version: 66.04
glider: 512
mission: 1
dive: 956
start: 3 13 111 23 40 50
data:
$ID,512
$MISSION,1
$DIVE,956
$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,-26600.861
$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,53
$R_STBD_OVSHOOT,30
$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
$GPS1,233228,2255.945,-15756.395,8,2.6,28,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.4
$GPS2,233958,2255.989,-15756.374,16,2.5,35,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.244,-0.078
$KALMAN_X,-379931.2,40.4,94.2,405003.8,-2283.4
$KALMAN_Y,-665509.8,7.4,491.2,805237.1,-1347.4
$MHEAD_RNG_PITCHd_Wd,97.7,4844,-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,-146.0,0.0,0.0,0,68,0.00,0.00,-45.25,0.000,2,0.000,0.000,40,2659,2725
$GC,74,-0.85,-146.0,3.0,-3.8,6,114,11.15,2.05,-19.65,0.000,4,0.235,0.074,2584,3875,3598
$GC,168,-0.85,-146.0,24.1,-26.9,20,176,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2647,3600
$GC,442,-0.85,-146.0,98.4,-26.5,47,445,0.00,2.10,0.00,0.000,4,0.000,0.026,2601,1217,3601
$GC,513,-0.85,-146.0,113.9,-17.2,53,518,0.00,2.35,0.00,0.000,6,0.000,0.061,2592,2630,3602
$GC,778,-0.85,-146.0,168.2,-18.8,77,782,0.00,2.10,0.00,0.000,4,0.000,0.064,2582,3904,3602
$GC,806,-0.85,-146.0,173.8,-21.2,79,810,0.00,1.88,0.00,0.000,6,0.000,0.022,2589,2617,3602
$GC,1068,-0.85,-146.0,222.5,-17.6,95,1072,0.00,2.03,0.00,0.000,4,0.000,0.025,2600,1229,3603
$GC,1118,-0.85,-146.0,229.7,-12.8,96,1122,0.00,2.33,0.00,0.000,6,0.000,0.056,2590,2646,3604
$GC,1405,-0.85,-146.0,270.3,-14.0,103,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2646,3603
$GC,1647,-0.85,-146.0,306.2,-14.9,109,1650,0.00,2.08,0.00,0.000,4,0.000,0.065,2580,3901,3604
$GC,1671,-0.85,-146.0,309.8,-14.7,109,1674,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2622,3604
$GC,1943,-0.85,-146.0,343.7,-12.8,116,1946,0.00,2.03,0.00,0.000,4,0.000,0.026,2597,1237,3603
$GC,1991,-0.85,-146.0,349.4,-9.3,117,1995,0.00,2.30,0.00,0.000,6,0.000,0.054,2588,2642,3603
$GC,2276,-0.85,-146.0,381.6,-11.7,124,2280,0.00,2.08,0.00,0.000,4,0.000,0.065,2578,3898,3602
$GC,2335,-0.85,-146.0,388.3,-9.6,125,2339,0.00,1.85,0.00,0.000,6,0.000,0.024,2586,2650,3602
$GC,2615,-0.85,-146.0,419.0,-11.1,132,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2643,3600
$GC,2860,-0.85,-146.0,446.0,-11.0,138,2864,0.00,2.08,0.00,0.000,4,0.000,0.026,2596,1247,3598
$GC,2903,-0.85,-146.0,450.4,-9.2,138,2909,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2641,3598
$GC,3156,-0.85,-146.0,475.0,-10.1,145,3160,0.00,2.08,0.00,0.000,4,0.000,0.064,2579,3894,3596
$GC,3197,-0.85,-146.0,479.5,-10.5,145,3204,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2634,3596
$GC,3449,-0.85,-146.0,504.7,-10.2,152,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2632,3594
$GC,3693,-0.85,-146.0,529.9,-10.4,158,3696,0.00,2.15,0.00,0.000,4,0.000,0.067,2579,3904,3592
$GC,3728,-0.85,-146.0,533.9,-11.3,158,3732,0.00,1.88,0.00,0.000,6,0.000,0.025,2586,2635,3591
$GC,3986,-0.85,-146.0,562.2,-11.1,165,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2629,3590
$GC,4231,-0.85,-146.0,588.2,-10.6,171,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2628,3588
