version: 66.04
glider: 512
mission: 1
dive: 821
start: 2 27 111 8 46 7
data:
$ID,512
$MISSION,1
$DIVE,821
$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,-23576.271
$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,57
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,083850,2252.091,-15802.896,12,1.8,19,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.7
$GPS2,084515,2252.144,-15802.906,16,2.1,35,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.120,0.226
$KALMAN_X,-261385.4,294.2,-30.7,275093.4,-976.3
$KALMAN_Y,-552277.4,1022.9,271.3,684081.4,-4065.9
$MHEAD_RNG_PITCHd_Wd,322.0,5089,-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,16,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,2,0.000,0.000,46,2654,2774
$GC,69,-0.85,-146.0,3.1,-4.1,6,109,12.45,2.08,-18.65,0.000,4,0.268,0.081,2576,3876,3660
$GC,280,-0.85,-146.0,48.6,-17.1,33,284,0.00,1.83,0.00,0.000,6,0.000,0.024,2582,2652,3661
$GC,550,-0.85,-146.0,113.1,-24.7,58,553,0.00,2.08,0.00,0.000,4,0.000,0.028,2592,1233,3662
$GC,632,-0.85,-146.0,128.7,-14.6,65,636,0.00,2.28,0.00,0.000,6,0.000,0.058,2583,2629,3662
$GC,896,-0.85,-146.0,179.8,-20.0,89,900,0.00,2.05,0.00,0.000,4,0.000,0.025,2589,1218,3664
$GC,936,-0.85,-146.0,187.6,-16.8,92,942,0.00,2.33,0.00,0.000,6,0.000,0.054,2579,2647,3664
$GC,1221,-0.85,-146.0,239.1,-18.0,105,1225,0.00,2.08,0.00,0.000,4,0.000,0.025,2586,1228,3665
$GC,1256,-0.85,-146.0,244.9,-14.8,105,1261,0.00,2.28,0.00,0.000,6,0.000,0.055,2577,2642,3665
$GC,1509,-0.85,-146.0,285.0,-16.6,111,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2642,3665
$GC,1752,-0.85,-146.0,322.2,-15.0,117,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2642,3666
$GC,1995,-0.85,-146.0,356.9,-14.1,123,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2642,3665
$GC,2241,-0.85,-146.0,388.6,-12.9,129,2245,0.00,2.08,0.00,0.000,4,0.000,0.027,2585,1229,3664
$GC,2276,-0.85,-146.0,393.1,-10.8,129,2280,0.00,2.25,0.00,0.000,6,0.000,0.049,2576,2646,3664
$GC,2536,-0.85,-146.0,422.8,-11.9,136,2539,0.00,2.03,0.00,0.000,4,0.000,0.061,2566,3904,3662
$GC,2571,-0.85,-146.0,427.3,-11.4,136,2575,0.00,1.88,0.00,0.000,6,0.000,0.025,2574,2637,3662
$GC,2828,-0.85,-146.0,457.2,-11.8,143,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2631,3660
$GC,3072,-0.85,-146.0,484.7,-11.3,149,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2631,3659
$GC,3315,-0.85,-146.0,510.1,-10.5,155,3319,0.00,2.10,0.00,0.000,4,0.000,0.067,2566,3895,3656
$GC,3344,-0.85,-146.0,513.5,-11.1,155,3348,0.00,1.85,0.00,0.000,6,0.000,0.025,2573,2629,3656
$GC,3608,-0.85,-146.0,541.6,-11.0,162,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2622,3655
$GC,3851,-0.85,-146.0,569.6,-11.5,168,3854,0.00,2.10,0.00,0.000,4,0.000,0.066,2565,3889,3653
$GC,3887,-0.85,-146.0,573.9,-12.0,168,3891,0.00,1.85,0.00,0.000,6,0.000,0.026,2573,2631,3652
$STATE,4140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4140,begin apogee
$GC,4150,-0.32,0.0,604.1,11.6,175,4278,0.65,0.00,124.75,1.071,6,0.155,0.000,2761,2519,3060
$STATE,4279,end apogee,CONTROL_FINISHED_OK
$STATE,4279,begin climb
$GC,4284,0.85,146.0,610.7,0.0,178,4430,1.15,2.33,132.20,1.045,4,0.086,0.055,3148,3893,2463
$GC,4575,0.85,146.0,588.0,21.7,185,4579,0.00,2.05,0.00,0.000,6,0.000,0.026,3158,2524,2456
