version: 66.04
glider: 512
mission: 1
dive: 841
start: 3 1 111 17 49 2
data:
$ID,512
$MISSION,1
$DIVE,841
$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,-24054
$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,57
$R_STBD_OVSHOOT,29
$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
$GPS1,173824,2254.636,-15759.429,37,1.9,38,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-77.2
$GPS2,174807,2254.634,-15759.452,13,1.7,30,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.255,0.029
$KALMAN_X,-299140.3,350.0,487.2,318198.8,-4749.4
$KALMAN_Y,-577543.0,725.7,478.2,714050.2,-3382.5
$MHEAD_RNG_PITCHd_Wd,73.5,7063,-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,18,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.05,0.000,2,0.000,0.000,53,2663,2755
$GC,70,-0.85,-146.0,3.1,-4.2,6,110,11.73,2.15,-18.70,0.000,4,0.250,0.040,2599,1245,3639
$GC,163,-0.85,-146.0,24.6,-19.5,20,171,0.00,2.28,0.00,0.000,6,0.000,0.060,2589,2618,3640
$GC,433,-0.85,-146.0,91.9,-24.5,47,436,0.00,2.10,0.00,0.000,4,0.000,0.064,2579,3911,3641
$GC,460,-0.85,-146.0,98.7,-23.8,49,464,0.00,1.88,0.00,0.000,6,0.000,0.024,2586,2647,3641
$GC,730,-0.85,-146.0,155.4,-19.1,74,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2642,3642
$GC,984,-0.85,-146.0,198.9,-17.2,98,988,0.00,2.05,0.00,0.000,4,0.000,0.025,2596,1227,3643
$GC,1013,-0.85,-146.0,204.0,-16.6,99,1017,0.00,2.30,0.00,0.000,6,0.000,0.058,2587,2654,3643
$GC,1277,-0.85,-146.0,246.7,-17.1,106,1280,0.00,2.03,0.00,0.000,4,0.000,0.069,2578,3887,3643
$GC,1317,-0.85,-146.0,254.3,-16.3,106,1323,0.00,1.83,0.00,0.000,6,0.000,0.023,2585,2630,3643
$GC,1570,-0.85,-146.0,291.5,-15.1,113,1574,0.00,2.03,0.00,0.000,4,0.000,0.025,2595,1235,3644
$GC,1611,-0.85,-146.0,297.2,-12.0,113,1618,0.00,2.28,0.00,0.000,6,0.000,0.058,2589,2637,3644
$GC,1863,-0.85,-146.0,327.4,-12.0,120,1867,0.00,2.08,0.00,0.000,4,0.000,0.068,2580,3901,3644
$GC,1917,-0.85,-146.0,333.0,-9.6,121,1921,0.00,1.83,0.00,0.000,6,0.000,0.023,2587,2636,3644
$GC,2202,-0.85,-146.0,366.0,-12.0,128,2206,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1229,3643
$GC,2260,-0.85,-146.0,372.2,-9.6,129,2265,0.00,2.28,0.00,0.000,6,0.000,0.053,2589,2646,3642
$GC,2537,-0.85,-146.0,405.4,-12.4,136,2541,0.00,2.03,0.00,0.000,4,0.000,0.065,2579,3893,3640
$GC,2572,-0.85,-146.0,410.2,-11.4,136,2576,0.00,1.85,0.00,0.000,6,0.000,0.025,2588,2644,3640
$GC,2829,-0.85,-146.0,438.0,-10.8,143,2833,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1241,3638
$GC,2877,-0.85,-146.0,442.6,-8.6,144,2881,0.00,2.25,0.00,0.000,6,0.000,0.053,2589,2649,3638
$GC,3163,-0.85,-146.0,471.1,-10.1,151,3167,0.00,2.03,0.00,0.000,4,0.000,0.065,2579,3893,3636
$GC,3204,-0.85,-146.0,475.5,-10.2,151,3210,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2627,3636
$GC,3458,-0.85,-146.0,501.8,-10.7,158,3461,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1232,3634
$GC,3505,-0.85,-146.0,506.9,-9.7,159,3509,0.00,2.25,0.00,0.000,6,0.000,0.054,2589,2639,3634
$GC,3791,-0.85,-146.0,539.5,-11.6,166,3795,0.00,2.08,0.00,0.000,4,0.000,0.069,2579,3895,3631
$GC,3826,-0.85,-146.0,543.8,-11.5,166,3830,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2633,3631
$GC,4083,-0.85,-146.0,569.6,-9.7,173,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2626,3629
$GC,4327,-0.85,-146.0,589.4,-7.9,179,4331,0.00,2.12,0.00,0.000,4,0.000,0.069,2579,3887,3627
