version: 66.04
glider: 512
mission: 1
dive: 824
start: 2 27 111 16 31 28
data:
$ID,512
$MISSION,1
$DIVE,824
$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,-23635.4
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,162337,2253.309,-15803.551,28,1.8,29,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-80.5
$GPS2,163036,2253.338,-15803.516,10,2.0,26,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,0.066
$KALMAN_X,-262469.4,-24.6,230.3,275189.1,-1768.0
$KALMAN_Y,-555716.7,637.0,335.4,690049.9,-3846.0
$MHEAD_RNG_PITCHd_Wd,64.9,13679,-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,-45.22,0.000,2,0.000,0.000,54,2674,2753
$GC,69,-0.85,-146.0,3.1,-4.1,6,108,12.50,1.98,-19.05,0.000,4,0.270,0.072,2578,3860,3634
$GC,124,-0.85,-146.0,15.6,-25.9,13,132,0.00,1.85,0.00,0.000,6,0.000,0.024,2585,2622,3635
$GC,397,-0.85,-146.0,83.4,-24.8,43,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2616,3636
$GC,661,-0.85,-146.0,140.3,-19.9,68,665,0.00,2.05,0.00,0.000,4,0.000,0.062,2577,3864,3637
$GC,690,-0.85,-146.0,146.4,-19.6,70,699,0.00,1.83,0.00,0.000,6,0.000,0.024,2584,2637,3637
$GC,954,-0.85,-146.0,192.4,-18.1,95,957,0.00,2.05,0.00,0.000,4,0.000,0.027,2594,1234,3638
$GC,1033,-0.85,-146.0,203.5,-11.7,100,1037,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2622,3639
$GC,1286,-0.85,-146.0,240.7,-15.2,106,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2623,3639
$GC,1528,-0.85,-146.0,275.5,-14.2,112,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2623,3639
$GC,1773,-0.85,-146.0,308.3,-13.0,118,1777,0.00,2.08,0.00,0.000,4,0.000,0.026,2598,1225,3639
$GC,1848,-0.85,-146.0,316.7,-9.3,119,1852,0.00,2.28,0.00,0.000,6,0.000,0.051,2589,2651,3639
$GC,2106,-0.85,-146.0,346.8,-12.1,126,2110,0.00,2.00,0.00,0.000,4,0.000,0.061,2579,3903,3639
$GC,2135,-0.85,-146.0,350.9,-13.1,126,2138,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2628,3639
$GC,2397,-0.85,-146.0,381.9,-11.7,133,2401,0.00,2.03,0.00,0.000,4,0.000,0.026,2597,1236,3638
$GC,2438,-0.85,-146.0,386.1,-9.1,133,2444,0.00,2.22,0.00,0.000,6,0.000,0.051,2589,2636,3638
$GC,2690,-0.85,-146.0,411.7,-10.2,140,2694,0.00,2.03,0.00,0.000,4,0.000,0.062,2578,3892,3636
$GC,2731,-0.85,-146.0,415.7,-9.6,140,2737,0.00,1.85,0.00,0.000,6,0.000,0.024,2586,2640,3636
$GC,2982,-0.85,-146.0,440.7,-10.3,147,2986,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1242,3635
$GC,3040,-0.85,-146.0,446.1,-8.2,148,3044,0.00,2.25,0.00,0.000,6,0.000,0.053,2589,2649,3635
$GC,3314,-0.85,-146.0,473.1,-10.2,155,3318,0.00,2.03,0.00,0.000,4,0.000,0.064,2579,3897,3633
$GC,3354,-0.85,-146.0,477.7,-10.5,155,3362,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2641,3632
$GC,3606,-0.85,-146.0,503.9,-10.6,162,3610,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1244,3631
$GC,3647,-0.85,-146.0,508.1,-9.4,162,3653,0.00,2.25,0.00,0.000,6,0.000,0.055,2589,2639,3631
$GC,3899,-0.85,-146.0,533.7,-10.5,169,3902,0.00,2.05,0.00,0.000,4,0.000,0.067,2579,3889,3629
$GC,3956,-0.85,-146.0,540.1,-10.4,170,3960,0.00,1.83,0.00,0.000,6,0.000,0.025,2586,2642,3629
$GC,4236,-0.85,-146.0,568.1,-10.1,177,4239,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1233,3627
$GC,4271,-0.85,-146.0,571.4,-8.8,177,4275,0.00,2.28,0.00,0.000,6,0.000,0.052,2589,2650,3627
$GC,4529,-0.85,-146.0,594.9,-9.2,184,4532,0.00,2.03,0.00,0.000,4,0.000,0.064,2579,3893,3625
