version: 66.04
glider: 512
mission: 1
dive: 840
start: 3 1 111 15 8 35
data:
$ID,512
$MISSION,1
$DIVE,840
$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,-24023.053
$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,53
$R_STBD_OVSHOOT,44
$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
$GPS1,145850,2255.129,-15759.995,13,1.7,14,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.2
$GPS2,150738,2255.161,-15800.044,12,1.7,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,0.007
$KALMAN_X,-296900.4,347.6,288.0,315152.2,-4380.4
$KALMAN_Y,-576379.4,586.7,356.4,714124.5,-3384.9
$MHEAD_RNG_PITCHd_Wd,78.4,8341,-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,-45.20,0.000,2,0.000,0.000,47,2683,2749
$GC,69,-0.85,-146.0,3.0,-3.8,6,109,11.48,2.20,-18.88,0.000,4,0.243,0.041,2599,1239,3638
$GC,172,-0.85,-146.0,26.8,-19.9,22,181,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2608,3639
$GC,445,-0.85,-146.0,96.5,-24.8,48,449,0.00,2.10,0.00,0.000,4,0.000,0.065,2578,3902,3640
$GC,506,-0.85,-146.0,109.4,-19.3,53,509,0.00,1.85,0.00,0.000,6,0.000,0.023,2586,2627,3640
$GC,775,-0.85,-146.0,164.0,-19.2,78,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2620,3641
$GC,1066,-0.85,-146.0,215.1,-16.5,100,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2620,3643
$GC,1312,-0.85,-146.0,254.8,-15.9,106,1315,0.00,2.12,0.00,0.000,4,0.000,0.066,2577,3905,3643
$GC,1352,-0.85,-146.0,260.3,-11.4,106,1358,0.00,1.85,0.00,0.000,6,0.000,0.023,2581,2636,3643
$GC,1605,-0.85,-146.0,291.9,-12.7,113,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2629,3644
$GC,1847,-0.85,-146.0,324.1,-13.3,119,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2629,3644
$GC,2091,-0.85,-146.0,356.6,-13.2,125,2095,0.00,2.10,0.00,0.000,4,0.000,0.066,2572,3902,3643
$GC,2121,-0.85,-146.0,360.6,-12.5,125,2125,0.00,1.85,0.00,0.000,6,0.000,0.025,2580,2630,3643
$GC,2384,-0.85,-146.0,391.0,-11.6,132,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2622,3641
$GC,2629,-0.85,-146.0,418.2,-11.3,138,2633,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,1232,3639
$GC,2664,-0.85,-146.0,422.1,-9.7,138,2668,0.00,2.33,0.00,0.000,6,0.000,0.057,2578,2661,3640
$GC,2921,-0.85,-146.0,451.0,-11.5,145,2925,0.00,2.03,0.00,0.000,4,0.000,0.068,2568,3896,3638
$GC,2945,-0.85,-146.0,454.0,-12.4,145,2949,0.10,1.85,0.00,0.000,6,0.168,0.026,2598,2623,3637
$GC,3213,-0.85,-146.0,480.4,-9.8,152,3216,0.00,2.03,0.00,0.000,4,0.000,0.028,2608,1241,3636
$GC,3242,-0.85,-146.0,483.2,-8.8,152,3246,0.00,2.25,0.00,0.000,6,0.000,0.054,2599,2642,3636
$GC,3500,-0.85,-146.0,505.6,-8.8,159,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2642,3634
$GC,3744,-0.85,-146.0,527.3,-8.9,165,3747,0.00,2.08,0.00,0.000,4,0.000,0.029,2607,1247,3632
$GC,3773,-0.85,-146.0,530.1,-9.2,165,3777,0.00,2.28,0.00,0.000,6,0.000,0.057,2599,2642,3632
$GC,4031,-0.85,-146.0,551.9,-8.5,172,4035,0.00,2.08,0.00,0.000,4,0.000,0.072,2588,3890,3630
$GC,4071,-0.85,-146.0,555.6,-8.5,172,4078,0.00,1.85,0.00,0.000,6,0.000,0.027,2595,2650,3630
$GC,4323,-0.85,-146.0,576.4,-8.3,179,4327,0.00,2.10,0.00,0.000,4,0.000,0.029,2606,1232,3628
$GC,4371,-0.85,-146.0,580.2,-7.6,180,4375,0.00,2.28,0.00,0.000,6,0.000,0.053,2597,2642,3627
