version: 66.04
glider: 512
mission: 1
dive: 847
start: 3 2 111 10 28 41
data:
$ID,512
$MISSION,1
$DIVE,847
$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,-24179.652
$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,81
$R_STBD_OVSHOOT,19
$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
$GPS1,101207,2253.402,-15758.506,30,1.0,31,10.1
$_CALLS,2
$_XMS_NAKs,40
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.2
$GPS2,102744,2253.352,-15758.734,17,1.7,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.100,0.236
$KALMAN_X,-311015.7,674.8,356.2,331119.0,-4365.1
$KALMAN_Y,-587370.4,103.5,108.1,722500.6,-3106.2
$MHEAD_RNG_PITCHd_Wd,12.8,5525,-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,-45.12,0.000,2,0.000,0.000,41,2588,2750
$GC,70,-0.85,-146.0,3.0,-3.7,6,111,11.88,2.25,-18.85,0.000,4,0.252,0.089,2582,3882,3639
$GC,217,-0.85,-146.0,36.9,-18.7,27,221,0.00,1.80,0.00,0.000,6,0.000,0.028,2589,2678,3640
$GC,486,-0.85,-146.0,103.6,-23.5,52,490,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,1232,3640
$GC,547,-0.85,-146.0,116.3,-17.3,57,551,0.00,2.35,0.00,0.000,6,0.000,0.067,2590,2642,3641
$GC,811,-0.85,-146.0,165.8,-17.2,81,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3642
$GC,1091,-0.85,-146.0,214.0,-16.8,102,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3643
$GC,1335,-0.85,-146.0,252.4,-15.3,108,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3643
$GC,1579,-0.85,-146.0,283.0,-11.8,114,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3643
$GC,1823,-0.85,-146.0,312.9,-12.4,120,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3643
$GC,2067,-0.85,-146.0,344.1,-13.0,126,2071,0.00,2.10,0.00,0.000,4,0.000,0.030,2599,1228,3642
$GC,2108,-0.85,-146.0,349.1,-10.5,126,2114,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2649,3641
$GC,2359,-0.85,-146.0,377.2,-11.3,133,2363,0.00,2.05,0.00,0.000,4,0.000,0.071,2580,3893,3639
$GC,2400,-0.85,-146.0,381.9,-11.2,133,2406,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2626,3639
$GC,2652,-0.85,-146.0,409.1,-11.0,140,2655,0.00,2.05,0.00,0.000,4,0.000,0.031,2597,1242,3637
$GC,2694,-0.85,-146.0,413.6,-9.6,140,2701,0.00,2.30,0.00,0.000,6,0.000,0.059,2589,2638,3637
$GC,2946,-0.85,-146.0,438.6,-10.0,147,2950,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3894,3635
$GC,2982,-0.85,-146.0,442.1,-9.3,147,2985,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2634,3635
$GC,3239,-0.85,-146.0,467.5,-9.8,154,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2625,3633
$GC,3483,-0.85,-146.0,490.8,-9.6,160,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2625,3631
$GC,3727,-0.85,-146.0,515.1,-9.9,166,3731,0.00,2.08,0.00,0.000,4,0.000,0.033,2596,1251,3629
$GC,3763,-0.85,-146.0,518.5,-8.7,166,3767,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2640,3628
$GC,4015,-0.85,-146.0,542.7,-9.8,172,4018,0.00,2.10,0.00,0.000,4,0.000,0.072,2580,3903,3626
$GC,4055,-0.85,-146.0,546.7,-9.9,172,4061,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2637,3626
$GC,4307,-0.85,-146.0,569.1,-9.0,179,4311,0.00,2.10,0.00,0.000,4,0.000,0.034,2597,1238,3625
$GC,4343,-0.85,-146.0,572.3,-8.4,179,4347,0.00,2.33,0.00,0.000,6,0.000,0.064,2589,2642,3624
