version: 66.04
glider: 512
mission: 1
dive: 955
start: 3 13 111 21 9 56
data:
$ID,512
$MISSION,1
$DIVE,955
$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,-26564.252
$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,44
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,210102,2256.139,-15757.467,10,1.7,11,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.6
$GPS2,210904,2256.144,-15757.451,17,7.1,36,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.255,-0.029
$KALMAN_X,-378269.9,-41.7,-203.7,401863.2,-1751.9
$KALMAN_Y,-666187.4,635.1,321.5,805749.5,-1711.0
$MHEAD_RNG_PITCHd_Wd,86.4,5921,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,84,0.00,0.00,-60.35,0.000,2,0.000,0.000,48,2662,3189
$GC,89,-0.85,-146.0,3.7,-4.5,8,115,11.20,1.98,-7.25,0.000,4,0.237,0.068,2587,3885,3596
$GC,126,-0.85,-146.0,19.7,-35.1,12,134,0.00,1.88,0.00,0.000,6,0.000,0.024,2594,2629,3597
$GC,393,-0.85,-146.0,101.9,-27.2,38,397,0.00,2.08,0.00,0.000,4,0.000,0.028,2605,1227,3599
$GC,454,-0.85,-146.0,115.2,-18.0,43,458,0.00,2.33,0.00,0.000,6,0.000,0.062,2595,2623,3599
$GC,720,-0.85,-146.0,171.4,-20.1,67,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2624,3600
$GC,999,-0.85,-146.0,221.5,-17.5,85,1002,0.00,2.10,0.00,0.000,4,0.000,0.066,2584,3896,3601
$GC,1017,-0.85,-146.0,225.0,-17.6,85,1020,0.00,1.85,0.00,0.000,6,0.000,0.022,2591,2621,3602
$GC,1292,-0.85,-146.0,267.3,-15.2,92,1295,0.00,2.03,0.00,0.000,4,0.000,0.025,2602,1228,3602
$GC,1316,-0.85,-146.0,270.9,-13.9,92,1320,0.00,2.33,0.00,0.000,6,0.000,0.056,2592,2648,3602
$GC,1578,-0.85,-146.0,307.3,-14.8,99,1582,0.00,2.05,0.00,0.000,4,0.000,0.066,2582,3892,3602
$GC,1614,-0.85,-146.0,312.1,-12.9,99,1617,0.00,1.83,0.00,0.000,6,0.000,0.023,2590,2638,3602
$GC,1873,-0.85,-146.0,343.1,-12.4,106,1877,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1233,3601
$GC,1937,-0.85,-146.0,350.7,-9.5,107,1941,0.00,2.28,0.00,0.000,6,0.000,0.053,2591,2641,3601
$GC,2213,-0.85,-146.0,383.3,-12.3,114,2217,0.00,2.08,0.00,0.000,4,0.000,0.064,2580,3904,3600
$GC,2283,-0.85,-146.0,391.7,-11.2,115,2286,0.00,1.85,0.00,0.000,6,0.000,0.024,2588,2639,3600
$GC,2553,-0.85,-146.0,421.6,-11.0,122,2557,0.00,2.08,0.00,0.000,4,0.000,0.027,2598,1227,3598
$GC,2577,-0.85,-146.0,424.6,-11.4,122,2582,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2639,3598
$GC,2841,-0.85,-146.0,451.1,-10.4,129,2844,0.00,2.10,0.00,0.000,4,0.000,0.067,2579,3903,3595
$GC,2882,-0.85,-146.0,455.6,-10.5,129,2888,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2639,3594
$GC,3135,-0.85,-146.0,480.0,-9.7,136,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2631,3593
$GC,3378,-0.85,-146.0,502.8,-9.3,142,3382,0.00,2.12,0.00,0.000,4,0.000,0.065,2578,3892,3591
$GC,3419,-0.85,-146.0,507.1,-9.9,142,3425,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2637,3590
$GC,3672,-0.85,-146.0,533.5,-10.9,149,3676,0.00,2.15,0.00,0.000,4,0.000,0.069,2578,3894,3589
$GC,3702,-0.85,-146.0,537.3,-12.2,149,3705,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2639,3589
$GC,3966,-0.85,-146.0,565.3,-10.6,156,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2632,3587
$GC,4209,-0.85,-146.0,589.1,-9.6,162,4212,0.00,2.15,0.00,0.000,4,0.000,0.069,2578,3894,3584
