version: 66.04
glider: 512
mission: 1
dive: 852
start: 3 3 111 0 54 37
data:
$ID,512
$MISSION,1
$DIVE,852
$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,-24330.717
$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,45
$R_STBD_OVSHOOT,25
$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
$GPS1,003934,2253.279,-15757.765,10,2.7,30,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.9
$GPS2,005344,2253.199,-15757.871,13,1.9,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.130,0.221
$KALMAN_X,-319960.7,330.8,-70.3,342324.4,-3229.2
$KALMAN_Y,-595676.8,403.0,-67.5,730401.5,-2980.7
$MHEAD_RNG_PITCHd_Wd,20.3,4084,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.20,0.000,2,0.000,0.000,45,2650,2750
$GC,74,-0.85,-146.0,3.1,-3.4,6,114,12.00,2.05,-19.10,0.000,4,0.255,0.073,2588,3881,3637
$GC,211,-0.85,-146.0,32.7,-19.1,27,214,0.00,1.85,0.00,0.000,6,0.000,0.025,2593,2624,3638
$GC,480,-0.85,-146.0,98.4,-24.7,52,484,0.00,2.05,0.00,0.000,4,0.000,0.027,2603,1220,3638
$GC,541,-0.85,-146.0,110.4,-15.8,57,545,0.00,2.30,0.00,0.000,6,0.000,0.061,2594,2630,3639
$GC,806,-0.85,-146.0,159.4,-18.0,81,810,0.00,2.05,0.00,0.000,4,0.000,0.064,2583,3896,3639
$GC,857,-0.85,-146.0,167.4,-15.0,85,861,0.00,1.83,0.00,0.000,6,0.000,0.022,2591,2631,3639
$GC,1133,-0.85,-146.0,213.6,-16.8,105,1136,0.00,2.03,0.00,0.000,4,0.000,0.025,2601,1240,3640
$GC,1184,-0.85,-146.0,221.8,-13.4,106,1188,0.00,2.28,0.00,0.000,6,0.000,0.057,2592,2645,3640
$GC,1470,-0.85,-146.0,263.5,-14.7,113,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2645,3640
$GC,1714,-0.85,-146.0,294.8,-12.6,119,1718,0.00,2.08,0.00,0.000,4,0.000,0.026,2600,1234,3640
$GC,1771,-0.85,-146.0,301.0,-8.8,120,1775,0.00,2.25,0.00,0.000,6,0.000,0.052,2591,2645,3640
$GC,2050,-0.85,-146.0,331.1,-10.9,127,2054,0.00,2.03,0.00,0.000,4,0.000,0.064,2581,3896,3640
$GC,2085,-0.85,-146.0,335.2,-10.8,127,2089,0.00,1.83,0.00,0.000,6,0.000,0.023,2589,2638,3639
$GC,2343,-0.85,-146.0,362.3,-10.9,134,2347,0.00,2.05,0.00,0.000,4,0.000,0.027,2599,1234,3638
$GC,2372,-0.85,-146.0,365.7,-10.8,134,2376,0.00,2.25,0.00,0.000,6,0.000,0.052,2589,2645,3638
$GC,2636,-0.85,-146.0,393.7,-11.3,141,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3636
$GC,2880,-0.85,-146.0,420.9,-11.1,147,2884,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1228,3635
$GC,2921,-0.85,-146.0,425.6,-9.8,147,2927,0.00,2.28,0.00,0.000,6,0.000,0.052,2589,2642,3635
$GC,3172,-0.85,-146.0,452.7,-11.1,154,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3632
$GC,3416,-0.85,-146.0,478.9,-10.6,160,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3631
$GC,3661,-0.85,-146.0,503.1,-9.9,166,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3629
$GC,3904,-0.85,-146.0,526.4,-9.6,172,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3626
$GC,4147,-0.85,-146.0,548.9,-9.1,178,4151,0.00,2.08,0.00,0.000,4,0.000,0.030,2598,1244,3625
$GC,4183,-0.85,-146.0,551.9,-7.7,178,4187,0.00,2.28,0.00,0.000,6,0.000,0.055,2589,2641,3625
$GC,4435,-0.85,-146.0,572.0,-8.0,184,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2640,3622
