version: 66.04
glider: 512
mission: 1
dive: 838
start: 3 1 111 9 55 41
data:
$ID,512
$MISSION,1
$DIVE,838
$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,-23994.973
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,26
$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
$GPS1,093901,2255.718,-15800.332,42,2.0,43,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.8
$GPS2,095444,2255.656,-15800.551,15,1.5,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.181,0.181
$KALMAN_X,-291775.5,150.2,-122.2,309761.6,-2805.2
$KALMAN_Y,-572497.2,-79.5,-90.9,712290.4,-2012.8
$MHEAD_RNG_PITCHd_Wd,34.8,9498,-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,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.83,0.000,2,0.000,0.000,47,2661,2992
$GC,78,-0.85,-146.0,3.5,-5.7,7,110,11.70,2.15,-12.18,0.000,4,0.247,0.040,2604,1237,3635
$GC,141,-0.85,-146.0,24.8,-34.9,16,149,0.00,2.30,0.00,0.000,6,0.000,0.060,2594,2621,3637
$GC,416,-0.85,-146.0,92.3,-23.4,43,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2622,3637
$GC,680,-0.85,-146.0,148.6,-19.5,68,684,0.00,2.12,0.00,0.000,4,0.000,0.071,2583,3909,3638
$GC,727,-0.85,-146.0,157.2,-17.8,72,730,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2636,3638
$GC,1016,-0.85,-146.0,207.0,-16.4,96,1020,0.00,2.03,0.00,0.000,4,0.000,0.025,2601,1234,3639
$GC,1044,-0.85,-146.0,211.7,-14.6,96,1049,0.00,2.33,0.00,0.000,6,0.000,0.063,2592,2649,3639
$GC,1302,-0.85,-146.0,246.9,-14.0,103,1305,0.00,2.05,0.00,0.000,4,0.000,0.071,2582,3894,3639
$GC,1376,-0.85,-146.0,256.1,-11.1,104,1380,0.00,1.83,0.00,0.000,6,0.000,0.023,2590,2631,3639
$GC,1642,-0.85,-146.0,289.3,-12.8,111,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2624,3639
$GC,1882,-0.85,-146.0,321.8,-13.3,117,1886,0.00,2.10,0.00,0.000,4,0.000,0.067,2581,3894,3639
$GC,1930,-0.85,-146.0,327.9,-12.4,118,1933,0.00,1.85,0.00,0.000,6,0.000,0.023,2589,2636,3638
$GC,2221,-0.85,-146.0,362.0,-11.5,125,2224,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1225,3636
$GC,2263,-0.85,-146.0,366.5,-9.7,125,2270,0.00,2.28,0.00,0.000,6,0.000,0.051,2590,2643,3637
$GC,2515,-0.85,-146.0,393.4,-10.9,132,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3635
$GC,2760,-0.85,-146.0,420.0,-11.0,138,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2644,3634
$GC,3002,-0.85,-146.0,447.4,-11.3,144,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3631
$GC,3246,-0.85,-146.0,474.7,-11.0,150,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2644,3630
$GC,3491,-0.85,-146.0,499.3,-10.1,156,3495,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,1242,3627
$GC,3521,-0.85,-146.0,502.3,-9.1,156,3525,0.00,2.25,0.00,0.000,6,0.000,0.056,2589,2646,3627
$GC,3784,-0.85,-146.0,525.3,-8.9,163,3788,0.00,2.05,0.00,0.000,4,0.000,0.070,2579,3899,3625
$GC,3819,-0.85,-146.0,528.7,-9.4,163,3823,0.00,1.85,0.00,0.000,6,0.000,0.027,2587,2637,3624
$GC,4077,-0.85,-146.0,552.2,-9.2,170,4081,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1226,3623
$GC,4107,-0.85,-146.0,555.0,-8.9,170,4111,0.00,2.28,0.00,0.000,6,0.000,0.055,2590,2641,3622
