version: 66.04
glider: 512
mission: 1
dive: 844
start: 3 2 111 2 2 29
data:
$ID,512
$MISSION,1
$DIVE,844
$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,-24129.24
$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,32
$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
$GPS1,015236,2253.625,-15759.118,11,1.7,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-78.1
$GPS2,020132,2253.552,-15759.227,15,1.8,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.243,0.080
$KALMAN_X,-305346.2,721.6,264.3,324644.7,-4265.9
$KALMAN_Y,-582601.8,318.5,15.3,717986.6,-3606.9
$MHEAD_RNG_PITCHd_Wd,61.7,6358,-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,-52.75,0.000,2,0.000,0.000,42,2656,2995
$GC,77,-0.85,-146.0,3.7,-5.9,7,109,11.68,2.15,-11.98,0.000,4,0.247,0.038,2601,1238,3637
$GC,146,-0.85,-146.0,25.4,-27.8,17,154,0.00,2.38,0.00,0.000,6,0.000,0.077,2592,2614,3639
$GC,416,-0.85,-146.0,96.2,-25.6,43,419,0.00,2.15,0.00,0.000,4,0.000,0.075,2582,3907,3640
$GC,497,-0.85,-146.0,113.5,-18.3,50,501,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2648,3640
$GC,767,-0.85,-146.0,165.7,-21.2,75,770,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,1231,3640
$GC,807,-0.85,-146.0,173.8,-17.4,78,815,0.00,2.38,0.00,0.000,6,0.000,0.069,2590,2634,3640
$GC,1098,-0.85,-146.0,221.7,-16.6,97,1102,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1232,3641
$GC,1140,-0.85,-146.0,228.1,-14.0,97,1146,0.00,2.33,0.00,0.000,6,0.000,0.063,2589,2639,3641
$GC,1394,-0.85,-146.0,262.0,-13.8,104,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3642
$GC,1635,-0.85,-146.0,296.1,-13.8,110,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3641
$GC,1880,-0.85,-146.0,328.8,-13.4,116,1884,0.00,2.10,0.00,0.000,4,0.000,0.030,2597,1225,3641
$GC,1910,-0.85,-146.0,332.6,-12.2,116,1914,0.00,2.30,0.00,0.000,6,0.000,0.058,2588,2646,3641
$GC,2167,-0.85,-146.0,363.4,-12.5,123,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2647,3640
$GC,2412,-0.85,-146.0,393.4,-12.4,129,2416,0.00,2.12,0.00,0.000,4,0.000,0.031,2597,1225,3638
$GC,2441,-0.85,-146.0,397.2,-11.8,129,2445,0.00,2.30,0.00,0.000,6,0.000,0.061,2589,2644,3638
$GC,2705,-0.85,-146.0,427.3,-11.7,136,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3637
$GC,2947,-0.85,-146.0,454.9,-11.1,142,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2645,3635
$GC,3191,-0.85,-146.0,480.3,-10.4,148,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3634
$GC,3436,-0.85,-146.0,505.3,-10.3,154,3440,0.00,2.12,0.00,0.000,4,0.000,0.032,2597,1232,3631
$GC,3460,-0.85,-146.0,508.3,-11.6,154,3464,0.00,2.30,0.00,0.000,6,0.000,0.058,2588,2646,3631
$GC,3726,-0.85,-146.0,534.3,-9.9,161,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2646,3629
$GC,3967,-0.85,-146.0,557.9,-9.8,167,3971,0.00,2.12,0.00,0.000,4,0.000,0.032,2597,1235,3627
$GC,4002,-0.85,-146.0,561.4,-9.6,167,4006,0.00,2.30,0.00,0.000,6,0.000,0.060,2589,2639,3627
$GC,4255,-0.85,-146.0,584.8,-9.5,173,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3625
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4463,-0.32,0.0,603.2,9.1,178,4589,0.62,0.00,123.53,1.070,6,0.142,0.000,2772,2479,3040
