version: 66.04
glider: 512
mission: 1
dive: 846
start: 3 2 111 7 36 34
data:
$ID,512
$MISSION,1
$DIVE,846
$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,-24161.67
$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,52
$R_STBD_OVSHOOT,42
$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
$GPS1,072304,2254.020,-15758.985,10,3.0,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.2
$GPS2,073537,2254.006,-15759.106,11,1.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,0.063
$KALMAN_X,-308914.3,777.8,487.6,328132.1,-4155.2
$KALMAN_Y,-585668.1,-108.0,510.0,721821.5,-3549.1
$MHEAD_RNG_PITCHd_Wd,65.7,6224,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.70,0.000,2,0.000,0.000,51,2664,3005
$GC,77,-0.85,-146.0,3.6,-5.7,7,110,11.82,2.17,-11.77,0.000,4,0.252,0.038,2602,1232,3637
$GC,141,-0.85,-146.0,24.8,-31.0,16,149,0.00,2.33,0.00,0.000,6,0.000,0.066,2593,2610,3639
$GC,417,-0.85,-146.0,95.0,-24.2,43,420,0.00,2.10,0.00,0.000,4,0.000,0.067,2583,3896,3639
$GC,512,-0.85,-146.0,115.2,-16.4,51,519,0.00,1.85,0.00,0.000,6,0.000,0.023,2590,2638,3640
$GC,778,-0.85,-146.0,167.4,-18.9,76,781,0.00,2.05,0.00,0.000,4,0.000,0.025,2600,1222,3640
$GC,837,-0.85,-146.0,177.1,-13.5,81,841,0.00,2.30,0.00,0.000,6,0.000,0.058,2591,2642,3641
$GC,1116,-0.85,-146.0,221.9,-16.8,98,1119,0.00,2.05,0.00,0.000,4,0.000,0.065,2581,3905,3641
$GC,1140,-0.85,-146.0,226.4,-18.3,98,1144,0.00,1.85,0.00,0.000,6,0.000,0.023,2589,2628,3641
$GC,1408,-0.85,-146.0,267.7,-15.5,105,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2620,3641
$GC,1655,-0.85,-146.0,300.5,-13.0,111,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2621,3641
$GC,1896,-0.85,-146.0,327.0,-10.9,117,1899,0.00,2.03,0.00,0.000,4,0.000,0.026,2599,1229,3641
$GC,1925,-0.85,-146.0,330.2,-9.9,117,1930,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2647,3641
$GC,2183,-0.85,-146.0,356.3,-10.6,124,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3640
$GC,2426,-0.85,-146.0,380.9,-10.2,130,2430,0.00,2.08,0.00,0.000,4,0.000,0.026,2598,1237,3638
$GC,2456,-0.85,-146.0,384.1,-9.9,130,2460,0.00,2.22,0.00,0.000,6,0.000,0.052,2589,2638,3638
$GC,2713,-0.85,-146.0,409.5,-10.3,137,2717,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3902,3636
$GC,2742,-0.85,-146.0,412.7,-10.7,137,2746,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2633,3636
$GC,3005,-0.85,-146.0,439.7,-10.5,144,3009,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1234,3634
$GC,3053,-0.85,-146.0,444.3,-8.8,145,3057,0.00,2.25,0.00,0.000,6,0.000,0.052,2589,2638,3635
$GC,3338,-0.85,-146.0,473.8,-10.5,152,3342,0.00,2.05,0.00,0.000,4,0.000,0.065,2579,3898,3632
$GC,3367,-0.85,-146.0,477.2,-11.2,152,3371,0.00,1.88,0.00,0.000,6,0.000,0.025,2586,2639,3631
$GC,3630,-0.85,-146.0,502.9,-9.7,159,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2633,3630
$GC,3874,-0.85,-146.0,524.1,-8.6,165,3878,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1234,3627
$GC,3905,-0.85,-146.0,526.7,-8.2,165,3909,0.00,2.28,0.00,0.000,6,0.000,0.056,2589,2640,3627
$GC,4162,-0.85,-146.0,546.6,-7.9,172,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3625
$GC,4408,-0.85,-146.0,567.4,-8.7,178,4411,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1244,3623
$GC,4455,-0.85,-146.0,571.3,-7.2,179,4459,0.00,2.30,0.00,0.000,6,0.000,0.059,2589,2650,3623
