version: 66.04
glider: 512
mission: 1
dive: 855
start: 3 3 111 8 56 42
data:
$ID,512
$MISSION,1
$DIVE,855
$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,-24391.293
$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,56
$R_STBD_OVSHOOT,34
$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
$GPS1,084634,2253.825,-15757.327,10,2.2,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.1
$GPS2,085546,2253.820,-15757.384,10,2.1,29,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.239,0.093
$KALMAN_X,-325768.1,387.8,469.5,348370.0,-4309.7
$KALMAN_Y,-600663.6,-32.0,462.1,736441.6,-3513.1
$MHEAD_RNG_PITCHd_Wd,58.7,3267,-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,-52.75,0.000,2,0.000,0.000,48,2662,3000
$GC,77,-0.85,-146.0,3.6,-6.0,7,109,11.65,0.00,-11.88,0.000,6,0.247,0.000,2592,2662,3638
$GC,374,-0.85,-146.0,90.7,-26.1,39,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2662,3640
$GC,638,-0.85,-146.0,150.5,-18.9,64,642,0.00,2.10,0.00,0.000,4,0.000,0.028,2600,1239,3641
$GC,710,-0.85,-146.0,160.5,-12.0,70,714,0.00,2.25,0.00,0.000,6,0.000,0.056,2591,2625,3641
$GC,1009,-0.85,-146.0,207.1,-15.7,95,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2625,3642
$GC,1253,-0.85,-146.0,245.5,-16.0,101,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2624,3642
$GC,1497,-0.85,-146.0,281.5,-14.4,107,1500,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1221,3643
$GC,1521,-0.85,-146.0,285.1,-14.3,107,1525,0.00,2.30,0.00,0.000,6,0.000,0.059,2590,2645,3642
$GC,1783,-0.85,-146.0,318.0,-12.7,114,1787,0.00,2.10,0.00,0.000,4,0.000,0.026,2599,1226,3643
$GC,1831,-0.85,-146.0,323.3,-9.9,115,1835,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2644,3642
$GC,2117,-0.85,-146.0,355.7,-11.5,122,2120,0.00,2.05,0.00,0.000,4,0.000,0.067,2579,3902,3642
$GC,2164,-0.85,-146.0,361.0,-10.1,123,2168,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2635,3641
$GC,2455,-0.85,-146.0,391.3,-10.4,130,2458,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1229,3639
$GC,2503,-0.85,-146.0,396.1,-9.1,131,2508,0.00,2.30,0.00,0.000,6,0.000,0.057,2589,2639,3639
$GC,2789,-0.85,-146.0,428.2,-11.5,138,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3637
$GC,3032,-0.85,-146.0,455.5,-11.1,144,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3636
$GC,3276,-0.85,-146.0,480.2,-9.9,150,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3634
$GC,3521,-0.85,-146.0,504.1,-9.7,156,3525,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1229,3632
$GC,3551,-0.85,-146.0,507.2,-9.1,156,3555,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2648,3632
$GC,3808,-0.85,-146.0,529.0,-8.6,163,3812,0.00,2.05,0.00,0.000,4,0.000,0.068,2580,3891,3629
$GC,3856,-0.85,-146.0,533.0,-7.5,164,3859,0.00,1.85,0.00,0.000,6,0.000,0.027,2587,2634,3629
$GC,4149,-0.85,-146.0,556.4,-8.0,171,4153,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1235,3627
$GC,4190,-0.85,-146.0,559.9,-7.3,171,4196,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2641,3626
$GC,4442,-0.85,-146.0,580.3,-8.3,178,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2641,3625
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4692,-0.32,0.0,600.7,8.4,184,4818,0.62,0.00,123.03,1.068,6,0.150,0.000,2770,2506,3040