$GC,4601,-0.85,-146.0,593.6,-8.4,186,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3621
$STATE,4676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4676,begin apogee
$GC,4687,-0.32,0.0,600.7,8.6,188,4813,0.62,0.00,123.00,1.068,6,0.147,0.000,2772,2503,3040
$STATE,4813,end apogee,CONTROL_FINISHED_OK
$STATE,4814,begin climb
$GC,4819,0.85,146.0,605.9,0.0,191,4959,1.08,2.45,131.23,1.051,4,0.074,0.064,3150,3910,2443
$GC,5222,0.85,146.0,551.9,24.1,200,5226,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2460,2434
$GC,5507,0.85,146.0,493.2,20.3,207,5511,0.00,2.35,0.00,0.000,4,0.000,0.055,3151,3908,2431
$GC,5642,0.85,146.0,463.7,21.4,210,5646,0.00,2.15,0.00,0.000,6,0.000,0.028,3160,2475,2431
$GC,5928,0.85,146.0,410.0,19.1,217,5932,0.00,2.33,0.00,0.000,4,0.000,0.057,3160,3909,2428
$GC,6031,0.85,146.0,389.4,19.8,219,6035,0.00,2.15,0.00,0.000,6,0.000,0.028,3170,2473,2427
$GC,6306,0.85,146.0,342.6,16.7,226,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2467,2426
$GC,6551,0.85,146.0,307.1,14.3,232,6555,0.00,2.30,0.00,0.000,4,0.000,0.050,3162,3914,2425
$GC,6563,0.85,146.0,305.0,13.8,232,6566,0.00,2.15,0.00,0.000,6,0.000,0.027,3171,2479,2425
$GC,6837,0.85,146.0,271.6,11.3,239,6840,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1057,2425
$GC,6930,0.88,167.7,263.2,8.7,241,6954,0.00,2.25,16.92,0.819,6,0.000,0.043,3176,2495,2356
$GC,7219,0.88,167.7,228.1,13.0,248,7223,0.00,2.25,0.00,0.000,4,0.000,0.057,3175,3899,2351
$GC,7242,0.88,167.7,224.8,13.0,248,7246,0.00,2.12,0.00,0.000,6,0.000,0.026,3185,2466,2352
$GC,7497,0.88,167.7,192.9,12.9,257,7501,0.00,2.30,0.00,0.000,4,0.000,0.049,3176,3900,2351
$GC,7681,0.88,167.7,166.9,15.3,272,7688,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2477,2350
$GC,7946,0.89,172.6,135.6,9.4,297,7959,0.00,2.28,5.20,0.561,4,0.000,0.048,3176,3895,2335
$GC,8211,0.92,195.1,106.9,8.6,320,8244,0.00,2.10,21.40,0.686,6,0.000,0.025,3185,2484,2243
$GC,8506,0.92,195.1,74.2,14.0,347,8510,0.00,2.22,0.00,0.000,4,0.000,0.045,3176,3893,2240
$GC,8643,0.92,195.1,55.1,12.7,359,8651,0.00,2.10,0.00,0.000,6,0.000,0.024,3185,2482,2239
$GC,8912,0.92,195.1,20.0,15.1,390,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2480,2239
$STATE,9014,end climb,SURFACE_DEPTH_REACHED
$STATE,9014,begin surface coast
$FINISH,0.6,1.023682
$STATE,9033,end surface coast,CONTROL_FINISHED_OK
$STATE,9033,begin surface
$SM_CCo,9058,82.85,0.588,0,0,1612,350.04
$SM_GC,1.37,0.00,0.00,82.85,0.000,0.000,0.588,49,2653,1612,-8.85,0.37,350.04
$IRIDIUM_FIX,2246.36,-15801.49,260500,101017
$TT8_MAMPS,0.023777
$HUMID,1849
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.5,111.565
$10V_AH,10.6,65.118
$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,22.500,78.225,297.750,82.850,0.000,49.390,76.585,583.007,0.000,0.000,0.000,17.356,844.564,6202.919,440.575,1519.743,1077.755,33.360,1060.867,0.000,1510.321,0.000,0.543,0.000
$DEVICE_MAMPS,251.576,88.972,1068.431,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.463,649.640,668.561,146.575,604.099,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35206,412
$CAP_FILE_SIZE,81629,0
$CFSIZE,260165632,227860480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,1
$GPS,020311,130203,2253.812,-15759.029,13,1.7,15,10.1