version: 66.04
glider: 512
mission: 1
dive: 902
start: 3 8 111 16 34 29
data:
$ID,512
$MISSION,1
$DIVE,902
$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,-25402.652
$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,66
$R_STBD_OVSHOOT,17
$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
$GPS1,162637,2248.874,-15755.127,41,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.7
$GPS2,163337,2248.837,-15755.122,14,1.5,19,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.046,-0.252
$KALMAN_X,-374536.2,830.6,176.8,400881.3,-1711.7
$KALMAN_Y,-652788.1,352.7,-253.4,779679.3,1455.5
$MHEAD_RNG_PITCHd_Wd,180.2,5700,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,2,0.000,0.000,39,2618,2752
$GC,70,-0.85,-146.0,3.2,-4.1,6,110,11.32,2.10,-18.75,0.000,4,0.239,0.041,2603,1246,3639
$GC,216,-0.85,-146.0,34.1,-16.1,28,220,0.00,2.28,0.00,0.000,6,0.000,0.061,2593,2635,3640
$GC,487,-0.85,-146.0,100.2,-23.7,53,490,0.00,2.08,0.00,0.000,4,0.000,0.065,2583,3905,3640
$GC,582,-0.85,-146.0,119.5,-15.2,61,586,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2640,3641
$GC,852,-0.85,-146.0,171.5,-19.4,86,856,0.00,2.05,0.00,0.000,4,0.000,0.026,2601,1236,3642
$GC,922,-0.85,-146.0,182.0,-12.4,92,926,0.00,2.30,0.00,0.000,6,0.000,0.056,2591,2644,3643
$GC,1210,-0.85,-146.0,229.3,-17.4,107,1214,0.00,2.08,0.00,0.000,4,0.000,0.026,2600,1239,3644
$GC,1245,-0.85,-146.0,235.6,-15.6,107,1249,0.00,2.33,0.00,0.000,6,0.000,0.063,2590,2652,3644
$GC,1502,-0.85,-146.0,272.5,-14.5,114,1505,0.00,2.08,0.00,0.000,4,0.000,0.070,2580,3904,3644
$GC,1571,-0.85,-146.0,281.2,-10.5,115,1575,0.00,1.88,0.00,0.000,6,0.000,0.023,2588,2636,3644
$GC,1840,-0.85,-146.0,318.7,-14.9,122,1844,0.00,2.10,0.00,0.000,4,0.000,0.065,2580,3902,3644
$GC,1903,-0.85,-146.0,327.2,-12.0,123,1907,0.00,1.85,0.00,0.000,6,0.000,0.023,2588,2633,3644
$GC,2177,-0.85,-146.0,356.6,-10.5,130,2181,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1239,3643
$GC,2219,-0.85,-146.0,360.9,-9.5,130,2226,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2637,3644
$GC,2471,-0.85,-146.0,389.5,-11.8,137,2475,0.00,2.08,0.00,0.000,4,0.000,0.065,2579,3905,3642
$GC,2505,-0.85,-146.0,394.1,-12.4,137,2509,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2640,3642
$GC,2763,-0.85,-146.0,422.6,-11.0,144,2767,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1232,3640
$GC,2792,-0.85,-146.0,426.0,-11.0,144,2797,0.00,2.30,0.00,0.000,6,0.000,0.053,2589,2652,3640
$GC,3051,-0.85,-146.0,453.6,-10.9,151,3055,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3895,3638
$GC,3092,-0.85,-146.0,458.1,-10.1,151,3098,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2636,3638
$GC,3344,-0.85,-146.0,482.7,-9.9,158,3348,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1232,3637
$GC,3386,-0.85,-146.0,486.5,-8.6,158,3392,0.00,2.30,0.00,0.000,6,0.000,0.052,2590,2654,3637
$GC,3638,-0.85,-146.0,510.0,-9.5,165,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2654,3634
$GC,3884,-0.85,-146.0,535.5,-10.5,171,3888,0.00,2.12,0.00,0.000,4,0.000,0.028,2597,1232,3632
$GC,3919,-0.85,-146.0,539.5,-9.7,171,3923,0.00,2.30,0.00,0.000,6,0.000,0.052,2589,2651,3632
$GC,4177,-0.85,-146.0,565.2,-10.1,178,4181,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3891,3630
$GC,4200,-0.85,-146.0,567.6,-9.8,178,4204,0.00,1.85,0.00,0.000,6,0.000,0.027,2587,2637,3630
$GC,4469,-0.85,-146.0,589.9,-8.0,185,4472,0.00,2.08,0.00,0.000,4,0.000,0.030,2597,1244,3628
$GC,4498,-0.85,-146.0,592.4,-8.0,185,4503,0.00,2.30,0.00,0.000,6,0.000,0.058,2590,2637,3628