$GC,4369,-0.85,-146.0,592.8,-8.0,179,4375,0.00,1.85,0.00,0.000,6,0.000,0.027,2586,2634,3626
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4505,-0.32,0.0,602.5,7.5,183,4632,0.62,0.00,124.05,1.075,6,0.151,0.000,2768,2504,3040
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4637,0.85,146.0,606.8,0.0,186,4776,1.08,2.25,131.18,1.042,4,0.071,0.028,3160,1057,2444
$GC,5018,0.85,146.0,561.3,21.2,194,5022,0.00,2.28,0.00,0.000,6,0.000,0.048,3160,2488,2435
$GC,5270,0.85,146.0,511.2,19.6,200,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2489,2432
$GC,5514,0.85,146.0,466.5,17.7,206,5518,0.00,2.15,0.00,0.000,4,0.000,0.029,3170,1041,2429
$GC,5589,0.85,146.0,453.3,17.2,207,5593,0.00,2.28,0.00,0.000,6,0.000,0.045,3162,2486,2429
$GC,5848,0.85,146.0,408.2,17.4,214,5852,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1047,2426
$GC,5973,0.85,146.0,388.2,15.8,216,5977,0.00,2.28,0.00,0.000,6,0.000,0.046,3163,2490,2426
$GC,6225,0.85,146.0,349.2,15.2,222,6229,0.00,2.25,0.00,0.000,4,0.000,0.054,3162,3897,2425
$GC,6245,0.85,146.0,346.2,14.9,222,6248,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2455,2424
$GC,6519,0.85,146.0,307.8,14.1,229,6522,0.00,2.05,0.00,0.000,4,0.000,0.028,3182,1067,2423
$GC,6531,0.85,146.0,305.9,13.9,229,6535,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2488,2423
$GC,6806,0.85,146.0,269.7,12.4,236,6810,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1064,2423
$GC,6864,0.85,146.0,262.2,11.8,237,6868,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2491,2423
$GC,7138,0.88,163.3,234.1,8.8,244,7162,0.00,2.15,14.57,0.682,4,0.000,0.028,3185,1065,2374
$GC,7233,0.88,163.3,224.8,10.7,246,7237,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2484,2373
$GC,7494,0.88,163.3,191.8,14.0,254,7497,0.00,2.25,0.00,0.000,4,0.000,0.052,3176,3900,2371
$GC,7576,0.88,163.3,179.8,14.1,261,7580,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2467,2371
$GC,7846,0.88,163.3,143.4,13.9,286,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2461,2371
$GC,8112,0.88,163.3,112.3,13.1,311,8116,0.00,2.28,0.00,0.000,4,0.000,0.044,3176,3902,2371
$GC,8166,0.88,163.3,105.2,12.9,315,8170,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2475,2371
$GC,8436,0.95,226.1,84.2,6.8,340,8498,0.00,2.33,54.30,0.683,4,0.000,0.046,3176,3888,2120
$GC,8617,0.95,226.1,53.2,20.4,355,8621,0.00,2.10,0.00,0.000,6,0.000,0.024,3185,2473,2118
$STATE,8865,end climb,SURFACE_DEPTH_REACHED
$STATE,8865,begin surface coast
$FINISH,0.5,1.023699
$STATE,8877,end surface coast,CONTROL_FINISHED_OK
$STATE,8877,begin surface
$SM_CCo,8903,63.47,0.614,0,0,1612,350.04
$SM_GC,1.19,0.00,0.00,63.47,0.000,0.000,0.614,43,2667,1612,-8.87,0.76,350.04
$IRIDIUM_FIX,2244.02,-15759.32,250500,151559
$TT8_MAMPS,0.023777
$HUMID,1890
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,110.804
$10V_AH,10.6,64.570
$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,22.350,97.750,324.100,63.475,0.000,29.233,40.629,345.603,0.000,0.000,0.000,30.319,835.143,6020.169,435.328,1481.361,784.226,33.364,1068.289,0.000,1460.647,0.000,0.543,0.000
$DEVICE_MAMPS,250.042,69.030,1075.334,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.942,607.125,625.124,131.326,538.713,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31931,392
$CAP_FILE_SIZE,78100,0
$CFSIZE,260165632,228110336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,010311,201955,2254.077,-15758.836,39,1.4,40,10.1