$GC,4679,-0.85,-146.0,591.5,-8.1,190,4683,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1239,3621
$GC,4719,-0.85,-146.0,594.7,-7.5,190,4726,0.00,2.33,0.00,0.000,6,0.000,0.059,2589,2635,3620
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4804,begin apogee
$GC,4814,-0.32,0.0,601.6,7.7,193,4940,0.62,0.00,122.40,1.065,6,0.150,0.000,2770,2516,3040
$STATE,4941,end apogee,CONTROL_FINISHED_OK
$STATE,4941,begin climb
$GC,4945,0.85,146.0,606.7,0.0,196,5092,1.10,2.33,133.05,1.040,4,0.077,0.031,3160,1054,2443
$GC,5354,0.85,146.0,561.7,18.8,205,5358,0.00,2.28,0.00,0.000,6,0.000,0.048,3160,2481,2434
$GC,5630,0.85,146.0,505.1,20.6,212,5633,0.00,2.15,0.00,0.000,4,0.000,0.029,3170,1047,2431
$GC,5698,0.85,146.0,490.5,18.9,213,5703,0.00,2.30,0.00,0.000,6,0.000,0.048,3162,2478,2431
$GC,5961,0.85,146.0,437.6,20.0,220,5965,0.00,2.33,0.00,0.000,4,0.000,0.061,3162,3905,2428
$GC,6147,0.85,146.0,399.5,21.8,224,6151,0.00,2.17,0.00,0.000,6,0.000,0.029,3171,2452,2426
$GC,6427,0.85,146.0,349.6,17.4,231,6431,0.00,2.05,0.00,0.000,4,0.000,0.030,3182,1055,2425
$GC,6546,0.85,146.0,332.0,15.9,233,6550,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2488,2425
$GC,6809,0.85,146.0,298.8,11.7,240,6813,0.00,2.25,0.00,0.000,4,0.000,0.052,3175,3902,2424
$GC,6860,0.85,146.0,292.7,11.9,241,6863,0.00,2.12,0.00,0.000,6,0.000,0.027,3185,2474,2423
$GC,7145,0.85,146.0,254.6,14.6,248,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2469,2423
$GC,7389,0.85,146.0,227.4,10.3,254,7393,0.00,2.08,0.00,0.000,4,0.000,0.028,3195,1069,2422
$GC,7617,0.92,199.0,213.8,7.3,259,7673,0.00,2.22,45.70,0.770,6,0.000,0.046,3191,2481,2228
$GC,7931,0.92,199.0,159.1,20.7,280,7935,0.00,2.28,0.00,0.000,4,0.000,0.055,3191,3905,2222
$GC,8026,0.92,199.0,138.8,18.9,288,8035,0.00,2.17,0.00,0.000,6,0.000,0.028,3200,2473,2221
$GC,8292,0.92,199.0,90.5,17.4,313,8296,0.00,2.28,0.00,0.000,4,0.000,0.054,3201,3893,2220
$GC,8412,0.92,199.0,69.5,16.4,323,8417,0.17,2.08,0.00,0.000,6,0.265,0.025,3179,2481,2220
$GC,8683,0.92,199.0,35.1,11.6,348,8687,0.00,2.08,0.00,0.000,4,0.000,0.027,3189,1064,2220
$GC,8778,0.92,199.0,22.4,13.6,361,8786,0.00,2.22,0.00,0.000,6,0.000,0.041,3189,2476,2220
$STATE,8908,end climb,SURFACE_DEPTH_REACHED
$STATE,8909,begin surface coast
$FINISH,0.3,1.023711
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8963,80.57,0.602,0,0,1612,350.04
$SM_GC,1.24,0.00,0.00,80.57,0.000,0.000,0.602,51,2661,1612,-8.84,0.57,350.04
$IRIDIUM_FIX,2244.02,-15759.32,270500,000044
$TT8_MAMPS,0.023777
$HUMID,1863
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.5,112.257
$10V_AH,10.6,65.592
$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,22.925,82.075,301.150,80.575,0.000,56.902,78.451,495.814,0.500,0.000,0.000,13.664,831.568,6135.785,432.040,1497.179,1000.015,33.366,1056.833,0.000,1492.828,0.000,0.544,0.000
$DEVICE_MAMPS,265.382,72.865,1065.363,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,263.630,589.137,609.565,139.369,573.472,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31819,389
$CAP_FILE_SIZE,79719,0
$CFSIZE,260165632,227655680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,030311,032620,2253.697,-15758.005,12,1.9,12,10.1