version: 66.04
glider: 512
mission: 1
dive: 849
start: 3 2 111 16 13 29
data:
$ID,512
$MISSION,1
$DIVE,849
$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,-24228.123
$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,63
$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
$GPS1,160301,2254.468,-15759.485,40,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.4
$GPS2,161232,2254.505,-15759.566,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.254,0.037
$KALMAN_X,-314210.5,396.8,204.2,333309.8,-3291.2
$KALMAN_Y,-591768.7,732.2,229.5,728287.6,-3365.8
$MHEAD_RNG_PITCHd_Wd,71.5,7182,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.75,0.000,2,0.000,0.000,51,2686,2991
$GC,78,-0.85,-146.0,3.5,-5.5,7,110,11.90,0.00,-12.18,0.000,6,0.254,0.000,2594,2686,3638
$GC,375,-0.85,-146.0,89.7,-24.0,39,379,0.00,2.12,0.00,0.000,4,0.000,0.027,2601,1248,3640
$GC,426,-0.85,-146.0,102.8,-17.0,43,433,0.00,2.22,0.00,0.000,6,0.000,0.053,2592,2610,3640
$GC,690,-0.85,-146.0,154.8,-19.8,68,694,0.00,2.08,0.00,0.000,4,0.000,0.061,2582,3897,3641
$GC,718,-0.85,-146.0,159.9,-19.1,70,721,0.00,1.83,0.00,0.000,6,0.000,0.022,2589,2635,3641
$GC,995,-0.85,-146.0,207.2,-16.7,93,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2628,3642
$GC,1239,-0.85,-146.0,246.2,-15.8,99,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2628,3642
$GC,1482,-0.85,-146.0,278.6,-12.8,105,1486,0.00,2.03,0.00,0.000,4,0.000,0.025,2600,1236,3642
$GC,1517,-0.85,-146.0,282.8,-10.8,105,1521,0.00,2.25,0.00,0.000,6,0.000,0.051,2591,2638,3642
$GC,1770,-0.85,-146.0,313.5,-12.7,111,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2638,3643
$GC,2012,-0.85,-146.0,342.2,-11.6,117,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2638,3641
$GC,2258,-0.85,-146.0,368.3,-10.7,123,2262,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,1228,3640
$GC,2282,-0.85,-146.0,371.2,-10.9,123,2286,0.00,2.28,0.00,0.000,6,0.000,0.051,2590,2647,3640
$GC,2544,-0.85,-146.0,399.5,-11.3,130,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3638
$GC,2789,-0.85,-146.0,429.1,-12.0,136,2792,0.00,2.08,0.00,0.000,4,0.000,0.027,2598,1247,3637
$GC,2824,-0.85,-146.0,433.2,-10.6,136,2828,0.00,2.28,0.00,0.000,6,0.000,0.058,2590,2642,3637
$GC,3076,-0.85,-146.0,459.7,-10.7,142,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2642,3635
$GC,3321,-0.85,-146.0,485.4,-10.4,148,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3633
$GC,3563,-0.85,-146.0,509.4,-9.7,154,3567,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1247,3631
$GC,3604,-0.85,-146.0,513.3,-8.3,154,3611,0.00,2.28,0.00,0.000,6,0.000,0.058,2589,2639,3631
$GC,3857,-0.85,-146.0,537.0,-9.7,161,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3628
$GC,4100,-0.85,-146.0,560.9,-9.8,167,4103,0.00,2.08,0.00,0.000,4,0.000,0.071,2579,3892,3626
$GC,4136,-0.85,-146.0,564.7,-10.5,167,4140,0.00,1.85,0.00,0.000,6,0.000,0.028,2587,2638,3626
$GC,4396,-0.85,-146.0,589.3,-9.6,174,4400,0.00,2.08,0.00,0.000,4,0.000,0.029,2598,1235,3625
$GC,4431,-0.85,-146.0,592.8,-8.1,174,4435,0.00,2.28,0.00,0.000,6,0.000,0.053,2590,2647,3625
$STATE,4522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4522,begin apogee
$GC,4533,-0.32,0.0,601.2,9.0,177,4659,0.62,0.00,123.55,1.065,6,0.151,0.000,2770,2515,3040
