version: 66.04
glider: 512
mission: 1
dive: 903
start: 3 8 111 19 29 43
data:
$ID,512
$MISSION,1
$DIVE,903
$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,-25436.93
$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,57
$R_STBD_OVSHOOT,60
$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
$GPS1,191052,2247.819,-15755.710,9,2.2,29,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.8
$GPS2,192852,2247.810,-15755.755,13,2.3,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.157,-0.202
$KALMAN_X,-374694.5,861.3,-122.2,400222.3,-1145.4
$KALMAN_Y,-651580.1,-29.9,151.7,776548.2,1199.8
$MHEAD_RNG_PITCHd_Wd,207.7,3801,-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,19,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.83,0.000,2,0.000,0.000,47,2682,3015
$GC,79,-0.85,-146.0,3.6,-4.9,7,111,11.20,2.17,-11.75,0.000,4,0.235,0.040,2600,1245,3639
$GC,238,-0.85,-146.0,41.3,-15.5,27,242,0.00,2.20,0.00,0.000,6,0.000,0.060,2591,2594,3641
$GC,508,-0.85,-146.0,109.2,-23.6,52,512,0.00,2.12,0.00,0.000,4,0.000,0.062,2581,3903,3641
$GC,601,-0.85,-146.0,127.1,-15.6,60,604,0.00,1.85,0.00,0.000,6,0.000,0.023,2589,2629,3641
$GC,872,-0.85,-146.0,180.7,-19.3,85,876,0.00,2.03,0.00,0.000,4,0.000,0.025,2599,1236,3642
$GC,932,-0.85,-146.0,190.2,-13.3,90,937,0.00,2.30,0.00,0.000,6,0.000,0.056,2589,2649,3642
$GC,1197,-0.85,-146.0,236.2,-18.1,100,1200,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3907,3642
$GC,1260,-0.85,-146.0,246.1,-13.9,101,1264,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2638,3642
$GC,1535,-0.85,-146.0,286.1,-14.7,108,1538,0.00,2.05,0.00,0.000,4,0.000,0.025,2597,1232,3642
$GC,1559,-0.85,-146.0,289.5,-13.4,108,1563,0.00,2.30,0.00,0.000,6,0.000,0.060,2589,2644,3642
$GC,1827,-0.85,-146.0,324.7,-13.4,115,1831,0.00,2.08,0.00,0.000,4,0.000,0.070,2579,3902,3641
$GC,1902,-0.85,-146.0,334.1,-11.6,116,1906,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2626,3642
$GC,2166,-0.85,-146.0,369.2,-13.5,123,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2619,3640
$GC,2409,-0.85,-146.0,396.1,-11.0,129,2413,0.00,2.15,0.00,0.000,4,0.000,0.068,2579,3903,3639
$GC,2478,-0.85,-146.0,403.7,-10.3,130,2482,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2635,3637
$GC,2749,-0.85,-146.0,434.4,-12.0,137,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2628,3636
$GC,2990,-0.85,-146.0,461.8,-11.1,143,2994,0.00,2.10,0.00,0.000,4,0.000,0.064,2578,3894,3634
$GC,3014,-0.85,-146.0,464.7,-11.7,143,3018,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2631,3634
$GC,3283,-0.85,-146.0,492.4,-10.1,150,3287,0.00,2.12,0.00,0.000,4,0.000,0.067,2577,3894,3632
$GC,3313,-0.85,-146.0,495.7,-10.5,150,3317,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2633,3632
$GC,3577,-0.85,-146.0,519.6,-8.9,157,3580,0.00,2.12,0.00,0.000,4,0.000,0.067,2578,3891,3629
$GC,3612,-0.85,-146.0,522.9,-9.8,157,3615,0.00,1.85,0.00,0.000,6,0.000,0.025,2585,2633,3629
$GC,3869,-0.85,-146.0,544.4,-8.3,164,3873,0.00,2.05,0.00,0.000,4,0.000,0.028,2595,1249,3627
$GC,3889,-0.85,-146.0,545.9,-7.9,164,3893,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2648,3627
$GC,4165,-0.85,-146.0,567.7,-8.2,171,4168,0.00,2.08,0.00,0.000,4,0.000,0.069,2579,3895,3625
