version: 66.04
glider: 512
mission: 1
dive: 914
start: 3 9 111 22 27 29
data:
$ID,512
$MISSION,1
$DIVE,914
$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,-25660.734
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2840
$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,56
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3010
$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
$GPS1,222003,2246.612,-15804.505,13,2.8,33,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.7
$GPS2,222637,2246.607,-15804.526,14,1.0,19,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.085,0.188
$KALMAN_X,-360687.1,-727.3,-488.3,373098.9,3663.9
$KALMAN_Y,-650898.1,-1339.4,130.9,774964.1,-1612.6
$MHEAD_RNG_PITCHd_Wd,325.7,2706,-21.8,-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,-0.98,-90.9,0.0,0.0,0,72,0.00,0.00,-52.78,0.000,2,0.000,0.000,40,2677,2978
$GC,77,-1.05,-146.0,3.5,-5.3,7,109,10.80,1.95,-11.95,0.000,4,0.238,0.065,2482,3862,3607
$GC,268,-1.05,-146.0,72.3,-32.1,28,275,0.00,1.83,0.00,0.000,6,0.000,0.027,2489,2659,3609
$GC,532,-1.05,-146.0,163.8,-30.4,53,536,0.00,1.98,0.00,0.000,4,0.000,0.054,2481,3870,3609
$GC,560,-1.05,-146.0,171.5,-28.7,55,563,0.00,1.85,0.00,0.000,6,0.000,0.023,2488,2634,3609
$GC,851,-1.05,-146.0,263.4,-29.8,68,855,0.00,2.08,0.00,0.000,4,0.000,0.026,2499,1214,3611
$GC,870,-1.05,-146.0,268.8,-27.5,68,874,0.00,2.28,0.00,0.000,6,0.000,0.051,2489,2623,3611
$GC,1138,-1.05,-146.0,333.1,-24.2,75,1142,0.00,2.10,0.00,0.000,4,0.000,0.064,2479,3908,3611
$GC,1213,-1.05,-146.0,350.5,-20.4,76,1217,0.00,1.88,0.00,0.000,6,0.000,0.023,2487,2630,3611
$GC,1478,-1.05,-146.0,409.2,-23.0,83,1482,0.00,2.12,0.00,0.000,4,0.000,0.061,2479,3910,3612
$GC,1519,-1.05,-146.0,419.0,-23.1,83,1526,0.00,1.88,0.00,0.000,6,0.000,0.023,2486,2629,3611
$GC,1771,-1.05,-146.0,473.6,-21.3,90,1775,0.00,2.10,0.00,0.000,4,0.000,0.061,2477,3906,3610
$GC,1835,-1.05,-146.0,487.6,-21.1,91,1839,0.00,1.88,0.00,0.000,6,0.000,0.025,2485,2634,3609
$GC,2109,-1.05,-146.0,545.6,-21.6,98,2113,0.00,2.10,0.00,0.000,4,0.000,0.061,2477,3903,3608
$GC,2172,-1.05,-146.0,560.0,-20.9,99,2176,0.00,1.90,0.00,0.000,6,0.000,0.025,2484,2637,3607
$STATE,2361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2361,begin apogee
$GC,2372,-0.32,0.0,600.2,21.1,104,2499,0.95,0.00,123.78,1.035,6,0.188,0.000,2731,2468,3010
$STATE,2500,end apogee,CONTROL_FINISHED_OK
$STATE,2500,begin climb
$GC,2505,1.05,146.0,608.1,0.0,107,2643,1.33,2.25,128.60,1.022,4,0.088,0.028,3184,1035,2413
$GC,2695,1.05,146.0,598.6,23.2,111,2699,0.00,2.30,0.00,0.000,6,0.000,0.044,3176,2474,2410
$GC,2964,1.05,146.0,534.7,23.5,118,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2474,2404
$GC,3207,1.05,146.0,479.8,22.6,124,3211,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1033,2402
$GC,3344,1.05,146.0,449.6,21.7,127,3349,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2470,2400
$GC,3632,1.05,146.0,390.9,20.7,134,3636,0.00,2.15,0.00,0.000,4,0.000,0.028,3185,1029,2398
$GC,3667,1.05,146.0,383.6,18.2,134,3671,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2464,2398
$GC,3927,1.05,146.0,333.7,19.6,141,3931,0.00,2.12,0.00,0.000,4,0.000,0.029,3185,1037,2396
$GC,4059,1.05,146.0,312.7,14.1,143,4065,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2465,2396
$GC,4311,1.05,146.0,272.6,16.3,150,4314,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1032,2394
$GC,4374,1.05,146.0,264.9,11.5,151,4378,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2469,2394
$GC,4650,1.05,146.0,230.5,12.3,158,4654,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1036,2392
$GC,4698,1.05,146.0,224.9,12.0,159,4702,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2463,2392
$GC,4955,1.05,146.0,197.4,10.1,166,4959,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1029,2391
$GC,5052,1.05,146.0,187.4,10.4,174,5060,0.00,2.28,0.00,0.000,6,0.000,0.041,3177,2454,2392
$GC,5318,1.05,146.0,160.8,10.4,199,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2454,2391
$GC,5582,1.09,176.6,136.7,7.4,224,5611,0.00,2.15,23.42,0.707,4,0.000,0.028,3185,1032,2289
$GC,5869,1.09,176.6,101.0,11.2,249,5874,0.00,2.22,0.00,0.000,6,0.000,0.040,3177,2457,2286
$GC,6136,1.09,176.6,66.3,12.8,273,6139,0.00,2.10,0.00,0.000,4,0.000,0.025,3186,1030,2286
$GC,6395,1.11,191.3,38.8,8.6,296,6414,0.00,2.25,13.73,0.581,6,0.000,0.044,3177,2455,2230
$GC,6676,1.11,191.3,4.6,15.8,338,6683,0.00,2.10,0.00,0.000,4,0.000,0.024,3186,1033,2227
$STATE,6690,end climb,SURFACE_DEPTH_REACHED
$STATE,6690,begin surface coast
$FINISH,0.5,1.000275
$STATE,6707,end surface coast,CONTROL_FINISHED_OK
$STATE,6707,begin surface
$SM_CCo,6735,81.95,0.580,0,0,1582,350.04
$SM_GC,1.51,0.00,0.00,81.95,0.000,0.000,0.580,44,2642,1582,-8.74,0.06,350.04
$IRIDIUM_FIX,2239.35,-15802.37,020600,202042
$TT8_MAMPS,0.023777
$HUMID,1856
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.7,119.793
$10V_AH,10.7,71.081
$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,21.950,72.400,289.525,81.950,0.000,26.687,42.964,157.639,0.250,0.000,0.000,19.411,716.723,4174.401,414.062,1350.403,558.505,33.346,958.782,0.000,1341.502,0.000,0.544,0.000
$DEVICE_MAMPS,237.770,65.195,1034.683,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,231.429,586.110,605.330,139.704,571.430,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28635,343
$CAP_FILE_SIZE,62363,0
$CFSIZE,260165632,225124352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,1
$GPS,100311,002213,2247.072,-15804.674,13,1.9,19,10.1