$GC,4364,-0.85,-146.0,578.2,-9.2,177,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3620
$STATE,4605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4605,begin apogee
$GC,4616,-0.32,0.0,601.1,9.4,183,4741,0.62,0.00,122.43,1.068,6,0.146,0.000,2773,2505,3040
$STATE,4742,end apogee,CONTROL_FINISHED_OK
$STATE,4742,begin climb
$GC,4747,0.85,146.0,606.9,0.0,186,4885,1.08,2.38,131.12,1.053,4,0.067,0.067,3150,3891,2444
$GC,5148,0.85,146.0,551.7,26.2,195,5152,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2462,2434
$GC,5433,0.85,146.0,487.4,21.7,202,5437,0.00,2.30,0.00,0.000,4,0.000,0.051,3150,3900,2431
$GC,5571,0.85,146.0,456.1,21.5,205,5575,0.00,2.12,0.00,0.000,6,0.000,0.028,3159,2472,2430
$GC,5862,0.85,146.0,403.5,18.0,212,5866,0.00,2.28,0.00,0.000,4,0.000,0.053,3151,3895,2427
$GC,5874,0.85,146.0,401.3,16.7,212,5878,0.00,2.10,0.00,0.000,6,0.000,0.027,3160,2481,2427
$GC,6150,0.85,146.0,356.2,16.1,219,6153,0.00,2.10,0.00,0.000,4,0.000,0.029,3170,1055,2426
$GC,6251,0.85,146.0,339.5,15.8,221,6256,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2494,2425
$GC,6525,0.85,146.0,298.4,14.9,228,6529,0.00,2.25,0.00,0.000,4,0.000,0.054,3163,3900,2424
$GC,6555,0.85,146.0,293.9,15.5,228,6559,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2466,2424
$GC,6818,0.85,146.0,259.8,12.0,235,6822,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3889,2423
$GC,6864,0.85,146.0,255.0,10.7,236,6867,0.00,2.10,0.00,0.000,6,0.000,0.025,3172,2468,2423
$GC,7151,0.90,180.2,229.4,8.1,243,7193,0.00,2.30,29.48,0.771,4,0.000,0.049,3163,3893,2304
$GC,7400,0.90,180.2,190.5,18.7,250,7404,0.00,2.10,0.00,0.000,6,0.000,0.026,3172,2478,2302
$GC,7671,0.90,180.2,147.0,16.3,275,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2473,2299
$GC,7935,0.90,180.2,113.3,10.5,300,7939,0.00,2.28,0.00,0.000,4,0.000,0.051,3164,3889,2298
$GC,8193,0.90,180.2,83.7,10.8,322,8201,0.00,2.12,0.00,0.000,6,0.000,0.025,3173,2465,2298
$GC,8458,0.90,180.2,52.9,11.9,347,8462,0.00,2.28,0.00,0.000,4,0.000,0.047,3163,3901,2299
$GC,8712,0.92,201.8,24.1,8.7,375,8737,0.00,2.10,19.40,0.596,6,0.000,0.025,3173,2487,2217
$STATE,8878,end climb,SURFACE_DEPTH_REACHED
$STATE,8878,begin surface coast
$FINISH,0.4,1.023772
$STATE,8898,end surface coast,CONTROL_FINISHED_OK
$STATE,8898,begin surface
$SM_CCo,8924,76.78,0.604,0,0,1613,350.04
$SM_GC,1.38,0.00,0.00,76.78,0.000,0.000,0.604,52,2655,1613,-8.84,0.42,350.04
$IRIDIUM_FIX,2244.02,-15801.49,250500,090939
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.5,110.433
$10V_AH,10.6,64.313
$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,22.300,77.550,302.425,76.775,0.000,83.045,103.665,472.991,0.250,0.000,0.000,15.775,851.243,6105.103,425.849,1545.871,1022.258,33.368,1054.861,0.000,1542.594,0.000,0.545,0.000
$DEVICE_MAMPS,246.974,71.331,1067.664,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.406,640.850,662.232,152.174,621.415,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35098,407
$CAP_FILE_SIZE,79619,0
$CFSIZE,260165632,228229120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,1
$GPS,010311,122706,2255.841,-15800.405,37,1.1,38,10.1