version: 66.04
glider: 512
mission: 1
dive: 804
start: 2 25 111 12 1 31
data:
$ID,512
$MISSION,1
$DIVE,804
$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,-23180.539
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2640
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3080
$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
$GPS1,115236,2243.800,-15801.396,33,1.3,38,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.3
$GPS2,120038,2243.763,-15801.399,16,1.4,16,10.0
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.157,0.202
$KALMAN_X,-259369.3,671.2,-175.7,275438.0,1453.6
$KALMAN_Y,-520181.6,-120.0,47.1,637855.1,-1417.4
$MHEAD_RNG_PITCHd_Wd,312.1,6589,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.22,0.000,2,0.000,0.000,46,2649,2798
$GC,73,-0.85,-146.0,3.0,-4.2,6,114,11.55,2.08,-18.35,0.000,4,0.245,0.077,2574,3889,3678
$GC,247,-0.85,-146.0,43.5,-22.5,29,250,0.00,1.83,0.00,0.000,6,0.000,0.025,2576,2653,3679
$GC,516,-0.85,-146.0,116.1,-24.3,54,519,0.00,2.10,0.00,0.000,4,0.000,0.028,2586,1219,3680
$GC,563,-0.85,-146.0,126.5,-19.3,58,568,0.00,2.33,0.00,0.000,6,0.000,0.061,2576,2638,3680
$GC,828,-0.85,-146.0,181.6,-21.1,82,832,0.00,2.08,0.00,0.000,4,0.000,0.070,2566,3906,3681
$GC,900,-0.85,-146.0,194.7,-16.9,88,904,0.00,1.88,0.00,0.000,6,0.000,0.023,2574,2633,3681
$GC,1178,-0.85,-146.0,244.5,-18.5,97,1181,0.00,2.05,0.00,0.000,4,0.000,0.028,2584,1234,3682
$GC,1225,-0.85,-146.0,251.4,-12.7,98,1229,0.00,2.28,0.00,0.000,6,0.000,0.058,2576,2647,3682
$GC,1509,-0.85,-146.0,295.5,-15.9,105,1513,0.00,2.05,0.00,0.000,4,0.000,0.069,2565,3902,3682
$GC,1544,-0.85,-146.0,301.3,-15.7,105,1548,0.00,1.85,0.00,0.000,6,0.000,0.024,2573,2631,3682
$GC,1802,-0.85,-146.0,339.1,-14.9,112,1805,0.00,2.05,0.00,0.000,4,0.000,0.028,2583,1230,3682
$GC,1849,-0.85,-146.0,345.5,-11.5,113,1853,0.00,2.30,0.00,0.000,6,0.000,0.061,2574,2648,3682
$GC,2134,-0.85,-146.0,384.6,-14.1,120,2138,0.00,2.05,0.00,0.000,4,0.000,0.071,2564,3893,3681
$GC,2197,-0.85,-146.0,393.5,-13.5,121,2201,0.00,1.83,0.00,0.000,6,0.000,0.024,2572,2637,3680
$GC,2471,-0.85,-146.0,430.8,-13.7,128,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2630,3679
$GC,2715,-0.85,-146.0,462.0,-12.6,134,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2630,3678
$GC,2958,-0.85,-146.0,490.3,-11.4,140,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2630,3676
$GC,3204,-0.85,-146.0,518.0,-11.4,146,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2631,3675
$GC,3446,-0.85,-146.0,546.4,-11.9,152,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2630,3672
$GC,3690,-0.85,-146.0,576.3,-12.1,158,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2630,3670
$STATE,3888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3888,begin apogee
$GC,3898,-0.32,0.0,600.3,11.7,163,4026,0.65,0.00,124.18,1.039,6,0.154,0.000,2760,2521,3080
$STATE,4026,end apogee,CONTROL_FINISHED_OK
$STATE,4027,begin climb
$GC,4031,0.85,146.0,606.5,0.0,166,4168,1.10,2.17,129.02,1.017,4,0.076,0.031,3157,1116,2483
