version: 66.04
glider: 512
mission: 1
dive: 848
start: 3 2 111 13 22 51
data:
$ID,512
$MISSION,1
$DIVE,848
$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,-24213.504
$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,60
$R_STBD_OVSHOOT,37
$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
$GPS1,130203,2253.812,-15759.029,13,1.7,15,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.7
$GPS2,132155,2253.814,-15759.302,15,1.8,33,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.096,0.237
$KALMAN_X,-312736.6,515.5,148.4,332228.7,-3813.6
$KALMAN_Y,-589516.8,501.2,-165.1,725383.4,-2734.0
$MHEAD_RNG_PITCHd_Wd,12.0,6512,-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,-52.75,0.000,2,0.000,0.000,49,2653,2997
$GC,77,-0.85,-146.0,3.2,-5.0,7,110,12.00,1.98,-12.52,0.000,4,0.255,0.065,2589,3866,3638
$GC,136,-0.85,-146.0,22.6,-35.0,15,144,0.00,1.83,0.00,0.000,6,0.000,0.025,2594,2660,3639
$GC,408,-0.85,-146.0,91.2,-24.6,42,412,0.00,2.10,0.00,0.000,4,0.000,0.028,2604,1223,3639
$GC,469,-0.85,-146.0,102.4,-14.2,47,473,0.00,2.30,0.00,0.000,6,0.000,0.060,2595,2629,3640
$GC,734,-0.85,-146.0,150.3,-17.6,71,738,0.00,2.08,0.00,0.000,4,0.000,0.067,2584,3902,3639
$GC,785,-0.85,-146.0,159.6,-15.0,75,794,0.00,1.90,0.00,0.000,6,0.000,0.023,2592,2615,3640
$GC,1051,-0.85,-146.0,201.0,-15.7,100,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2609,3640
$GC,1295,-0.85,-146.0,239.7,-15.8,106,1298,0.00,2.10,0.00,0.000,4,0.000,0.062,2584,3895,3641
$GC,1324,-0.85,-146.0,244.7,-15.3,106,1328,0.00,1.85,0.00,0.000,6,0.000,0.023,2591,2637,3640
$GC,1587,-0.85,-146.0,279.3,-13.3,113,1591,0.00,2.03,0.00,0.000,4,0.000,0.027,2601,1247,3640
$GC,1635,-0.85,-146.0,284.5,-9.4,114,1639,0.00,2.22,0.00,0.000,6,0.000,0.054,2592,2638,3641
$GC,1927,-0.85,-146.0,318.2,-11.7,121,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2638,3640
$GC,2172,-0.85,-146.0,347.1,-11.8,127,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2638,3639
$GC,2413,-0.85,-146.0,373.7,-10.6,133,2417,0.00,2.08,0.00,0.000,4,0.000,0.071,2582,3905,3637
$GC,2447,-0.85,-146.0,377.3,-10.2,133,2451,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2641,3637
$GC,2705,-0.85,-146.0,402.5,-10.0,140,2708,0.00,2.08,0.00,0.000,4,0.000,0.029,2600,1238,3635
$GC,2765,-0.85,-146.0,407.7,-7.9,141,2769,0.00,2.28,0.00,0.000,6,0.000,0.056,2591,2647,3634
$GC,3039,-0.85,-146.0,433.7,-9.8,148,3042,0.00,2.08,0.00,0.000,4,0.000,0.070,2581,3905,3632
$GC,3080,-0.85,-146.0,437.9,-9.4,148,3087,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2629,3632
$GC,3331,-0.85,-146.0,463.1,-10.2,155,3335,0.00,2.05,0.00,0.000,4,0.000,0.029,2599,1246,3629
$GC,3395,-0.85,-146.0,468.9,-8.1,156,3399,0.00,2.28,0.00,0.000,6,0.000,0.058,2590,2649,3629
$GC,3663,-0.85,-146.0,496.1,-10.4,163,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2650,3627
$GC,3907,-0.85,-146.0,522.0,-10.7,169,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2650,3625
$GC,4150,-0.85,-146.0,547.9,-10.6,175,4154,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1248,3624
$GC,4199,-0.85,-146.0,552.4,-8.7,176,4203,0.00,2.28,0.00,0.000,6,0.000,0.059,2589,2645,3623
$GC,4491,-0.85,-146.0,580.0,-9.5,183,4494,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3894,3621
$GC,4532,-0.85,-146.0,584.0,-9.1,183,4538,0.00,1.85,0.00,0.000,6,0.000,0.027,2587,2641,3620