$STATE,4630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4630,begin apogee
$GC,4641,-0.32,0.0,602.6,7.7,189,4768,0.62,0.00,123.32,1.071,6,0.146,0.000,2770,2481,3040
$STATE,4768,end apogee,CONTROL_FINISHED_OK
$STATE,4768,begin climb
$GC,4773,0.85,146.0,607.1,0.0,192,4910,1.10,2.35,129.50,1.058,4,0.073,0.058,3150,3872,2442
$GC,4973,0.85,146.0,598.0,24.9,196,4977,0.00,2.17,0.00,0.000,6,0.000,0.026,3158,2453,2438
$GC,5230,0.85,146.0,537.9,23.5,203,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2448,2433
$GC,5474,0.85,146.0,488.2,19.8,209,5478,0.00,2.30,0.00,0.000,4,0.000,0.053,3150,3875,2431
$GC,5492,0.85,146.0,484.8,18.8,209,5495,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2443,2430
$GC,5762,0.85,146.0,436.2,17.6,216,5766,0.00,2.33,0.00,0.000,4,0.000,0.051,3150,3886,2429
$GC,5775,0.85,146.0,433.7,17.3,216,5779,0.00,2.15,0.00,0.000,6,0.000,0.026,3159,2451,2428
$GC,6050,0.85,146.0,388.8,16.6,223,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2445,2427
$GC,6293,0.85,146.0,348.6,16.5,229,6297,0.00,2.08,0.00,0.000,4,0.000,0.029,3170,1046,2426
$GC,6509,0.85,146.0,316.0,14.9,233,6513,0.00,2.25,0.00,0.000,6,0.000,0.046,3162,2461,2425
$GC,6766,0.85,146.0,285.3,10.9,240,6770,0.00,2.30,0.00,0.000,4,0.000,0.057,3162,3874,2424
$GC,6886,0.87,161.6,273.0,8.9,242,6904,0.00,2.12,11.32,0.786,6,0.000,0.027,3171,2445,2381
$GC,7148,0.87,161.6,245.4,11.0,249,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2445,2379
$GC,7392,0.87,161.6,209.9,14.6,255,7396,0.00,2.05,0.00,0.000,4,0.000,0.029,3181,1060,2378
$GC,7472,0.87,161.6,198.6,13.6,256,7476,0.00,2.22,0.00,0.000,6,0.000,0.044,3175,2468,2378
$GC,7738,0.87,161.6,166.0,11.1,280,7741,0.00,2.08,0.00,0.000,4,0.000,0.027,3184,1055,2378
$GC,7786,0.87,161.6,160.6,10.0,284,7790,0.00,2.20,0.00,0.000,6,0.000,0.040,3176,2466,2378
$GC,8051,0.88,170.5,136.2,9.2,308,8065,0.00,2.15,9.12,0.644,4,0.000,0.026,3184,1055,2344
$GC,8139,0.88,170.5,127.2,10.7,315,8143,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2467,2344
$GC,8405,0.91,193.8,102.1,8.6,339,8432,0.00,2.17,21.77,0.670,4,0.000,0.026,3184,1046,2249
$GC,8535,0.91,193.8,87.3,13.7,350,8539,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2467,2247
$GC,8800,0.91,193.8,50.2,13.7,374,8804,0.00,2.25,0.00,0.000,4,0.000,0.051,3176,3877,2246
$GC,8817,0.91,193.8,48.0,13.4,375,8821,0.00,2.08,0.00,0.000,6,0.000,0.023,3184,2463,2245
$GC,9086,0.91,193.8,13.7,11.8,411,9094,0.00,2.10,0.00,0.000,4,0.000,0.027,3195,1045,2245
$GC,9115,0.91,193.8,10.3,11.9,415,9123,0.00,2.22,0.00,0.000,6,0.000,0.040,3191,2451,2245
$STATE,9166,end climb,SURFACE_DEPTH_REACHED
$STATE,9166,begin surface coast
$FINISH,0.5,1.023868
$STATE,9189,end surface coast,CONTROL_FINISHED_OK
$STATE,9189,begin surface
$SM_CCo,9216,90.22,0.598,0,0,1613,350.04
$SM_GC,1.41,0.00,0.00,90.22,0.000,0.000,0.598,50,2682,1613,-8.84,1.22,350.04
$IRIDIUM_FIX,2239.35,-15751.94,010600,141428
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.6,118.288
$10V_AH,10.6,70.027
$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,22.250,107.250,295.050,90.225,0.000,30.221,36.140,188.981,0.250,0.000,0.000,19.941,890.707,6182.377,442.090,1561.474,651.394,33.377,1081.258,0.000,1544.945,0.000,0.543,0.000
$DEVICE_MAMPS,239.304,69.797,1070.732,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,289.702,688.065,708.188,157.727,646.463,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35024,428
$CAP_FILE_SIZE,81323,0
$CFSIZE,260165632,225587200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,080311,191052,2247.819,-15755.710,9,2.2,29,10.1