version: 66.04
glider: 512
mission: 1
dive: 843
start: 3 1 111 23 15 22
data:
$ID,512
$MISSION,1
$DIVE,843
$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,-24112.707
$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,41
$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
$GPS1,230722,2253.327,-15758.393,12,9.2,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.4
$GPS2,231430,2253.261,-15758.461,38,1.4,44,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.055,0.250
$KALMAN_X,-303262.7,498.8,232.3,324134.7,-4352.0
$KALMAN_Y,-580414.4,660.6,5.4,714924.9,-3448.4
$MHEAD_RNG_PITCHd_Wd,2.2,5071,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-52.65,0.000,2,0.000,0.000,52,2675,3001
$GC,77,-0.85,-146.0,3.7,-6.2,7,108,11.75,1.98,-11.85,0.000,4,0.252,0.072,2586,3859,3638
$GC,144,-0.85,-146.0,27.6,-34.9,17,153,0.00,1.85,0.00,0.000,6,0.000,0.026,2594,2638,3639
$GC,409,-0.85,-146.0,95.7,-25.2,42,412,0.00,2.08,0.00,0.000,4,0.000,0.028,2603,1226,3640
$GC,468,-0.85,-146.0,107.5,-17.2,47,473,0.00,2.28,0.00,0.000,6,0.000,0.062,2594,2613,3641
$GC,733,-0.85,-146.0,157.0,-20.2,71,737,0.00,2.10,0.00,0.000,4,0.000,0.065,2584,3906,3642
$GC,769,-0.85,-146.0,163.7,-17.6,74,773,0.00,1.88,0.00,0.000,6,0.000,0.024,2592,2614,3642
$GC,1036,-0.85,-146.0,208.1,-16.5,96,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2608,3643
$GC,1279,-0.85,-146.0,244.3,-14.7,102,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2607,3644
$GC,1525,-0.85,-146.0,277.1,-13.4,108,1528,0.00,2.12,0.00,0.000,4,0.000,0.064,2583,3894,3644
$GC,1554,-0.85,-146.0,281.6,-13.8,108,1558,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2641,3644
$GC,1817,-0.85,-146.0,314.1,-12.7,115,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2634,3644
$GC,2061,-0.85,-146.0,343.6,-12.0,121,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2634,3644
$GC,2305,-0.85,-146.0,371.8,-11.5,127,2308,0.00,2.05,0.00,0.000,4,0.000,0.028,2601,1241,3642
$GC,2346,-0.85,-146.0,376.1,-8.9,127,2352,0.00,2.28,0.00,0.000,6,0.000,0.053,2592,2657,3642
$GC,2599,-0.85,-146.0,403.2,-11.0,134,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2656,3641
$GC,2841,-0.85,-146.0,427.7,-9.8,140,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2657,3639
$GC,3087,-0.85,-146.0,449.8,-8.9,146,3091,0.00,2.10,0.00,0.000,4,0.000,0.028,2600,1239,3638
$GC,3111,-0.85,-146.0,452.1,-8.7,146,3115,0.00,2.25,0.00,0.000,6,0.000,0.054,2591,2641,3638
$GC,3374,-0.85,-146.0,473.8,-8.5,153,3377,0.00,2.08,0.00,0.000,4,0.000,0.067,2581,3902,3636
$GC,3414,-0.85,-146.0,477.5,-8.8,153,3420,0.00,1.88,0.00,0.000,6,0.000,0.026,2588,2624,3636
$GC,3667,-0.85,-146.0,500.0,-9.1,160,3671,0.00,2.05,0.00,0.000,4,0.000,0.028,2599,1230,3634
$GC,3708,-0.85,-146.0,503.8,-8.4,160,3715,0.00,2.30,0.00,0.000,6,0.000,0.053,2589,2636,3634
$GC,3960,-0.85,-146.0,527.8,-9.8,167,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2636,3632
$GC,4205,-0.85,-146.0,551.7,-9.9,173,4209,0.00,2.08,0.00,0.000,4,0.000,0.067,2579,3902,3630
$GC,4235,-0.85,-146.0,555.1,-10.9,173,4239,0.00,1.90,0.00,0.000,6,0.000,0.027,2587,2637,3629
$GC,4498,-0.85,-146.0,580.6,-9.6,180,4501,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,1237,3628
$GC,4561,-0.85,-146.0,586.3,-8.3,181,4565,0.00,2.30,0.00,0.000,6,0.000,0.055,2578,2645,3627