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4358,-0.32,0.0,600.9,10.3,174,4484,0.65,0.00,122.32,1.062,6,0.149,0.000,2774,2488,3001
$STATE,4484,end apogee,CONTROL_FINISHED_OK
$STATE,4484,begin climb
$GC,4490,0.85,146.0,606.7,0.0,177,4627,1.08,2.35,129.23,1.044,4,0.073,0.060,3150,3872,2404
$GC,4697,0.85,146.0,593.1,25.3,181,4703,0.00,2.17,0.00,0.000,6,0.000,0.026,3159,2439,2397
$GC,4949,0.85,146.0,532.3,23.7,188,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2434,2393
$GC,5194,0.85,146.0,478.5,21.6,194,5198,0.00,2.08,0.00,0.000,4,0.000,0.029,3170,1048,2390
$GC,5224,0.85,146.0,471.5,22.0,194,5228,0.00,2.25,0.00,0.000,6,0.000,0.048,3163,2457,2390
$GC,5488,0.85,146.0,419.9,19.2,201,5492,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1051,2388
$GC,5546,0.85,146.0,408.9,17.1,202,5550,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2463,2388
$GC,5821,0.85,146.0,355.9,19.1,209,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2463,2386
$GC,6065,0.85,146.0,314.3,17.0,215,6068,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1049,2385
$GC,6326,0.85,146.0,279.7,13.8,220,6330,0.00,2.28,0.00,0.000,6,0.000,0.047,3163,2463,2385
$GC,6579,0.85,146.0,244.9,14.0,226,6583,0.00,2.33,0.00,0.000,4,0.000,0.058,3162,3875,2383
$GC,6765,0.85,146.0,218.8,12.5,230,6769,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2457,2381
$GC,7025,0.85,146.0,192.2,10.4,240,7029,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1043,2382
$GC,7150,0.85,146.0,178.3,11.2,251,7154,0.00,2.28,0.00,0.000,6,0.000,0.046,3176,2459,2382
$GC,7415,0.85,146.0,150.9,12.6,275,7419,0.00,2.33,0.00,0.000,4,0.000,0.055,3176,3881,2382
$GC,7455,0.85,146.0,144.6,15.3,278,7464,0.10,2.17,0.00,0.000,6,0.269,0.027,3165,2453,2381
$GC,7725,0.93,206.2,120.3,6.9,303,7779,0.00,2.35,48.35,0.709,4,0.000,0.054,3162,3881,2158
$GC,7877,0.93,206.2,96.4,19.7,316,7881,0.00,2.15,0.00,0.000,6,0.000,0.026,3171,2460,2155
$GC,8149,0.93,206.2,48.1,15.7,341,8153,0.00,2.33,0.00,0.000,4,0.000,0.051,3163,3881,2154
$GC,8161,0.93,206.2,45.5,15.1,341,8169,0.00,2.17,0.00,0.000,6,0.000,0.025,3172,2447,2153
$STATE,8425,end climb,SURFACE_DEPTH_REACHED
$STATE,8425,begin surface coast
$FINISH,0.3,1.023535
$STATE,8442,end surface coast,CONTROL_FINISHED_OK
$STATE,8442,begin surface
$SM_CCo,8469,75.72,0.604,0,0,1572,350.04
$SM_GC,1.56,0.00,0.00,75.72,0.000,0.000,0.604,48,2673,1572,-8.85,0.93,350.04
$IRIDIUM_FIX,2248.70,-15758.45,060600,212126
$TT8_MAMPS,0.023777
$HUMID,1903
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,124.607
$10V_AH,10.6,74.587
$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,21.700,81.650,299.900,75.725,0.000,29.950,32.518,204.312,0.000,0.000,0.000,35.981,799.177,5702.569,419.038,1426.057,651.064,33.379,1007.812,0.000,1400.380,0.000,0.542,0.000
$DEVICE_MAMPS,269.217,74.399,1062.295,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,259.507,604.860,623.328,134.887,556.107,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32098,384
$CAP_FILE_SIZE,71739,0
$CFSIZE,260165632,223440896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,140311,020437,2255.595,-15755.359,33,1.2,34,10.1