$GC,4262,-0.85,-146.0,594.5,-9.2,163,4265,0.00,1.85,0.00,0.000,6,0.000,0.026,2586,2642,3585
$STATE,4339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4339,begin apogee
$GC,4351,-0.32,0.0,602.4,9.7,165,4476,0.65,0.00,121.90,1.065,6,0.149,0.000,2773,2478,3000
$STATE,4476,end apogee,CONTROL_FINISHED_OK
$STATE,4477,begin climb
$GC,4482,0.85,146.0,608.3,0.0,168,4620,1.08,2.40,129.00,1.044,4,0.072,0.059,3150,3872,2403
$GC,4643,0.85,146.0,606.1,19.5,171,4647,0.00,2.20,0.00,0.000,6,0.000,0.026,3159,2445,2400
$GC,4897,0.85,146.0,548.4,23.0,177,4901,0.00,2.35,0.00,0.000,4,0.000,0.053,3160,3875,2394
$GC,4915,0.85,146.0,543.9,22.2,177,4919,0.00,2.15,0.00,0.000,6,0.000,0.025,3170,2445,2393
$GC,5184,0.85,146.0,484.5,22.0,184,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2439,2391
$GC,5428,0.85,146.0,430.4,21.9,190,5431,0.00,2.08,0.00,0.000,4,0.000,0.030,3181,1051,2389
$GC,5547,0.85,146.0,405.9,20.1,192,5551,0.00,2.25,0.00,0.000,6,0.000,0.045,3176,2466,2388
$GC,5810,0.85,146.0,357.4,17.5,199,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2467,2386
$GC,6054,0.85,146.0,318.6,15.6,205,6058,0.00,2.12,0.00,0.000,4,0.000,0.029,3184,1051,2385
$GC,6286,0.85,146.0,285.4,13.5,210,6290,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2469,2384
$GC,6572,0.85,146.0,246.3,13.6,217,6576,0.00,2.28,0.00,0.000,4,0.000,0.053,3176,3870,2384
$GC,6709,0.85,146.0,228.3,11.7,220,6714,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2452,2382
$GC,7001,0.85,146.0,197.8,10.2,227,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2446,2382
$GC,7257,0.85,146.0,171.4,9.8,251,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2446,2382
$GC,7521,0.93,203.3,145.1,7.1,276,7572,0.00,2.17,46.00,0.732,4,0.000,0.028,3195,1044,2171
$GC,7602,0.93,203.3,135.1,16.4,282,7610,0.00,2.30,0.00,0.000,6,0.000,0.044,3192,2448,2168
$GC,7868,0.93,203.3,86.3,17.1,307,7872,0.00,2.08,0.00,0.000,4,0.000,0.028,3200,1060,2165
$GC,7994,0.93,203.3,64.2,16.4,318,7998,0.00,2.22,0.00,0.000,6,0.000,0.044,3199,2463,2164
$GC,8263,0.93,203.3,19.3,17.4,347,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2463,2164
$STATE,8350,end climb,SURFACE_DEPTH_REACHED
$STATE,8350,begin surface coast
$FINISH,0.3,1.023647
$STATE,8368,end surface coast,CONTROL_FINISHED_OK
$STATE,8368,begin surface
$SM_CCo,8395,79.15,0.607,0,0,1572,350.04
$SM_GC,1.58,0.00,0.00,79.15,0.000,0.000,0.607,40,2658,1572,-8.88,0.51,350.04
$IRIDIUM_FIX,2246.36,-15800.62,060600,181818
$TT8_MAMPS,0.023777
$HUMID,1906
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.6,124.495
$10V_AH,10.6,74.502
$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,22.125,80.450,296.900,79.150,0.000,31.171,34.619,230.860,0.000,0.000,0.000,36.988,765.265,5734.711,425.037,1358.058,675.236,33.371,1004.651,0.000,1329.206,0.000,0.543,0.000
$DEVICE_MAMPS,237.003,69.030,1065.363,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,247.157,562.178,578.997,120.583,493.567,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28830,366
$CAP_FILE_SIZE,70640,0
$CFSIZE,260165632,223481856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,130311,233228,2255.945,-15756.395,8,2.6,28,10.1