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4823,0.85,146.0,605.6,0.0,187,4971,1.12,2.30,133.25,1.032,4,0.074,0.029,3166,1052,2443
$GC,5044,0.85,146.0,598.5,20.4,192,5048,0.00,2.30,0.00,0.000,6,0.000,0.046,3162,2490,2438
$GC,5303,0.85,146.0,544.2,21.0,199,5307,0.00,2.17,0.00,0.000,4,0.000,0.030,3171,1044,2433
$GC,5422,0.85,146.0,520.6,17.4,201,5427,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2485,2433
$GC,5680,0.85,146.0,472.9,18.7,208,5683,0.00,2.25,0.00,0.000,4,0.000,0.053,3162,3898,2429
$GC,5732,0.85,146.0,462.9,19.7,209,5736,0.00,2.15,0.00,0.000,6,0.000,0.028,3171,2460,2428
$GC,6019,0.85,146.0,411.1,17.6,216,6023,0.00,2.30,0.00,0.000,4,0.000,0.052,3163,3895,2426
$GC,6031,0.85,146.0,408.4,17.9,216,6035,0.00,2.12,0.00,0.000,6,0.000,0.027,3173,2467,2426
$GC,6306,0.85,146.0,360.1,17.9,223,6309,0.00,2.08,0.00,0.000,4,0.000,0.029,3183,1064,2425
$GC,6353,0.85,146.0,352.5,15.5,224,6357,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2484,2425
$GC,6645,0.85,146.0,307.7,15.2,231,6648,0.00,2.25,0.00,0.000,4,0.000,0.053,3176,3891,2425
$GC,6713,0.85,146.0,296.2,16.7,232,6718,0.00,2.10,0.00,0.000,6,0.000,0.027,3185,2477,2424
$GC,6982,0.85,146.0,261.4,12.5,239,6986,0.00,2.10,0.00,0.000,4,0.000,0.029,3195,1057,2423
$GC,7030,0.85,146.0,256.6,9.9,240,7034,0.15,2.22,0.00,0.000,6,0.233,0.044,3161,2480,2423
$GC,7320,0.93,209.8,234.8,6.8,247,7380,0.00,2.20,53.20,0.823,4,0.000,0.029,3170,1074,2183
$GC,7483,0.93,209.8,209.8,19.8,250,7487,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2479,2179
$GC,7750,0.93,209.8,150.1,21.2,272,7754,0.00,2.28,0.00,0.000,4,0.000,0.055,3163,3894,2176
$GC,7795,0.93,209.8,141.1,22.1,275,7798,0.00,2.10,0.00,0.000,6,0.000,0.026,3171,2487,2175
$GC,8064,0.93,209.8,92.2,15.0,300,8068,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1059,2174
$GC,8291,0.93,209.8,56.5,16.0,320,8295,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2485,2174
$GC,8559,0.93,209.8,17.1,14.4,352,8568,0.00,2.28,0.00,0.000,4,0.000,0.052,3176,3892,2174
$GC,8579,0.93,209.8,13.5,14.8,354,8587,0.00,2.12,0.00,0.000,6,0.000,0.024,3185,2469,2174
$STATE,8635,end climb,SURFACE_DEPTH_REACHED
$STATE,8635,begin surface coast
$FINISH,0.3,1.023712
$STATE,8653,end surface coast,CONTROL_FINISHED_OK
$STATE,8653,begin surface
$SM_CCo,8679,72.30,0.588,0,0,1612,350.04
$SM_GC,0.96,0.00,0.00,72.30,0.000,0.000,0.588,47,2657,1612,-8.86,0.48,350.04
$IRIDIUM_FIX,2246.36,-15758.45,270500,060638
$TT8_MAMPS,0.023777
$HUMID,1907
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.6,112.639
$10V_AH,10.6,65.845
$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,22.600,82.825,309.475,72.300,0.000,24.890,37.912,321.399,0.500,0.000,0.000,30.875,773.691,6006.814,433.053,1362.129,734.975,33.367,1011.871,0.000,1336.878,0.000,0.543,0.000
$DEVICE_MAMPS,246.974,68.263,1068.431,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,248.566,541.931,557.802,122.700,503.967,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28882,367
$CAP_FILE_SIZE,72268,0
$CFSIZE,260165632,227540992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,030311,112352,2253.492,-15756.833,11,9.1,31,10.1