$GC,4364,0.85,146.0,576.4,18.2,173,4368,0.00,2.25,0.00,0.000,6,0.000,0.048,3150,2526,2476
$GC,4621,0.85,146.0,526.2,19.0,180,4625,0.00,2.10,0.00,0.000,4,0.000,0.030,3159,1112,2471
$GC,4729,0.85,146.0,507.6,17.0,182,4733,0.00,2.25,0.00,0.000,6,0.000,0.050,3158,2525,2471
$GC,4997,0.85,146.0,463.8,16.4,189,5001,0.00,2.10,0.00,0.000,4,0.000,0.029,3168,1114,2469
$GC,5027,0.85,146.0,459.2,15.8,189,5031,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2527,2469
$GC,5285,0.85,146.0,418.9,15.9,196,5289,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1111,2467
$GC,5377,0.85,146.0,405.2,13.4,198,5381,0.00,2.22,0.00,0.000,6,0.000,0.046,3163,2528,2467
$GC,5662,0.85,146.0,362.9,14.7,205,5666,0.00,2.20,0.00,0.000,4,0.000,0.057,3162,3900,2465
$GC,5921,0.85,146.0,322.2,16.0,210,5925,0.00,2.05,0.00,0.000,6,0.000,0.027,3171,2516,2463
$GC,6179,0.85,146.0,289.3,12.5,217,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2509,2463
$GC,6422,0.85,146.0,260.3,11.4,223,6426,0.00,2.08,0.00,0.000,4,0.000,0.028,3181,1104,2462
$GC,6535,0.85,146.0,246.9,10.4,225,6540,0.12,2.22,0.00,0.000,6,0.236,0.044,3152,2528,2462
$GC,6798,0.85,146.0,220.3,9.9,232,6801,0.00,2.10,0.00,0.000,4,0.000,0.027,3161,1113,2462
$GC,6873,0.90,180.9,214.7,8.1,233,6907,0.00,2.22,27.83,0.779,6,0.000,0.044,3161,2530,2342
$GC,7168,0.90,180.9,174.7,15.1,251,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2530,2337
$GC,7432,0.90,180.9,141.9,11.2,276,7436,0.00,2.17,0.00,0.000,4,0.000,0.053,3161,3902,2336
$GC,7637,0.90,180.9,117.8,11.3,294,7641,0.00,2.05,0.00,0.000,6,0.000,0.025,3171,2508,2335
$GC,7909,0.90,180.9,92.0,10.0,319,7912,0.00,2.05,0.00,0.000,4,0.000,0.027,3181,1096,2335
$GC,8034,0.92,199.3,79.3,8.8,330,8062,0.00,2.20,16.45,0.637,6,0.000,0.039,3176,2523,2267
$GC,8322,0.92,199.3,43.3,13.1,356,8326,0.00,2.10,0.00,0.000,4,0.000,0.027,3184,1112,2264
$GC,8446,0.92,199.3,28.9,10.0,368,8455,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2519,2264
$STATE,8649,end climb,SURFACE_DEPTH_REACHED
$STATE,8649,begin surface coast
$FINISH,0.4,1.023887
$STATE,8672,end surface coast,CONTROL_FINISHED_OK
$STATE,8672,begin surface
$SM_CCo,8697,84.65,0.586,0,0,1652,350.04
$SM_GC,1.17,0.00,0.00,84.65,0.000,0.000,0.586,47,2676,1652,-8.82,1.02,350.04
$IRIDIUM_FIX,2237.01,-15803.24,210500,090938
$TT8_MAMPS,0.023777
$HUMID,1821
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.5,105.956
$10V_AH,10.7,61.149
$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,22.275,72.175,297.475,84.650,0.000,28.973,39.636,260.789,0.250,0.000,0.000,16.829,847.667,5766.550,422.211,1567.012,663.505,33.363,1043.020,0.000,1559.992,0.000,0.544,0.000
$DEVICE_MAMPS,245.440,76.700,1038.518,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,277.114,656.554,674.895,154.420,636.025,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35207,409
$CAP_FILE_SIZE,72722,0
$CFSIZE,260165632,229662720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,250211,142906,2244.263,-15802.134,27,1.4,28,10.1