version: 66.04
glider: 512
mission: 1
dive: 842
start: 3 1 111 20 29 52
data:
$ID,512
$MISSION,1
$DIVE,842
$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,-24067.854
$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,51
$R_STBD_OVSHOOT,43
$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
$GPS1,201955,2254.077,-15758.836,39,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.4
$GPS2,202855,2254.043,-15758.867,13,1.6,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.249,0.061
$KALMAN_X,-301031.3,365.4,373.6,321192.8,-4548.9
$KALMAN_Y,-578745.9,765.2,332.4,714268.9,-3519.0
$MHEAD_RNG_PITCHd_Wd,66.2,5833,-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,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.70,0.000,2,0.000,0.000,42,2666,2999
$GC,77,-0.85,-146.0,3.2,-4.3,7,109,11.88,2.17,-12.30,0.000,4,0.252,0.039,2608,1224,3638
$GC,162,-0.85,-146.0,28.4,-21.5,20,171,0.00,2.33,0.00,0.000,6,0.000,0.064,2599,2612,3640
$GC,428,-0.85,-146.0,89.6,-22.0,45,431,0.00,2.12,0.00,0.000,4,0.000,0.070,2588,3899,3641
$GC,509,-0.85,-146.0,104.4,-13.8,52,513,0.00,1.85,0.00,0.000,6,0.000,0.023,2596,2629,3641
$GC,780,-0.85,-146.0,149.5,-16.4,77,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2622,3642
$GC,1046,-0.85,-146.0,191.8,-14.7,102,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2622,3643
$GC,1311,-0.85,-146.0,234.8,-16.4,113,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2622,3643
$GC,1554,-0.85,-146.0,269.4,-13.5,119,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2622,3644
$GC,1797,-0.85,-146.0,299.5,-12.3,125,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2622,3643
$GC,2042,-0.85,-146.0,327.5,-11.6,131,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2622,3643
$GC,2285,-0.85,-146.0,355.3,-11.3,137,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2622,3642
$GC,2529,-0.85,-146.0,380.7,-10.3,143,2533,0.00,2.12,0.00,0.000,4,0.000,0.067,2587,3897,3641
$GC,2576,-0.85,-146.0,385.6,-9.9,144,2580,0.00,1.88,0.00,0.000,6,0.000,0.025,2595,2634,3640
$GC,2868,-0.85,-146.0,417.0,-11.0,151,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2626,3639
$GC,3112,-0.85,-146.0,442.5,-10.4,157,3116,0.00,2.05,0.00,0.000,4,0.000,0.028,2605,1242,3637
$GC,3142,-0.85,-146.0,445.7,-9.6,157,3146,0.00,2.28,0.00,0.000,6,0.000,0.054,2597,2649,3637
$GC,3405,-0.85,-146.0,471.8,-10.2,164,3409,0.00,2.05,0.00,0.000,4,0.000,0.067,2586,3897,3636
$GC,3452,-0.85,-146.0,476.8,-10.2,165,3456,0.00,1.85,0.00,0.000,6,0.000,0.025,2593,2635,3635
$GC,3744,-0.85,-146.0,505.5,-9.8,172,3747,0.00,2.05,0.00,0.000,4,0.000,0.028,2603,1246,3633
$GC,3785,-0.85,-146.0,509.2,-8.3,172,3791,0.00,2.28,0.00,0.000,6,0.000,0.055,2594,2636,3633
$GC,4037,-0.85,-146.0,531.3,-8.8,179,4040,0.00,2.10,0.00,0.000,4,0.000,0.069,2584,3908,3631
$GC,4084,-0.85,-146.0,535.7,-9.1,180,4088,0.00,1.88,0.00,0.000,6,0.000,0.026,2592,2634,3630
$GC,4378,-0.85,-146.0,560.7,-8.6,187,4382,0.00,2.08,0.00,0.000,4,0.000,0.029,2602,1226,3629
$GC,4420,-0.85,-146.0,564.2,-7.0,187,4427,0.00,2.33,0.00,0.000,6,0.000,0.056,2593,2655,3628
$GC,4674,-0.85,-146.0,585.3,-8.5,194,4678,0.00,2.05,0.00,0.000,4,0.000,0.067,2582,3898,3626