$GC,4855,0.85,146.0,529.9,20.4,192,4859,0.00,2.22,0.00,0.000,4,0.000,0.051,3150,3900,2451
$GC,4923,0.85,146.0,515.1,20.1,193,4927,0.00,2.05,0.00,0.000,6,0.000,0.026,3159,2518,2451
$GC,5192,0.85,146.0,467.5,17.2,200,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2512,2450
$GC,5439,0.85,146.0,426.6,16.6,206,5442,0.00,2.22,0.00,0.000,4,0.000,0.050,3151,3904,2448
$GC,5496,0.85,146.0,416.3,17.1,207,5500,0.00,2.08,0.00,0.000,6,0.000,0.028,3158,2517,2447
$GC,5775,0.85,146.0,372.5,15.3,214,5779,0.00,2.10,0.00,0.000,4,0.000,0.029,3169,1095,2446
$GC,5844,0.85,146.0,361.9,14.5,215,5848,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2524,2447
$GC,6113,0.85,146.0,322.6,14.2,222,6116,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1104,2445
$GC,6142,0.85,146.0,318.1,14.3,222,6146,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2525,2445
$GC,6405,0.85,146.0,282.0,13.0,229,6409,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1092,2444
$GC,6664,0.85,146.0,255.1,10.1,234,6669,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2519,2443
$GC,6916,0.88,168.8,232.8,8.6,240,6940,0.00,2.30,17.62,0.788,4,0.000,0.057,3162,3902,2370
$GC,7200,0.88,168.8,193.7,15.9,247,7203,0.00,2.08,0.00,0.000,6,0.000,0.028,3171,2514,2369
$GC,7469,0.88,168.8,159.2,12.0,272,7473,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1094,2367
$GC,7518,0.88,168.8,153.7,10.8,276,7522,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2520,2367
$GC,7782,0.88,168.8,122.7,12.9,300,7785,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1092,2367
$GC,7907,0.88,168.8,109.7,10.6,311,7912,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2522,2367
$GC,8173,0.88,168.8,85.6,10.4,335,8176,0.00,2.20,0.00,0.000,4,0.000,0.054,3176,3901,2367
$GC,8213,0.89,176.9,81.6,9.3,338,8226,0.00,2.10,8.25,0.591,6,0.000,0.026,3185,2493,2338
$GC,8491,0.89,176.9,55.1,10.3,363,8495,0.00,2.00,0.00,0.000,4,0.000,0.026,3195,1123,2338
$GC,8507,0.89,176.9,52.9,10.2,364,8512,0.15,2.20,0.00,0.000,6,0.234,0.043,3161,2526,2337
$GC,8776,0.90,179.0,25.0,9.5,392,8785,0.00,2.08,0.00,0.000,4,0.000,0.025,3170,1127,2337
$GC,8800,0.90,179.0,22.6,9.9,395,8808,0.00,2.20,0.00,0.000,6,0.000,0.040,3162,2521,2337
$STATE,9002,end climb,SURFACE_DEPTH_REACHED
$STATE,9003,begin surface coast
$FINISH,0.5,1.024090
$STATE,9036,end surface coast,CONTROL_FINISHED_OK
$STATE,9036,begin surface
$SM_CCo,9062,99.68,0.591,0,0,1632,350.04
$SM_GC,1.83,0.00,0.00,99.68,0.000,0.000,0.591,46,2659,1632,-8.83,0.54,350.04
$IRIDIUM_FIX,2244.02,-15801.49,230500,060623
$TT8_MAMPS,0.023777
$HUMID,1810
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.5,107.895
$10V_AH,10.7,62.657
$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,23.450,85.200,282.825,99.675,0.000,22.828,34.704,153.000,0.000,0.000,0.000,36.102,898.375,5989.366,437.459,1652.904,571.875,33.368,1066.970,0.000,1629.563,0.000,0.542,0.000
$DEVICE_MAMPS,267.683,81.302,1071.499,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,296.999,724.019,745.695,178.024,729.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35148,438
$CAP_FILE_SIZE,75594,0
$CFSIZE,260165632,228954112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,1
$GPS,270211,112007,2252.896,-15803.779,32,1.7,33,10.1