version: 66.04
glider: 512
mission: 1
dive: 839
start: 3 1 111 12 37 3
data:
$ID,512
$MISSION,1
$DIVE,839
$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,-24009.646
$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,61
$R_STBD_OVSHOOT,31
$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
$GPS1,122706,2255.841,-15800.405,37,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.9
$GPS2,123608,2255.828,-15800.506,13,1.3,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.255,-0.026
$KALMAN_X,-294117.1,287.2,-83.8,312006.0,-3127.9
$KALMAN_Y,-575003.9,287.8,102.1,714552.6,-3112.7
$MHEAD_RNG_PITCHd_Wd,85.7,9568,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.70,0.000,2,0.000,0.000,51,2656,2995
$GC,77,-0.85,-146.0,3.4,-5.5,7,110,11.68,2.15,-12.15,0.000,4,0.248,0.044,2603,1257,3636
$GC,152,-0.85,-146.0,27.1,-27.1,18,161,0.00,2.35,0.00,0.000,6,0.000,0.076,2594,2621,3638
$GC,425,-0.85,-146.0,95.8,-23.6,44,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2621,3639
$GC,680,-0.85,-146.0,148.9,-18.2,68,683,0.00,2.15,0.00,0.000,4,0.000,0.076,2584,3910,3640
$GC,697,-0.85,-146.0,152.7,-18.2,69,705,0.00,1.88,0.00,0.000,6,0.000,0.024,2591,2647,3640
$GC,962,-0.85,-146.0,199.9,-18.2,94,966,0.00,2.08,0.00,0.000,4,0.000,0.030,2601,1236,3641
$GC,991,-0.85,-146.0,205.4,-17.0,95,995,0.00,2.38,0.00,0.000,6,0.000,0.072,2592,2644,3640
$GC,1248,-0.85,-146.0,243.9,-15.0,102,1252,0.00,2.10,0.00,0.000,4,0.000,0.078,2582,3901,3641
$GC,1283,-0.85,-146.0,249.1,-14.6,102,1286,0.00,1.85,0.00,0.000,6,0.000,0.024,2590,2628,3641
$GC,1540,-0.85,-146.0,281.4,-12.6,109,1543,0.00,2.05,0.00,0.000,4,0.000,0.030,2599,1234,3641
$GC,1564,-0.85,-146.0,284.3,-11.7,109,1568,0.00,2.33,0.00,0.000,6,0.000,0.063,2590,2656,3641
$GC,1827,-0.85,-146.0,315.8,-12.4,116,1831,0.00,2.08,0.00,0.000,4,0.000,0.077,2581,3902,3641
$GC,1862,-0.85,-146.0,320.5,-12.5,116,1866,0.00,1.85,0.00,0.000,6,0.000,0.024,2588,2633,3640
$GC,2119,-0.85,-146.0,350.8,-12.0,123,2123,0.00,2.08,0.00,0.000,4,0.000,0.032,2599,1234,3640
$GC,2160,-0.85,-146.0,355.5,-10.7,123,2166,0.00,2.30,0.00,0.000,6,0.000,0.063,2589,2637,3640
$GC,2412,-0.85,-146.0,384.4,-11.8,130,2415,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1235,3638
$GC,2454,-0.85,-146.0,388.9,-9.9,130,2461,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2637,3637
$GC,2705,-0.85,-146.0,415.1,-10.4,137,2709,0.00,2.10,0.00,0.000,4,0.000,0.031,2597,1235,3636
$GC,2741,-0.85,-146.0,418.6,-9.6,137,2745,0.00,2.33,0.00,0.000,6,0.000,0.064,2589,2648,3636
$GC,2994,-0.85,-146.0,444.4,-10.6,143,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3634
$GC,3236,-0.85,-146.0,472.2,-11.4,149,3240,0.00,2.10,0.00,0.000,4,0.000,0.077,2579,3897,3632
$GC,3260,-0.85,-146.0,475.1,-12.0,149,3263,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2638,3632
$GC,3530,-0.85,-146.0,503.2,-10.4,156,3533,0.00,2.10,0.00,0.000,4,0.000,0.034,2597,1234,3630
$GC,3564,-0.85,-146.0,507.1,-10.2,156,3569,0.00,2.33,0.00,0.000,6,0.000,0.065,2589,2642,3630
$GC,3816,-0.85,-146.0,531.7,-10.1,162,3820,0.00,2.12,0.00,0.000,4,0.000,0.033,2597,1234,3628
$GC,3857,-0.85,-146.0,535.6,-8.9,162,3863,0.00,2.35,0.00,0.000,6,0.000,0.068,2589,2642,3628
