version: 66.04
glider: 512
mission: 1
dive: 863
start: 3 4 111 6 44 13
data:
$ID,512
$MISSION,1
$DIVE,863
$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,-24562.146
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,53
$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
$GPS1,063336,2246.425,-15759.368,33,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.0
$GPS2,064320,2246.450,-15759.348,11,1.5,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.180,0.182
$KALMAN_X,-332376.8,435.7,893.7,351127.9,-1731.7
$KALMAN_Y,-602129.3,-1152.9,191.3,725667.1,-1631.0
$MHEAD_RNG_PITCHd_Wd,305.2,6320,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-52.92,0.000,2,0.000,0.000,40,2685,2989
$GC,79,-0.85,-146.0,3.1,-4.8,7,111,11.68,2.20,-12.45,0.000,4,0.248,0.041,2602,1241,3637
$GC,175,-0.85,-146.0,29.4,-17.5,22,183,0.00,2.25,0.00,0.000,6,0.000,0.058,2593,2600,3638
$GC,441,-0.85,-146.0,91.0,-23.2,47,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2600,3639
$GC,706,-0.85,-146.0,145.9,-19.0,72,709,0.00,2.03,0.00,0.000,4,0.000,0.026,2601,1227,3640
$GC,769,-0.85,-146.0,156.2,-13.2,77,776,0.00,2.35,0.00,0.000,6,0.000,0.064,2591,2635,3641
$GC,1033,-0.85,-146.0,198.2,-16.5,102,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2635,3641
$GC,1296,-0.85,-146.0,240.6,-15.9,110,1300,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1234,3641
$GC,1320,-0.85,-146.0,244.1,-14.3,110,1324,0.00,2.25,0.00,0.000,6,0.000,0.053,2591,2638,3642
$GC,1582,-0.85,-146.0,277.4,-13.0,117,1586,0.00,2.05,0.00,0.000,4,0.000,0.064,2580,3904,3642
$GC,1630,-0.85,-146.0,283.2,-10.7,118,1634,0.00,1.83,0.00,0.000,6,0.000,0.024,2588,2641,3641
$GC,1921,-0.85,-146.0,318.8,-12.2,125,1925,0.00,2.03,0.00,0.000,4,0.000,0.026,2599,1238,3641
$GC,1979,-0.85,-146.0,325.3,-9.3,126,1983,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2653,3641
$GC,2253,-0.85,-146.0,357.7,-12.1,133,2257,0.00,2.00,0.00,0.000,4,0.000,0.061,2579,3895,3640
$GC,2328,-0.85,-146.0,366.4,-10.5,134,2332,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,2635,3639
$GC,2592,-0.85,-146.0,395.4,-11.1,141,2596,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1230,3638
$GC,2644,-0.85,-146.0,400.9,-8.9,142,2648,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2649,3638
$GC,2925,-0.85,-146.0,430.3,-10.9,149,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3636
$GC,3168,-0.85,-146.0,455.6,-10.1,155,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3635
$GC,3414,-0.85,-146.0,479.0,-9.5,161,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3633
$GC,3655,-0.85,-146.0,500.6,-8.7,167,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3631
$GC,3900,-0.85,-146.0,522.0,-9.0,173,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3629
$GC,4145,-0.85,-146.0,544.2,-9.1,179,4148,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1248,3627
$GC,4174,-0.85,-146.0,547.2,-8.7,179,4178,0.00,2.28,0.00,0.000,6,0.000,0.060,2589,2636,3626
$GC,4438,-0.85,-146.0,569.6,-8.5,186,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2636,3625
$GC,4681,-0.85,-146.0,588.1,-7.5,192,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2636,3623
$STATE,4841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4841,begin apogee
$GC,4851,-0.32,0.0,601.0,8.0,196,4977,0.62,0.00,122.90,1.065,6,0.146,0.000,2772,2501,3040
$STATE,4978,end apogee,CONTROL_FINISHED_OK
$STATE,4978,begin climb
$GC,4983,0.85,146.0,606.3,0.0,199,5131,1.08,2.35,133.23,1.043,4,0.071,0.058,3150,3871,2442
$GC,5307,0.85,146.0,573.5,22.0,206,5311,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2429,2435
$GC,5575,0.85,146.0,515.8,21.4,213,5579,0.00,2.05,0.00,0.000,4,0.000,0.030,3170,1043,2431
$GC,5751,0.85,146.0,480.6,17.8,216,5757,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2467,2429
$GC,6003,0.85,146.0,432.9,18.8,223,6006,0.00,2.25,0.00,0.000,4,0.000,0.054,3163,3872,2428
$GC,6185,0.85,146.0,399.4,17.8,227,6189,0.00,2.12,0.00,0.000,6,0.000,0.028,3172,2454,2426
$GC,6476,0.85,146.0,352.8,15.5,234,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2448,2425
$GC,6720,0.85,146.0,318.9,13.5,240,6724,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3872,2424
$GC,6890,0.85,146.0,291.8,15.5,243,6896,0.00,2.12,0.00,0.000,6,0.000,0.028,3172,2457,2424
$GC,7141,0.85,146.0,261.5,11.4,250,7146,0.00,2.28,0.00,0.000,4,0.000,0.052,3163,3874,2423
$GC,7312,0.85,146.0,244.1,10.2,253,7318,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2446,2423
$GC,7564,0.90,185.6,223.2,7.9,260,7610,0.00,2.38,34.15,0.773,4,0.000,0.049,3163,3880,2283
$GC,7623,0.90,185.6,216.2,14.1,261,7627,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2465,2281
$GC,7886,0.90,185.6,168.5,18.8,278,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2460,2277
$GC,8151,0.90,185.6,123.8,15.2,303,8155,0.00,2.10,0.00,0.000,4,0.000,0.028,3183,1039,2277
$GC,8210,0.90,185.6,115.6,12.1,308,8214,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2463,2276
$GC,8475,0.90,185.6,84.9,10.1,332,8478,0.00,2.10,0.00,0.000,4,0.000,0.027,3185,1037,2276
$GC,8732,0.92,195.1,60.2,9.2,355,8746,0.00,2.22,9.02,0.588,6,0.000,0.040,3176,2470,2244
$GC,9007,0.92,195.1,28.3,12.9,381,9015,0.00,2.15,0.00,0.000,4,0.000,0.026,3184,1043,2243
$GC,9105,0.92,195.1,14.7,13.0,398,9113,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2455,2243
$STATE,9193,end climb,SURFACE_DEPTH_REACHED
$STATE,9194,begin surface coast
$FINISH,0.4,1.023567
$STATE,9216,end surface coast,CONTROL_FINISHED_OK
$STATE,9216,begin surface
$SM_CCo,9242,81.45,0.587,0,0,1612,350.04
$SM_GC,1.18,0.00,0.00,81.45,0.000,0.000,0.587,49,2661,1612,-8.85,0.59,350.04
$IRIDIUM_FIX,2239.35,-15757.16,280500,040417
$TT8_MAMPS,0.023777
$HUMID,1868
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.5,113.631
$10V_AH,10.6,66.568
$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,22.225,73.825,299.300,81.450,0.000,25.453,35.519,368.689,0.000,0.000,0.000,11.423,865.291,6246.565,447.185,1566.027,785.566,33.376,1085.351,0.000,1567.065,0.000,0.544,0.000
$DEVICE_MAMPS,247.741,64.428,1065.363,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.651,652.090,671.290,155.798,632.559,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35054,418
$CAP_FILE_SIZE,76595,0
$CFSIZE,260165632,227196928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,0
$GPS,040311,092106,2246.728,-15800.630,36,0.9,42,10.1