$GC,4733,-0.85,-146.0,591.0,-9.0,195,4736,0.00,1.88,0.00,0.000,6,0.000,0.027,2590,2628,3625
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4856,-0.32,0.0,601.9,9.3,198,4983,0.60,0.00,124.00,1.076,6,0.142,0.000,2770,2498,3040
$STATE,4983,end apogee,CONTROL_FINISHED_OK
$STATE,4984,begin climb
$GC,4988,0.85,146.0,608.5,0.0,201,5129,1.10,2.38,131.43,1.061,4,0.071,0.058,3150,3899,2444
$GC,5391,0.85,146.0,562.5,21.0,210,5396,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2454,2435
$GC,5672,0.85,146.0,506.9,19.2,217,5676,0.00,2.33,0.00,0.000,4,0.000,0.054,3159,3897,2431
$GC,5708,0.85,146.0,499.5,20.9,217,5714,0.00,2.12,0.00,0.000,6,0.000,0.028,3169,2478,2431
$GC,5962,0.85,146.0,450.2,19.3,224,5965,0.00,2.10,0.00,0.000,4,0.000,0.029,3180,1056,2429
$GC,6056,0.85,146.0,432.4,19.4,226,6060,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2492,2428
$GC,6341,0.85,146.0,379.2,18.1,233,6345,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1062,2427
$GC,6499,0.85,146.0,354.5,15.0,236,6503,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2487,2426
$GC,6770,0.85,146.0,316.3,13.7,243,6774,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1074,2425
$GC,6799,0.85,146.0,311.8,13.9,243,6803,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2480,2425
$GC,7062,0.85,146.0,275.5,13.9,250,7066,0.00,2.10,0.00,0.000,4,0.000,0.029,3185,1069,2424
$GC,7252,0.85,146.0,253.2,10.2,254,7256,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2476,2424
$GC,7532,0.87,156.2,225.7,9.2,261,7544,0.00,2.17,6.55,0.677,4,0.000,0.028,3185,1074,2403
$GC,7787,0.87,156.2,200.9,11.1,266,7791,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2490,2402
$GC,8049,0.87,156.2,171.7,12.2,287,8053,0.00,2.22,0.00,0.000,4,0.000,0.053,3175,3892,2402
$GC,8142,0.87,156.2,161.0,11.3,295,8146,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2466,2401
$GC,8412,0.93,203.2,135.2,7.5,320,8462,0.00,2.33,42.20,0.728,4,0.000,0.047,3175,3904,2210
$GC,8546,0.93,203.2,114.3,23.2,331,8550,0.00,2.12,0.00,0.000,6,0.000,0.028,3184,2495,2208
$GC,8817,0.93,203.2,66.1,16.4,356,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2489,2205
$GC,9082,0.93,203.2,28.2,13.4,382,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2489,2205
$STATE,9248,end climb,SURFACE_DEPTH_REACHED
$STATE,9248,begin surface coast
$FINISH,0.3,1.023687
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9295,75.10,0.597,0,0,1611,350.04
$SM_GC,1.19,0.00,0.00,75.10,0.000,0.000,0.597,53,2676,1611,-8.84,0.99,350.04
$IRIDIUM_FIX,2244.02,-15803.66,250500,171740
$TT8_MAMPS,0.023777
$HUMID,1879
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.5,110.926
$10V_AH,10.6,64.662
$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,22.625,77.225,304.175,75.100,0.000,33.159,35.556,320.963,0.250,0.000,0.000,13.223,873.347,6278.595,431.000,1582.871,752.400,33.372,1085.868,0.000,1582.583,0.000,0.544,0.000
$DEVICE_MAMPS,252.343,69.797,1076.101,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,281.387,649.873,670.693,144.968,593.903,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35080,416
$CAP_FILE_SIZE,76552,0
$CFSIZE,260165632,228069376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,010311,230722,2253.327,-15758.393,12,9.2,32,10.1