version: 66.04
glider: 512
mission: 1
dive: 927
start: 3 11 111 2 19 37
data:
$ID,512
$MISSION,1
$DIVE,927
$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,-25941.129
$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,17
$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
$GPS1,021125,2246.260,-15801.198,13,1.6,18,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.7
$GPS2,021844,2246.276,-15801.252,14,1.7,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.107,-0.127
$KALMAN_X,-373124.8,943.3,311.2,388670.3,-3659.8
$KALMAN_Y,-650828.8,492.8,-204.4,772795.9,2120.6
$MHEAD_RNG_PITCHd_Wd,129.7,3273,-27.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-1.16,-59.4,0.0,0.0,0,76,0.00,0.00,-52.90,0.000,2,0.000,0.000,44,2645,2982
$GC,82,-1.22,-108.9,3.2,-4.2,7,108,10.85,2.15,-9.38,0.000,4,0.247,0.038,2444,1222,3457
$GC,240,-1.22,-108.9,56.5,-32.3,26,244,0.00,2.42,0.00,0.000,6,0.000,0.077,2435,2638,3459
$GC,511,-1.22,-108.9,161.7,-36.2,51,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2638,3459
$GC,798,-1.22,-108.9,252.4,-30.7,67,802,0.00,2.08,0.00,0.000,4,0.000,0.025,2443,1224,3460
$GC,839,-1.22,-108.9,263.2,-23.7,67,845,0.00,2.38,0.00,0.000,6,0.000,0.067,2434,2649,3461
$GC,1091,-1.22,-108.9,334.6,-29.5,74,1095,0.00,2.08,0.00,0.000,4,0.000,0.073,2425,3894,3461
$GC,1351,-1.22,-108.9,410.9,-27.2,79,1355,0.00,1.83,0.00,0.000,6,0.000,0.024,2432,2638,3461
$GC,1610,-1.22,-108.9,474.2,-24.3,86,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2631,3459
$GC,1854,-1.22,-108.9,532.0,-23.4,92,1858,0.00,2.15,0.00,0.000,4,0.000,0.071,2424,3899,3458
$GC,1895,-1.22,-108.9,543.0,-24.4,92,1901,0.00,1.85,0.00,0.000,6,0.000,0.025,2432,2637,3458
$STATE,2144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2144,begin apogee
$GC,2156,-0.32,0.0,602.5,23.5,99,2252,1.25,0.00,92.70,1.033,6,0.218,0.000,2725,2475,3010
$STATE,2253,end apogee,CONTROL_FINISHED_OK
$STATE,2253,begin climb
$GC,2258,1.22,108.9,608.7,0.0,101,2361,1.50,2.22,95.32,1.024,4,0.090,0.026,3234,1025,2567
$GC,2457,1.22,108.9,596.6,18.7,105,2462,0.00,2.35,0.00,0.000,6,0.000,0.051,3231,2473,2563
$GC,2715,1.22,108.9,549.6,18.1,112,2719,0.00,2.28,0.00,0.000,4,0.000,0.059,3231,3875,2559
$GC,2738,1.22,108.9,545.0,18.2,112,2742,0.00,2.15,0.00,0.000,6,0.000,0.025,3241,2422,2558
$GC,3002,1.22,108.9,499.2,17.3,119,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2416,2555
$GC,3245,1.22,108.9,462.7,14.8,125,3249,0.00,2.35,0.00,0.000,4,0.000,0.051,3240,3881,2553
$GC,3288,1.22,108.9,456.8,14.1,126,3292,0.00,2.10,0.00,0.000,6,0.000,0.026,3250,2457,2552
$GC,3579,1.22,108.9,417.2,13.1,133,3583,0.00,2.08,0.00,0.000,4,0.000,0.028,3260,1049,2550
$GC,3840,1.22,108.9,384.7,10.9,138,3844,0.00,2.25,0.00,0.000,6,0.000,0.048,3257,2460,2549
$GC,4097,1.22,108.9,357.4,10.6,145,4101,0.00,2.10,0.00,0.000,4,0.000,0.029,3266,1052,2547
$GC,4201,1.25,134.0,349.3,6.9,147,4226,0.00,2.22,20.05,0.883,6,0.000,0.041,3257,2469,2463
$GC,4473,1.25,134.0,318.2,12.1,153,4476,0.00,2.10,0.00,0.000,4,0.000,0.028,3266,1059,2459
$GC,4581,1.25,134.0,305.3,12.4,155,4585,0.00,2.20,0.00,0.000,6,0.000,0.041,3257,2463,2458
$GC,4850,1.25,134.0,274.8,10.8,162,4854,0.00,2.28,0.00,0.000,4,0.000,0.054,3257,3877,2457
$GC,5025,1.25,134.0,253.5,11.3,165,5032,0.00,2.15,0.00,0.000,6,0.000,0.027,3266,2463,2456
$GC,5280,1.28,154.0,232.9,7.4,172,5304,0.00,2.17,17.70,0.793,4,0.000,0.026,3277,1040,2382
$GC,5419,1.28,154.0,215.6,14.6,175,5423,0.00,2.22,0.00,0.000,6,0.000,0.044,3271,2455,2379
$GC,5681,1.28,154.0,181.7,12.6,191,5685,0.00,2.10,0.00,0.000,4,0.000,0.027,3280,1044,2377
$GC,5830,1.29,162.7,166.8,8.7,204,5844,0.00,2.22,8.85,0.671,6,0.000,0.040,3271,2476,2346
$GC,6104,1.29,162.7,133.7,12.1,229,6107,0.00,2.12,0.00,0.000,4,0.000,0.026,3280,1036,2344
$GC,6119,1.29,162.7,131.1,12.5,230,6124,0.00,2.22,0.00,0.000,6,0.000,0.037,3271,2474,2344
$GC,6384,1.29,162.7,103.2,10.5,254,6387,0.00,2.10,0.00,0.000,4,0.000,0.026,3280,1043,2343
$GC,6644,1.29,163.4,78.6,9.5,277,6648,0.00,2.20,0.00,0.000,6,0.000,0.037,3271,2468,2343
$GC,6910,1.33,195.1,58.1,6.2,301,6949,0.00,2.28,29.00,0.629,4,0.000,0.050,3270,3864,2213
$GC,7201,1.33,195.1,6.3,23.9,335,7209,0.00,2.12,0.00,0.000,6,0.000,0.025,3280,2442,2212
$STATE,7215,end climb,SURFACE_DEPTH_REACHED
$STATE,7216,begin surface coast
$FINISH,0.7,1.023877
$STATE,7228,end surface coast,CONTROL_FINISHED_OK
$STATE,7228,begin surface
$SM_CCo,7255,72.93,0.600,0,0,1582,350.04
$SM_GC,1.50,0.00,0.00,72.93,0.000,0.000,0.600,55,2664,1582,-8.71,0.68,350.04
$IRIDIUM_FIX,2237.01,-15802.37,040600,000000
$TT8_MAMPS,0.023777
$HUMID,1870
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.7,121.153
$10V_AH,10.7,72.117
$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,22.750,70.050,263.625,72.925,0.000,24.602,45.657,206.022,0.250,0.000,0.000,14.408,739.635,4626.289,377.586,1411.784,615.146,33.342,959.355,0.000,1400.276,0.000,0.545,0.000
$DEVICE_MAMPS,246.974,77.467,1033.149,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,229.088,555.424,569.964,125.759,521.484,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28805,339
$CAP_FILE_SIZE,66631,0
$CFSIZE,260165632,224616448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,110311,042336,2245.730,-15801.118,62,1.4,63,10.1