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4665,0.85,146.0,607.4,0.0,180,4805,1.12,2.33,131.80,1.047,4,0.092,0.029,3160,1049,2443
$GC,4858,0.85,146.0,605.3,18.9,184,4862,0.00,2.30,0.00,0.000,6,0.000,0.049,3160,2477,2438
$GC,5122,0.85,146.0,549.0,21.2,191,5126,0.00,2.28,0.00,0.000,4,0.000,0.054,3150,3896,2434
$GC,5140,0.85,146.0,544.7,20.8,191,5144,0.00,2.15,0.00,0.000,6,0.000,0.026,3159,2450,2433
$GC,5408,0.85,146.0,491.7,19.7,198,5412,0.00,2.05,0.00,0.000,4,0.000,0.030,3170,1066,2431
$GC,5476,0.85,146.0,479.6,16.2,199,5480,0.00,2.22,0.00,0.000,6,0.000,0.045,3163,2481,2431
$GC,5739,0.85,146.0,432.7,18.0,206,5743,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1069,2428
$GC,5809,0.85,146.0,421.3,16.0,207,5812,0.00,2.25,0.00,0.000,6,0.000,0.047,3163,2484,2428
$GC,6079,0.85,146.0,376.7,17.2,214,6082,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1072,2426
$GC,6113,0.85,146.0,370.9,15.5,214,6118,0.00,2.22,0.00,0.000,6,0.000,0.042,3163,2495,2426
$GC,6373,0.85,146.0,331.3,15.6,221,6377,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1057,2425
$GC,6560,0.85,146.0,306.8,12.5,225,6564,0.00,2.22,0.00,0.000,6,0.000,0.042,3163,2482,2425
$GC,6845,0.85,146.0,269.6,13.5,232,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2482,2424
$GC,7090,0.86,149.7,246.5,9.4,238,7094,0.00,2.25,0.00,0.000,4,0.000,0.053,3162,3901,2423
$GC,7349,0.89,171.3,223.3,8.7,243,7381,0.00,2.12,21.67,0.727,6,0.000,0.026,3172,2459,2341
$GC,7640,0.89,171.3,182.9,15.2,256,7644,0.00,2.30,0.00,0.000,4,0.000,0.049,3163,3898,2337
$GC,7788,0.89,171.3,157.8,16.8,268,7795,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2489,2337
$GC,8054,0.89,171.3,120.7,13.8,293,8057,0.00,2.08,0.00,0.000,4,0.000,0.026,3182,1071,2336
$GC,8068,0.89,171.3,118.7,12.7,294,8072,0.00,2.20,0.00,0.000,6,0.000,0.041,3175,2488,2336
$GC,8339,0.89,171.3,90.0,10.6,319,8342,0.00,2.08,0.00,0.000,4,0.000,0.025,3184,1078,2337
$GC,8411,0.93,203.7,83.5,8.2,325,8447,0.00,2.17,28.58,0.665,6,0.000,0.040,3176,2485,2209
$GC,8705,0.93,203.7,40.6,13.3,352,8709,0.00,2.10,0.00,0.000,4,0.000,0.025,3184,1055,2206
$GC,8755,0.93,203.7,33.8,11.2,356,8763,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2471,2205
$STATE,8997,end climb,SURFACE_DEPTH_REACHED
$STATE,8997,begin surface coast
$FINISH,0.5,1.010847
$STATE,9020,end surface coast,CONTROL_FINISHED_OK
$STATE,9020,begin surface
$SM_CCo,9045,78.78,0.599,0,0,1612,350.04
$SM_GC,1.04,0.00,0.00,78.78,0.000,0.000,0.599,45,2652,1612,-8.86,0.34,350.04
$IRIDIUM_FIX,2244.02,-15741.52,260500,131328
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.3,111.837
$10V_AH,10.6,65.308
$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,22.475,82.325,305.600,78.775,0.000,30.568,35.879,345.075,0.250,0.000,0.000,13.990,832.993,6207.265,444.003,1428.996,788.857,33.366,1028.727,0.000,1427.775,0.000,0.543,0.000
$DEVICE_MAMPS,253.877,70.564,1064.596,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,272.057,620.174,639.121,144.506,590.858,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32009,402
$CAP_FILE_SIZE,74130,0
$CFSIZE,260165632,227786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,020311,184652,2254.175,-15758.657,11,4.5,31,10.1