$STATE,4740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4740,begin apogee
$GC,4751,-0.32,0.0,601.6,8.4,189,4876,0.62,0.00,122.30,1.060,6,0.149,0.000,2771,2494,3040
$STATE,4877,end apogee,CONTROL_FINISHED_OK
$STATE,4877,begin climb
$GC,4882,0.85,146.0,606.2,0.0,192,5025,1.10,0.00,134.15,1.040,6,0.077,0.000,3152,2494,2444
$GC,5250,0.85,146.0,563.3,22.9,201,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2494,2435
$GC,5493,0.85,146.0,513.7,19.9,207,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2494,2432
$GC,5736,0.85,146.0,467.5,18.6,213,5740,0.00,2.15,0.00,0.000,4,0.000,0.030,3161,1051,2430
$GC,5833,0.85,146.0,450.0,19.0,215,5837,0.00,2.28,0.00,0.000,6,0.000,0.050,3161,2480,2429
$GC,6112,0.85,146.0,395.3,19.9,222,6116,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1047,2427
$GC,6198,0.85,146.0,379.5,19.3,223,6204,0.00,2.28,0.00,0.000,6,0.000,0.048,3162,2480,2427
$GC,6450,0.85,146.0,336.5,16.4,230,6454,0.00,2.30,0.00,0.000,4,0.000,0.058,3162,3902,2425
$GC,6484,0.85,146.0,330.6,17.3,230,6491,0.00,2.17,0.00,0.000,6,0.000,0.028,3172,2467,2425
$GC,6737,0.85,146.0,292.4,14.9,237,6741,0.00,2.30,0.00,0.000,4,0.000,0.051,3163,3908,2424
$GC,6749,0.85,146.0,291.0,13.6,237,6753,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2475,2424
$GC,7024,0.85,146.0,258.9,11.9,244,7028,0.00,2.28,0.00,0.000,4,0.000,0.050,3163,3900,2424
$GC,7059,0.85,146.0,254.9,10.8,244,7063,0.00,2.10,0.00,0.000,6,0.000,0.025,3172,2475,2424
$GC,7319,0.87,158.1,231.2,9.1,251,7329,0.00,0.00,8.38,0.718,6,0.000,0.000,3172,2470,2395
$GC,7559,0.87,158.1,207.9,9.9,257,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2469,2393
$GC,7812,0.87,158.1,179.9,9.7,275,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2469,2392
$GC,8067,0.88,166.1,155.1,9.3,299,8081,0.00,2.30,8.65,0.646,4,0.000,0.048,3163,3900,2361
$GC,8234,0.88,166.1,134.8,12.0,313,8238,0.00,2.10,0.00,0.000,6,0.000,0.025,3172,2474,2360
$GC,8504,0.89,176.0,107.6,9.2,338,8519,0.00,2.35,10.32,0.628,4,0.000,0.048,3163,3909,2321
$GC,8768,0.89,176.0,77.6,11.0,361,8776,0.00,2.12,0.00,0.000,6,0.000,0.024,3172,2480,2320
$GC,9034,0.89,176.4,53.5,9.6,386,9038,0.00,2.25,0.00,0.000,4,0.000,0.046,3163,3901,2320
$GC,9226,0.96,233.1,38.9,7.1,403,9282,0.00,2.08,49.67,0.610,6,0.000,0.025,3172,2481,2088
$STATE,9429,end climb,SURFACE_DEPTH_REACHED
$STATE,9429,begin surface coast
$FINISH,0.4,1.023719
$STATE,9442,end surface coast,CONTROL_FINISHED_OK
$STATE,9442,begin surface
$SM_CCo,9467,55.72,0.582,0,0,1612,350.04
$SM_GC,1.63,0.00,0.00,55.72,0.000,0.000,0.582,51,2686,1612,-8.84,1.30,350.04
$IRIDIUM_FIX,2246.36,-15743.68,260500,131358
$TT8_MAMPS,0.023777
$HUMID,1869
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.5,111.714
$10V_AH,10.6,65.219
$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,22.525,80.975,333.475,55.725,0.000,85.581,135.667,657.002,0.000,0.000,0.000,33.223,876.417,6600.152,456.672,1518.853,1268.297,33.367,1058.408,0.000,1498.408,0.000,0.543,0.000
$DEVICE_MAMPS,254.644,70.564,1059.994,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,294.066,692.593,712.654,153.554,632.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35148,435
$CAP_FILE_SIZE,81766,0
$CFSIZE,260165632,227819520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,020311,160301,2254.468,-15759.485,40,1.4,40,10.1