$GC,4558,-0.85,-146.0,597.9,-10.0,184,4562,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2631,3625
$STATE,4614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4614,begin apogee
$GC,4625,-0.32,0.0,603.2,9.1,186,4752,0.60,0.00,123.40,1.056,6,0.148,0.000,2763,2505,3040
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4757,0.85,146.0,608.9,0.0,189,4895,1.12,2.20,130.65,1.050,4,0.086,0.028,3156,1093,2443
$GC,5064,0.85,146.0,581.7,21.2,196,5068,0.00,2.25,0.00,0.000,6,0.000,0.047,3150,2502,2436
$GC,5349,0.85,146.0,523.7,19.4,203,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2503,2432
$GC,5593,0.85,146.0,477.6,18.7,209,5596,0.00,2.10,0.00,0.000,4,0.000,0.030,3159,1084,2430
$GC,5605,0.85,146.0,475.1,18.9,209,5609,0.00,2.25,0.00,0.000,6,0.000,0.049,3159,2498,2430
$GC,5880,0.85,146.0,425.3,17.9,216,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2499,2428
$GC,6122,0.85,146.0,384.4,17.2,222,6126,0.00,2.10,0.00,0.000,4,0.000,0.031,3168,1094,2426
$GC,6292,0.85,146.0,356.4,15.5,225,6296,0.00,2.28,0.00,0.000,6,0.000,0.052,3162,2504,2426
$GC,6545,0.85,146.0,318.5,15.1,231,6549,0.00,2.10,0.00,0.000,4,0.000,0.030,3171,1093,2426
$GC,6720,0.85,146.0,295.1,13.0,234,6726,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2508,2425
$GC,6973,0.85,146.0,262.6,12.2,241,6976,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1093,2424
$GC,7233,0.85,146.0,232.3,11.3,246,7237,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2505,2424
$GC,7485,0.85,146.0,204.9,10.9,252,7488,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1079,2424
$GC,7744,0.89,171.4,181.0,8.5,269,7771,0.00,2.22,19.75,0.746,6,0.000,0.041,3163,2508,2341
$GC,8031,0.89,171.4,144.6,13.7,295,8034,0.00,2.10,0.00,0.000,4,0.000,0.027,3171,1085,2338
$GC,8193,0.89,171.4,123.1,12.4,309,8200,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2497,2337
$GC,8457,0.89,171.4,93.0,10.0,334,8461,0.00,2.25,0.00,0.000,4,0.000,0.054,3162,3906,2337
$GC,8624,0.89,171.4,76.1,9.9,348,8628,0.00,2.10,0.00,0.000,6,0.000,0.026,3171,2485,2336
$GC,8895,0.89,171.4,48.9,10.4,373,8899,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3906,2336
$GC,8927,0.89,171.4,45.6,11.1,375,8931,0.00,2.08,0.00,0.000,6,0.000,0.025,3172,2493,2336
$GC,9198,0.90,178.7,20.4,9.3,409,9214,0.00,2.28,7.75,0.531,4,0.000,0.048,3162,3893,2311
$STATE,9336,end climb,SURFACE_DEPTH_REACHED
$STATE,9336,begin surface coast
$FINISH,0.5,1.024004
$STATE,9363,end surface coast,CONTROL_FINISHED_OK
$STATE,9363,begin surface
$SM_CCo,9390,97.60,0.589,0,0,1613,350.04
$SM_GC,1.77,0.00,0.00,97.60,0.000,0.000,0.589,51,2618,1613,-8.81,-0.62,350.04
$IRIDIUM_FIX,2246.36,-15803.66,230500,141404
$TT8_MAMPS,0.023777
$HUMID,1825
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.5,108.232
$10V_AH,10.6,62.920
$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,23.150,96.450,281.550,97.600,0.000,29.897,47.658,180.884,0.250,0.000,0.000,26.911,912.935,6203.950,445.781,1716.892,631.985,33.368,1130.297,0.000,1699.174,0.000,0.543,0.000
$DEVICE_MAMPS,269.984,72.098,1056.159,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,296.120,707.826,732.855,168.325,694.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35195,438
$CAP_FILE_SIZE,81225,0
$CFSIZE,260165632,228827136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,270211,191051,2253.215,-15802.896,9,5.0,28,10.1