$STATE,4613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4613,begin apogee
$GC,4624,-0.32,0.0,600.7,8.5,186,4752,0.60,0.00,124.15,1.071,6,0.143,0.000,2773,2510,3040
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4757,0.85,146.0,606.7,0.0,189,4896,1.10,2.35,131.55,1.044,4,0.077,0.061,3150,3892,2445
$GC,5033,0.85,146.0,580.8,26.1,195,5037,0.00,2.17,0.00,0.000,6,0.000,0.027,3159,2450,2437
$GC,5296,0.85,146.0,524.7,20.7,202,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2442,2434
$GC,5539,0.85,146.0,477.3,18.6,208,5543,0.00,2.05,0.00,0.000,4,0.000,0.029,3170,1057,2432
$GC,5558,0.85,146.0,474.2,17.7,208,5562,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2486,2432
$GC,5826,0.85,146.0,428.2,17.0,215,5830,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1054,2430
$GC,5849,0.85,146.0,424.1,17.1,215,5853,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2489,2429
$GC,6111,0.85,146.0,380.1,16.9,222,6115,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1062,2428
$GC,6254,0.85,146.0,355.5,15.5,225,6258,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2483,2427
$GC,6533,0.85,146.0,311.4,15.5,232,6537,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1062,2426
$GC,6562,0.85,146.0,306.9,15.7,232,6567,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2481,2426
$GC,6820,0.85,146.0,269.8,14.1,239,6824,0.00,2.25,0.00,0.000,4,0.000,0.053,3162,3898,2426
$GC,6878,0.85,146.0,263.0,11.9,240,6882,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2464,2425
$GC,7158,0.91,189.0,238.2,7.7,247,7202,0.00,0.00,37.58,0.787,6,0.000,0.000,3172,2459,2269
$GC,7445,0.91,189.0,195.1,18.1,254,7449,0.00,2.30,0.00,0.000,4,0.000,0.048,3163,3902,2263
$GC,7581,0.91,189.0,168.1,19.9,265,7589,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2485,2263
$GC,7845,0.91,189.0,123.8,15.2,290,7849,0.00,2.25,0.00,0.000,4,0.000,0.048,3163,3897,2261
$GC,8037,0.91,189.0,96.6,15.0,306,8046,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2476,2261
$GC,8303,0.91,189.0,61.8,11.8,331,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2476,2261
$GC,8568,0.91,189.0,28.1,12.3,357,8576,0.00,2.08,0.00,0.000,4,0.000,0.027,3183,1074,2261
$GC,8586,0.91,189.0,26.0,12.1,359,8594,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2475,2261
$STATE,8769,end climb,SURFACE_DEPTH_REACHED
$STATE,8769,begin surface coast
$FINISH,0.4,1.002462
$STATE,8792,end surface coast,CONTROL_FINISHED_OK
$STATE,8792,begin surface
$SM_CCo,8817,88.07,0.595,0,0,1612,350.04
$SM_GC,1.36,0.00,0.00,88.07,0.000,0.000,0.595,53,2664,1612,-8.84,0.68,350.04
$IRIDIUM_FIX,2246.36,-15801.49,250500,121215
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.5,110.679
$10V_AH,10.7,64.482
$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,22.175,81.300,293.275,88.075,0.000,25.874,38.577,315.708,0.000,0.000,0.000,12.778,808.685,6070.104,455.649,1380.014,727.600,33.364,1024.184,0.000,1376.251,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,72.098,1070.732,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.830,608.985,629.326,144.792,597.120,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32047,396
$CAP_FILE_SIZE,72370,0
$CFSIZE,260165632,228159488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,010311,173824,2254.636,-15759.429,37,1.9,38,10.1