$STATE,4590,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4595,0.85,146.0,608.7,0.0,181,4741,1.08,2.42,133.32,1.046,4,0.070,0.063,3150,3881,2442
$GC,4955,0.85,146.0,566.5,22.9,189,4959,0.00,2.12,0.00,0.000,6,0.000,0.028,3159,2472,2434
$GC,5236,0.85,146.0,504.7,21.8,196,5240,0.00,2.10,0.00,0.000,4,0.000,0.028,3169,1061,2431
$GC,5254,0.85,146.0,500.4,21.2,196,5259,0.00,2.25,0.00,0.000,6,0.000,0.045,3162,2493,2431
$GC,5523,0.85,146.0,443.3,21.3,203,5527,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1066,2428
$GC,5575,0.85,146.0,433.7,17.9,204,5579,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2485,2428
$GC,5856,0.85,146.0,384.0,17.2,211,5860,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1049,2426
$GC,5869,0.85,146.0,381.6,16.5,211,5873,0.00,2.25,0.00,0.000,6,0.000,0.042,3162,2487,2426
$GC,6143,0.85,146.0,341.1,15.1,218,6147,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1052,2425
$GC,6273,0.85,146.0,321.4,13.8,220,6280,0.00,2.28,0.00,0.000,6,0.000,0.043,3163,2481,2425
$GC,6525,0.85,146.0,286.4,14.0,227,6529,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1066,2424
$GC,6611,0.85,146.0,276.7,9.8,228,6617,0.00,2.25,0.00,0.000,6,0.000,0.042,3163,2493,2424
$GC,6863,0.85,146.0,248.3,12.2,235,6867,0.00,2.25,0.00,0.000,4,0.000,0.054,3162,3899,2423
$GC,6931,0.85,146.0,241.2,9.8,236,6935,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2467,2422
$GC,7199,0.85,146.0,213.8,10.0,243,7203,0.00,2.05,0.00,0.000,4,0.000,0.027,3181,1073,2422
$GC,7464,0.90,180.0,193.0,8.1,254,7500,0.00,2.20,26.98,0.772,6,0.000,0.041,3176,2480,2305
$GC,7761,0.90,180.0,150.7,16.0,281,7765,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1061,2302
$GC,7934,0.90,180.0,125.2,12.1,296,7942,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2473,2301
$GC,8199,0.90,180.0,92.5,12.0,321,8203,0.00,2.25,0.00,0.000,4,0.000,0.052,3175,3888,2301
$GC,8299,0.90,180.0,80.3,11.1,329,8303,0.00,2.08,0.00,0.000,6,0.000,0.024,3184,2475,2301
$GC,8571,0.93,203.5,56.8,8.6,354,8598,0.00,2.28,21.00,0.627,4,0.000,0.046,3175,3896,2210
$GC,8748,0.93,203.5,32.6,17.0,369,8751,0.00,2.10,0.00,0.000,6,0.000,0.024,3185,2469,2209
$STATE,8912,end climb,SURFACE_DEPTH_REACHED
$STATE,8912,begin surface coast
$FINISH,0.4,1.023771
$STATE,8934,end surface coast,CONTROL_FINISHED_OK
$STATE,8934,begin surface
$SM_CCo,8959,80.50,0.594,0,0,1612,350.04
$SM_GC,1.37,0.00,0.00,80.50,0.000,0.000,0.594,47,2657,1612,-8.86,0.48,350.04
$IRIDIUM_FIX,2244.02,-15754.11,250500,232341
$TT8_MAMPS,0.02301
$HUMID,1839
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.5,111.161
$10V_AH,10.6,64.842
$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,22.275,83.575,304.825,80.500,0.000,27.586,33.695,319.996,0.250,0.000,0.000,15.904,834.365,6088.807,436.071,1485.278,739.304,33.367,1049.548,0.000,1478.491,0.000,0.543,0.000
$DEVICE_MAMPS,246.974,76.700,1069.965,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,271.687,629.549,651.827,141.710,586.581,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31994,402
$CAP_FILE_SIZE,73866,0
$CFSIZE,260165632,227991552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,1
$GPS,020311,043437,2253.385,-15758.664,41,1.0,42,10.1