version: 66.04
glider: 512
mission: 1
dive: 436
start: 1 19 111 14 19 41
data:
$ID,512
$MISSION,1
$DIVE,436
$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,160
$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,-14345.626
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,46
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,140732,2248.829,-15804.132,13,1.5,13,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.2
$GPS2,141850,2248.792,-15804.087,14,1.8,14,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.132,0.229
$KALMAN_X,-164017.4,-1406.6,73.8,177286.7,-1894.6
$KALMAN_Y,-395205.0,1870.3,674.9,519543.8,-9822.4
$MHEAD_RNG_PITCHd_Wd,19.9,3803,-16.2,-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,15,-0.84,-155.7,0.0,0.0,0,86,0.00,0.00,-69.05,0.000,2,0.000,0.000,48,2700,3022
$GC,90,-0.84,-155.7,3.4,-5.8,9,130,11.50,2.22,-17.75,0.000,4,0.259,0.042,2575,1242,3963
$GC,261,-0.84,-155.7,47.6,-19.8,29,266,0.00,2.42,0.00,0.000,6,0.000,0.099,2565,2608,3965
$GC,525,-0.84,-155.7,129.2,-30.8,53,529,0.00,2.35,0.00,0.000,4,0.000,0.120,2555,3892,3965
$GC,655,-0.84,-155.7,160.2,-16.5,64,659,0.00,1.85,0.00,0.000,6,0.000,0.027,2562,2651,3966
$GC,918,-0.84,-155.7,218.8,-23.3,83,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2645,3967
$GC,1162,-0.84,-155.7,268.9,-19.6,89,1166,0.00,2.08,0.00,0.000,4,0.000,0.027,2570,1225,3968
$GC,1183,-0.84,-155.7,273.2,-18.9,89,1188,0.00,2.42,0.00,0.000,6,0.000,0.084,2561,2658,3968
$GC,1452,-0.84,-155.7,322.9,-19.7,96,1455,0.00,2.15,0.00,0.000,4,0.000,0.101,2551,3889,3968
$GC,1491,-0.84,-155.7,330.5,-17.5,96,1497,0.00,1.83,0.00,0.000,6,0.000,0.029,2558,2639,3968
$GC,1742,-0.84,-155.7,374.2,-17.9,103,1746,0.00,2.03,0.00,0.000,4,0.000,0.028,2567,1246,3968
$GC,1781,-0.84,-155.7,380.7,-14.1,103,1787,0.00,2.40,0.00,0.000,6,0.000,0.087,2563,2648,3968
$GC,2031,-0.84,-155.7,417.4,-15.1,110,2035,0.00,2.20,0.00,0.000,4,0.000,0.108,2551,3892,3967
$GC,2078,-0.84,-155.7,423.9,-13.3,111,2082,0.00,1.83,0.00,0.000,6,0.000,0.029,2559,2642,3968
$GC,2368,-0.84,-155.7,466.4,-14.9,118,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2636,3966
$GC,2611,-0.84,-155.7,500.0,-13.7,124,2615,0.00,2.28,0.00,0.000,4,0.000,0.110,2550,3892,3965
$GC,2673,-0.84,-155.7,507.9,-11.6,125,2676,0.00,1.83,0.00,0.000,6,0.000,0.031,2557,2649,3964
$GC,2940,-0.84,-155.7,542.3,-13.0,132,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2641,3961
$GC,3183,-0.84,-155.7,573.7,-12.8,138,3187,0.00,2.28,0.00,0.000,4,0.000,0.112,2549,3890,3960
$GC,3217,-0.84,-155.7,578.1,-12.5,138,3223,0.00,1.85,0.00,0.000,6,0.000,0.032,2556,2639,3959
$STATE,3423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3423,begin apogee
$GC,3430,-0.32,0.0,603.9,12.5,144,3554,0.62,0.00,120.60,1.050,6,0.156,0.000,2742,2549,3367
$STATE,3555,end apogee,CONTROL_FINISHED_OK
$STATE,3555,begin climb
$GC,3558,0.84,155.7,610.9,0.0,147,3699,1.12,2.28,132.05,1.028,4,0.094,0.031,3125,1135,2731
$GC,3957,0.89,198.3,615.9,7.8,156,3998,0.00,2.30,36.60,1.013,6,0.000,0.054,3124,2547,2558