$GC,4109,-0.85,-146.0,560.8,-10.1,169,4113,0.00,2.12,0.00,0.000,4,0.000,0.081,2580,3893,3626
$GC,4144,-0.85,-146.0,564.7,-11.1,169,4148,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2641,3625
$GC,4403,-0.85,-146.0,591.2,-10.3,176,4406,0.00,2.10,0.00,0.000,4,0.000,0.034,2587,1247,3624
$GC,4443,-0.85,-146.0,595.5,-10.0,176,4449,0.00,2.33,0.00,0.000,6,0.000,0.067,2578,2640,3624
$STATE,4487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4487,begin apogee
$GC,4498,-0.32,0.0,600.6,10.5,178,4625,0.68,0.00,123.32,1.070,6,0.153,0.000,2772,2502,3040
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4630,0.85,146.0,607.7,0.0,181,4777,1.08,2.40,133.20,1.038,4,0.071,0.067,3150,3886,2443
$GC,5039,0.85,146.0,556.9,22.9,190,5042,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2458,2434
$GC,5320,0.85,146.0,494.2,21.5,197,5324,0.00,2.33,0.00,0.000,4,0.000,0.054,3150,3898,2431
$GC,5428,0.85,146.0,471.5,19.0,199,5432,0.00,2.12,0.00,0.000,6,0.000,0.028,3159,2472,2431
$GC,5697,0.85,146.0,423.0,17.8,206,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2466,2428
$GC,5941,0.85,146.0,382.3,16.4,212,5945,0.00,2.08,0.00,0.000,4,0.000,0.028,3169,1058,2426
$GC,6089,0.85,146.0,358.5,15.5,215,6093,0.00,2.25,0.00,0.000,6,0.000,0.045,3163,2485,2426
$GC,6363,0.85,146.0,314.4,16.6,222,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2486,2425
$GC,6606,0.85,146.0,277.7,14.7,228,6610,0.00,2.25,0.00,0.000,4,0.000,0.055,3163,3898,2424
$GC,6765,0.85,146.0,257.5,9.9,231,6769,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2467,2424
$GC,7034,0.93,204.7,236.5,7.0,238,7090,0.00,2.40,49.17,0.827,4,0.000,0.051,3163,3899,2204
$GC,7193,0.93,204.7,208.8,23.7,241,7197,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2487,2201
$GC,7462,0.93,204.7,151.6,20.9,263,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2482,2197
$GC,7726,0.93,204.7,101.7,18.0,288,7730,0.00,2.30,0.00,0.000,4,0.000,0.051,3172,3906,2196
$GC,7969,0.93,204.7,57.4,17.4,309,7977,0.00,2.17,0.00,0.000,6,0.000,0.025,3181,2462,2196
$GC,8239,0.93,204.7,16.6,14.2,343,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2461,2196
$STATE,8321,end climb,SURFACE_DEPTH_REACHED
$STATE,8321,begin surface coast
$FINISH,0.3,1.023757
$STATE,8344,end surface coast,CONTROL_FINISHED_OK
$STATE,8344,begin surface
$SM_CCo,8369,77.28,0.613,0,0,1612,350.04
$SM_GC,1.17,0.00,0.00,77.28,0.000,0.000,0.613,47,2683,1612,-8.86,1.22,350.04
$IRIDIUM_FIX,2248.70,-15758.45,250500,090951
$TT8_MAMPS,0.023777
$HUMID,1902
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,110.557
$10V_AH,10.6,64.395
$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,22.200,86.925,305.700,77.275,0.000,26.830,39.111,325.004,0.000,0.000,0.000,14.045,775.228,5652.392,452.730,1380.497,733.573,33.370,1045.254,0.000,1374.612,0.000,0.543,0.000
$DEVICE_MAMPS,247.741,80.535,1069.965,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,244.604,548.664,564.937,128.123,524.821,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28809,362
$CAP_FILE_SIZE,72645,0
$CFSIZE,260165632,228200448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,010311,145850,2255.129,-15759.995,13,1.7,14,10.1