$GC,4206,-0.85,-146.0,571.6,-8.3,171,4212,0.00,1.85,0.00,0.000,6,0.000,0.026,2586,2638,3624
$GC,4459,-0.85,-146.0,596.3,-10.2,178,4463,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1246,3622
$STATE,4490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4490,begin apogee
$GC,4503,-0.32,0.0,600.1,9.6,178,4628,0.57,0.00,121.78,1.062,6,0.142,0.000,2764,2455,3040
$STATE,4629,end apogee,CONTROL_FINISHED_OK
$STATE,4629,begin climb
$GC,4634,0.85,146.0,605.6,0.0,181,4780,1.15,2.45,131.80,1.035,4,0.084,0.058,3150,3875,2443
$GC,5043,0.85,146.0,549.8,24.5,190,5047,0.00,2.10,0.00,0.000,6,0.000,0.027,3159,2473,2434
$GC,5325,0.85,146.0,485.2,22.0,197,5328,0.00,2.12,0.00,0.000,4,0.000,0.028,3170,1039,2431
$GC,5337,0.85,146.0,481.7,21.8,197,5342,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2469,2430
$GC,5612,0.85,146.0,425.1,20.5,204,5615,0.00,2.12,0.00,0.000,4,0.000,0.027,3171,1036,2429
$GC,5625,0.85,146.0,422.6,19.3,204,5629,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2460,2429
$GC,5901,0.85,146.0,378.3,15.6,211,5905,0.00,2.30,0.00,0.000,4,0.000,0.054,3163,3880,2427
$GC,5930,0.85,146.0,373.2,16.3,211,5934,0.00,2.15,0.00,0.000,6,0.000,0.028,3171,2456,2426
$GC,6187,0.85,146.0,333.9,14.9,218,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2450,2425
$GC,6431,0.85,146.0,298.7,14.4,224,6435,0.00,2.33,0.00,0.000,4,0.000,0.054,3163,3879,2424
$GC,6449,0.85,146.0,296.1,13.4,224,6453,0.00,2.15,0.00,0.000,6,0.000,0.028,3171,2463,2424
$GC,6726,0.85,146.0,265.1,11.1,231,6730,0.00,2.28,0.00,0.000,4,0.000,0.048,3163,3885,2424
$GC,6970,0.85,146.0,238.8,9.7,236,6974,0.00,2.15,0.00,0.000,6,0.000,0.027,3172,2442,2423
$GC,7239,0.86,153.3,214.2,9.3,243,7243,0.00,2.30,0.00,0.000,4,0.000,0.049,3163,3874,2422
$GC,7503,0.86,153.3,186.0,9.9,257,7507,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2449,2422
$GC,7773,0.86,153.3,160.0,9.9,282,7777,0.00,2.30,0.00,0.000,4,0.000,0.050,3163,3873,2422
$GC,7787,0.87,158.1,158.6,9.4,282,7800,0.00,2.12,8.02,0.645,6,0.000,0.025,3173,2454,2395
$GC,8065,0.87,158.1,131.3,9.8,307,8069,0.00,2.08,0.00,0.000,4,0.000,0.028,3183,1053,2393
$GC,8325,0.99,256.9,117.1,5.2,330,8417,0.00,2.20,85.15,0.696,6,0.000,0.039,3176,2467,1992
$GC,8683,0.99,256.9,46.6,24.9,362,8687,0.00,2.10,0.00,0.000,4,0.000,0.027,3184,1059,1984
$STATE,8885,end climb,SURFACE_DEPTH_REACHED
$STATE,8885,begin surface coast
$FINISH,0.7,1.023695
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8925,49.25,0.596,0,0,1612,350.04
$SM_GC,2.01,0.00,0.00,49.25,0.000,0.000,0.596,52,2652,1612,-8.84,0.34,350.04
$IRIDIUM_FIX,2239.35,-15754.99,010600,191908
$TT8_MAMPS,0.023777
$HUMID,1899
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,118.438
$10V_AH,10.6,70.122
$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,21.725,97.550,346.750,49.250,0.000,54.924,70.130,707.170,0.250,0.000,0.000,33.650,844.964,5993.684,416.939,1565.530,1233.072,33.365,1080.382,0.000,1532.697,0.000,0.544,0.000
$DEVICE_MAMPS,235.469,69.797,1062.295,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,266.566,616.145,634.809,130.464,538.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32026,394
$CAP_FILE_SIZE,83960,0
$CFSIZE,260165632,225546240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,080311,220037,2247.256,-15756.372,31,1.5,32,10.1