$GC,4279,0.89,198.3,567.9,15.7,164,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2547,2550
$GC,4520,0.89,198.3,532.9,14.1,170,4524,0.00,2.10,0.00,0.000,4,0.000,0.032,3133,1141,2548
$GC,4621,0.89,198.3,518.8,13.9,172,4625,0.00,2.30,0.00,0.000,6,0.000,0.058,3133,2555,2548
$GC,4893,0.89,198.3,482.1,13.5,179,4897,0.00,2.17,0.00,0.000,4,0.000,0.064,3133,3898,2545
$GC,5056,0.89,198.3,458.2,14.6,182,5059,0.00,2.03,0.00,0.000,6,0.000,0.031,3143,2534,2545
$GC,5317,0.89,198.3,424.9,12.6,189,5320,0.00,2.22,0.00,0.000,4,0.000,0.057,3137,3910,2543
$GC,5339,0.89,198.3,422.1,12.6,189,5343,0.00,2.03,0.00,0.000,6,0.000,0.029,3146,2541,2542
$GC,5607,0.89,198.3,393.2,10.1,196,5610,0.00,2.22,0.00,0.000,4,0.000,0.062,3147,3906,2542
$GC,5725,0.92,217.4,382.3,8.8,198,5745,0.00,2.00,15.55,0.889,6,0.000,0.031,3155,2546,2480
$GC,6025,0.92,217.4,348.7,11.8,206,6029,0.00,2.08,0.00,0.000,4,0.000,0.031,3165,1149,2475
$GC,6284,0.92,217.4,317.4,11.2,211,6289,0.00,2.25,0.00,0.000,6,0.000,0.053,3163,2556,2475
$GC,6535,0.92,217.4,286.8,12.8,217,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2556,2473
$GC,6778,0.92,217.4,257.1,12.0,223,6782,0.00,2.10,0.00,0.000,4,0.000,0.031,3172,1147,2473
$GC,7025,0.92,220.4,231.2,9.5,228,7029,0.00,2.25,0.00,0.000,6,0.000,0.051,3164,2560,2473
$GC,7292,0.97,261.7,207.4,7.9,235,7335,0.00,2.17,37.85,0.794,4,0.000,0.029,3173,1144,2300
$GC,7341,0.97,261.7,201.7,14.0,236,7345,0.00,2.25,0.00,0.000,6,0.000,0.051,3173,2545,2298
$GC,7611,0.97,261.7,150.6,16.9,259,7615,0.00,2.10,0.00,0.000,4,0.000,0.030,3182,1146,2294
$GC,7867,0.97,261.7,115.7,11.3,282,7871,0.00,2.25,0.00,0.000,6,0.000,0.049,3178,2562,2293
$GC,8129,0.97,261.7,88.1,11.3,306,8133,0.00,2.12,0.00,0.000,4,0.000,0.061,3176,3892,2292
$GC,8364,0.97,261.7,56.3,14.8,327,8367,0.00,1.98,0.00,0.000,6,0.000,0.028,3185,2541,2292
$GC,8629,0.97,261.7,14.7,17.1,360,8637,0.00,2.20,0.00,0.000,4,0.000,0.054,3176,3894,2292
$GC,8677,0.97,261.7,6.0,17.3,368,8686,0.00,2.00,0.00,0.000,6,0.000,0.027,3185,2549,2293
$STATE,8692,end climb,SURFACE_DEPTH_REACHED
$STATE,8692,begin surface coast
$FINISH,0.4,1.023997
$STATE,8710,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8730,52.58,0.607,0,0,1939,350.04
$SM_GC,1.00,0.00,0.00,52.58,0.000,0.000,0.607,47,2690,1939,-8.76,1.13,350.04
$IRIDIUM_FIX,2239.35,-15802.37,140400,141453
$TT8_MAMPS,0.023777
$HUMID,1790
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.9,56.666
$10V_AH,10.7,32.709
$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,22.100,81.650,342.650,52.575,0.000,59.421,73.504,371.040,0.250,0.000,0.000,14.754,812.516,5933.873,441.633,1559.880,724.359,33.344,1112.256,0.000,1547.198,0.000,0.542,0.000
$DEVICE_MAMPS,259.246,120.419,1050.023,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,252.014,557.632,575.284,128.470,528.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31840,373
$CAP_FILE_SIZE,79038,0
$CFSIZE,260165632,244035584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,190111,164737,2249.545,-15803.663,53,1.6,54,10.1