$STATE,4703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4703,begin apogee
$GC,4714,-0.32,0.0,600.1,9.8,185,4841,0.68,0.00,124.40,1.073,6,0.154,0.000,2771,2515,3040
$STATE,4842,end apogee,CONTROL_FINISHED_OK
$STATE,4842,begin climb
$GC,4847,0.85,146.0,605.2,0.0,188,4995,1.10,2.38,133.38,1.044,4,0.076,0.058,3150,3900,2443
$GC,5102,0.85,146.0,587.4,23.4,193,5108,0.00,2.20,0.00,0.000,6,0.000,0.028,3158,2449,2437
$GC,5354,0.85,146.0,534.9,20.4,200,5357,0.00,2.05,0.00,0.000,4,0.000,0.029,3169,1055,2433
$GC,5433,0.85,146.0,519.0,19.2,201,5438,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2487,2432
$GC,5687,0.85,146.0,471.6,19.0,207,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2487,2430
$GC,5929,0.85,146.0,427.7,17.6,213,5933,0.00,2.22,0.00,0.000,4,0.000,0.054,3162,3894,2428
$GC,5969,0.85,146.0,419.9,19.1,213,5975,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2468,2427
$GC,6221,0.85,146.0,377.8,16.3,220,6225,0.00,2.30,0.00,0.000,4,0.000,0.051,3172,3902,2426
$GC,6250,0.85,146.0,372.9,17.3,220,6254,0.00,2.12,0.00,0.000,6,0.000,0.028,3181,2477,2426
$GC,6507,0.85,146.0,332.0,15.9,227,6511,0.00,2.28,0.00,0.000,4,0.000,0.053,3176,3893,2425
$GC,6536,0.85,146.0,327.2,16.4,227,6540,0.00,2.10,0.00,0.000,6,0.000,0.026,3185,2474,2425
$GC,6793,0.85,146.0,289.0,14.9,234,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2469,2425
$GC,7037,0.85,146.0,258.7,11.5,240,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2469,2424
$GC,7282,0.87,156.5,235.0,9.2,246,7296,0.00,2.35,6.88,0.693,4,0.000,0.050,3176,3896,2402
$GC,7552,0.87,156.5,202.3,14.0,252,7556,0.00,2.10,0.00,0.000,6,0.000,0.027,3185,2482,2401
$GC,7825,0.87,156.5,170.5,10.8,274,7829,0.00,2.28,0.00,0.000,4,0.000,0.050,3176,3898,2401
$GC,8090,0.87,156.5,142.4,10.3,297,8094,0.00,2.10,0.00,0.000,6,0.000,0.026,3185,2475,2401
$GC,8360,0.89,178.2,119.5,8.6,322,8386,0.00,2.33,20.58,0.688,4,0.000,0.048,3176,3894,2313
$GC,8640,0.89,178.2,82.2,12.3,346,8648,0.00,2.12,0.00,0.000,6,0.000,0.025,3186,2472,2311
$GC,8905,0.93,204.9,55.7,8.4,371,8935,0.00,2.30,24.25,0.627,4,0.000,0.048,3176,3890,2203
$GC,9138,0.93,204.9,19.4,17.5,396,9147,0.00,2.10,0.00,0.000,6,0.000,0.024,3185,2486,2201
$STATE,9238,end climb,SURFACE_DEPTH_REACHED
$STATE,9238,begin surface coast
$FINISH,0.4,1.023708
$STATE,9256,end surface coast,CONTROL_FINISHED_OK
$STATE,9256,begin surface
$SM_CCo,9281,79.22,0.597,0,0,1613,350.04
$SM_GC,1.17,0.00,0.00,79.22,0.000,0.000,0.597,43,2657,1613,-8.87,0.48,350.04
$IRIDIUM_FIX,2246.36,-15801.49,250500,202014
$TT8_MAMPS,0.023777
$HUMID,1853
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.5,111.039
$10V_AH,10.6,64.752
$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,22.450,81.600,309.475,79.225,0.000,24.071,45.925,157.209,0.250,0.000,0.000,44.225,856.175,6354.409,441.456,1532.320,607.107,33.374,1063.426,0.000,1495.453,0.000,0.542,0.000
$DEVICE_MAMPS,251.576,72.098,1073.033,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,281.960,654.359,674.471,143.179,589.745,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35152,417
$CAP_FILE_SIZE,75505,0
$CFSIZE,260165632,228028416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,020311,015236,2253.625,-15759.118,11,1.7,28,10.1