$GC,4742,-0.85,-146.0,597.2,-9.4,186,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2650,3621
$STATE,4776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4776,begin apogee
$GC,4787,-0.32,0.0,601.0,9.4,187,4913,0.62,0.00,122.97,1.071,6,0.146,0.000,2771,2514,3041
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4918,0.85,146.0,607.1,0.0,190,5063,1.08,0.00,133.45,1.046,6,0.072,0.000,3150,2514,2444
$GC,5331,0.85,146.0,563.3,20.1,200,5335,0.00,2.22,0.00,0.000,4,0.000,0.031,3161,1046,2434
$GC,5456,0.85,146.0,538.0,19.8,202,5460,0.00,2.33,0.00,0.000,6,0.000,0.054,3162,2486,2432
$GC,5708,0.85,146.0,487.5,19.7,208,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2488,2430
$GC,5952,0.85,146.0,440.7,19.1,214,5956,0.00,2.28,0.00,0.000,4,0.000,0.057,3161,3898,2428
$GC,6067,0.85,146.0,416.6,20.5,216,6071,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2457,2426
$GC,6330,0.85,146.0,368.7,17.4,223,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2452,2426
$GC,6573,0.85,146.0,328.3,16.2,229,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2452,2425
$GC,6817,0.85,146.0,293.2,13.8,235,6821,0.00,2.05,0.00,0.000,4,0.000,0.029,3182,1065,2424
$GC,6893,0.85,146.0,283.1,13.2,236,6897,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2498,2424
$GC,7152,0.85,146.0,257.0,10.5,243,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2498,2423
$GC,7394,0.87,161.6,234.2,8.9,249,7410,0.00,2.25,10.77,0.753,4,0.000,0.054,3176,3889,2383
$GC,7428,0.87,161.6,230.7,10.8,249,7434,0.00,2.12,0.00,0.000,6,0.000,0.026,3184,2470,2383
$GC,7681,0.87,161.6,199.8,12.2,256,7684,0.00,2.08,0.00,0.000,4,0.000,0.028,3195,1051,2381
$GC,7777,0.87,161.6,188.9,12.4,264,7787,0.10,2.28,0.00,0.000,6,0.235,0.042,3168,2490,2381
$GC,8042,0.87,161.6,156.5,10.3,289,8046,0.00,2.12,0.00,0.000,4,0.000,0.027,3178,1061,2381
$GC,8301,0.88,168.6,128.8,9.3,312,8316,0.00,2.22,8.12,0.624,6,0.000,0.042,3176,2480,2352
$GC,8576,0.95,226.6,106.5,7.0,337,8637,0.00,2.20,51.12,0.686,4,0.000,0.027,3184,1064,2114
$GC,8844,0.95,226.6,60.0,19.3,360,8848,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2478,2110
$GC,9112,0.95,226.6,11.6,17.0,394,9120,0.00,2.28,0.00,0.000,4,0.000,0.051,3176,3894,2109
$STATE,9153,end climb,SURFACE_DEPTH_REACHED
$STATE,9153,begin surface coast
$FINISH,0.3,1.023712
$STATE,9165,end surface coast,CONTROL_FINISHED_OK
$STATE,9166,begin surface
$SM_CCo,9192,63.70,0.601,0,0,1613,350.04
$SM_GC,1.27,0.00,0.00,63.70,0.000,0.000,0.601,45,2589,1613,-8.86,-1.44,350.04
$IRIDIUM_FIX,2244.02,-15759.32,260500,070716
$TT8_MAMPS,0.023777
$HUMID,1886
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.5,111.425
$10V_AH,10.6,65.023
$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,22.400,81.325,326.450,63.700,0.000,52.405,69.231,412.510,0.250,0.000,0.000,16.146,827.248,6447.372,443.314,1400.615,898.035,33.362,1035.766,0.000,1391.735,0.000,0.543,0.000
$DEVICE_MAMPS,251.576,66.729,1070.732,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,272.467,618.398,637.143,130.556,538.752,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31984,403
$CAP_FILE_SIZE,77177,0
$CFSIZE,260165632,227909632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,020311,101207,2253.402,-15758.506,30,1.0,31,10.1