0.00,0.000,4,0.000,0.076,2575,3902,3795
$GC,3747,-0.85,-146.0,514.4,-9.6,165,3751,0.00,1.77,0.00,0.000,6,0.000,0.025,2579,2695,3795
$GC,4016,-0.85,-146.0,538.3,-9.0,172,4020,0.00,2.10,0.00,0.000,4,0.000,0.030,2589,1279,3794
$GC,4073,-0.85,-146.0,543.0,-7.4,173,4077,0.00,2.33,0.00,0.000,6,0.000,0.062,2581,2696,3794
$GC,4348,-0.85,-146.0,567.2,-9.0,180,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2696,3791
$GC,4592,-0.85,-146.0,590.5,-9.8,186,4595,0.00,2.12,0.00,0.000,4,0.000,0.030,2589,1280,3789
$GC,4632,-0.85,-146.0,594.6,-9.3,186,4638,0.00,2.33,0.00,0.000,6,0.000,0.061,2580,2701,3789
$STATE,4717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4717,begin apogee
$GC,4727,-0.32,0.0,603.0,9.5,189,4853,0.62,0.00,123.15,1.048,6,0.133,0.000,2770,2538,3200
$STATE,4854,end apogee,CONTROL_FINISHED_OK
$STATE,4854,begin climb
$GC,4858,0.85,146.0,610.3,0.0,192,4994,1.15,2.28,128.23,1.023,4,0.091,0.036,3162,1139,2604
$GC,5027,0.96,234.7,622.7,5.7,196,5112,0.00,2.30,78.30,1.012,6,0.000,0.056,3162,2541,2242
$GC,5380,0.96,234.7,532.8,28.1,205,5384,0.00,2.15,0.00,0.000,4,0.000,0.037,3170,1129,2233
$GC,5520,0.96,234.7,494.9,25.5,208,5524,0.00,2.28,0.00,0.000,6,0.000,0.051,3162,2551,2230
$GC,5799,0.96,234.7,423.4,25.0,215,5803,0.00,2.15,0.00,0.000,4,0.000,0.034,3171,1123,2229
$GC,5856,0.96,234.7,409.5,24.4,216,5860,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2544,2228
$GC,6130,0.96,234.7,343.7,24.0,223,6134,0.00,2.17,0.00,0.000,4,0.000,0.058,3163,3901,2226
$GC,6193,0.96,234.7,327.0,27.2,224,6197,0.00,2.08,0.00,0.000,6,0.000,0.029,3171,2508,2225
$GC,6468,0.96,234.7,263.9,20.7,231,6471,0.00,2.25,0.00,0.000,4,0.000,0.051,3163,3905,2225
$GC,6519,0.96,234.7,252.6,22.1,232,6523,0.00,2.05,0.00,0.000,6,0.000,0.027,3171,2539,2224
$GC,6804,0.96,234.7,194.3,20.4,239,6808,0.00,2.10,0.00,0.000,4,0.000,0.031,3182,1122,2224
$GC,7047,0.96,234.7,151.4,14.8,260,7055,0.00,2.25,0.00,0.000,6,0.000,0.044,3175,2542,2223
$GC,7313,0.96,234.7,114.8,13.3,285,7317,0.00,2.17,0.00,0.000,4,0.000,0.056,3176,3899,2223
$GC,7570,0.96,234.7,74.3,17.9,308,7575,0.00,2.03,0.00,0.000,6,0.000,0.025,3184,2523,2222
$GC,7841,0.96,234.7,31.8,15.5,333,7845,0.00,2.17,0.00,0.000,4,0.000,0.048,3176,3894,2222
$STATE,8001,end climb,SURFACE_DEPTH_REACHED
$STATE,8004,begin surface coast
$FINISH,0.4,1.023811
$STATE,8022,end surface coast,CONTROL_FINISHED_OK
$STATE,8022,begin surface
$SM_CCo,8047,66.25,0.594,0,0,1772,350.04
$SM_GC,2.66,0.00,0.00,66.25,0.000,0.000,0.594,43,2657,1772,-8.85,-0.93,350.04
$IRIDIUM_FIX,2246.36,-15803.66,140500,151556
$TT8_MAMPS,0.023777
$HUMID,1849
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,98.771
$10V_AH,10.6,56.070
$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,21.150,84.925,329.675,66.250,0.000,22.885,47.011,179.569,0.000,0.000,0.000,12.309,783.513,5314.520,442.554,1410.046,558.801,33.374,1023.623,0.000,1408.120,0.000,0.542,0.000
$DEVICE_MAMPS,227.799,75.933,1047.722,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,247.026,571.088,587.412,133.056,549.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28894,365
$CAP_FILE_SIZE,70384,0
$CFSIZE,260165632,232136704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,180211,210022,2255.262,-15759.301,14,6.3,34,10.1