version: 66.04
glider: 512
mission: 1
dive: 996
start: 3 18 111 9 23 14
data:
$ID,512
$MISSION,1
$DIVE,996
$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,380
$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,-27464.904
$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,51
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2940
$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
$GPS1,091110,2256.642,-15802.022,9,2.2,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.6
$GPS2,092222,2256.537,-15802.062,16,2.3,35,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.249,-0.062
$KALMAN_X,-391411.5,456.3,429.4,405933.7,-3600.8
$KALMAN_Y,-658297.8,234.0,20.9,799290.9,-1914.0
$MHEAD_RNG_PITCHd_Wd,93.9,12530,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,80,0.00,0.00,-60.33,0.000,2,0.000,0.000,45,2671,2966
$GC,86,-0.85,-146.0,3.7,-5.7,8,119,11.35,2.20,-10.77,0.000,4,0.244,0.039,2598,1229,3538
$GC,162,-0.85,-146.0,28.4,-29.2,19,170,0.00,2.35,0.00,0.000,6,0.000,0.061,2589,2620,3540
$GC,426,-0.85,-146.0,97.2,-25.0,44,430,0.00,2.12,0.00,0.000,4,0.000,0.062,2579,3906,3540
$GC,489,-0.85,-146.0,113.0,-21.7,49,496,0.00,1.90,0.00,0.000,6,0.000,0.024,2586,2645,3540
$GC,753,-0.85,-146.0,166.3,-19.5,74,757,0.00,2.08,0.00,0.000,4,0.000,0.025,2596,1221,3541
$GC,815,-0.85,-146.0,175.9,-13.5,79,819,0.00,2.33,0.00,0.000,6,0.000,0.055,2587,2641,3542
$GC,1084,-0.85,-146.0,221.2,-17.2,95,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2641,3542
$GC,1328,-0.85,-146.0,258.1,-14.9,101,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2641,3542
$GC,1570,-0.85,-146.0,291.6,-13.6,107,1574,0.00,2.08,0.00,0.000,4,0.000,0.062,2577,3906,3542
$GC,1606,-0.85,-146.0,296.6,-13.5,107,1610,0.00,1.88,0.00,0.000,6,0.000,0.024,2584,2630,3542
$GC,1864,-0.85,-146.0,330.1,-13.3,114,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2621,3542
$GC,2107,-0.85,-146.0,362.6,-13.3,120,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2622,3542
$GC,2352,-0.85,-146.0,393.6,-12.4,126,2356,0.00,2.15,0.00,0.000,4,0.000,0.063,2576,3905,3541
$GC,2400,-0.85,-146.0,399.6,-11.2,127,2404,0.00,1.88,0.00,0.000,6,0.000,0.025,2580,2631,3540
$GC,2692,-0.85,-146.0,435.8,-12.6,134,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2624,3539
$GC,2935,-0.85,-146.0,463.7,-11.3,140,2939,0.00,2.15,0.00,0.000,4,0.000,0.065,2571,3896,3536
$GC,2993,-0.85,-146.0,470.1,-10.8,141,2997,0.00,1.88,0.00,0.000,6,0.000,0.025,2578,2630,3535
$GC,3274,-0.85,-146.0,500.2,-10.7,148,3278,0.00,2.05,0.00,0.000,4,0.000,0.027,2587,1240,3533
$GC,3304,-0.85,-146.0,503.4,-10.3,148,3308,0.00,2.33,0.00,0.000,6,0.000,0.054,2578,2646,3533
$GC,3561,-0.85,-146.0,529.7,-10.6,155,3565,0.00,2.10,0.00,0.000,4,0.000,0.065,2568,3901,3531
$GC,3654,-0.85,-146.0,539.5,-10.4,157,3658,0.00,1.88,0.00,0.000,6,0.000,0.025,2576,2637,3530
$GC,3948,-0.85,-146.0,572.7,-11.5,164,3952,0.00,2.15,0.00,0.000,4,0.000,0.066,2567,3897,3527
$GC,4023,-0.85,-146.0,581.9,-11.1,165,4027,0.00,1.88,0.00,0.000,6,0.000,0.025,2575,2639,3526
$STATE,4200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4200,begin apogee
$GC,4212,-0.32,0.0,601.7,11.1,170,4338,0.70,0.00,122.68,1.070,6,0.158,0.000,2770,2477,2940
$STATE,4338,end apogee,CONTROL_FINISHED_OK
$STATE,4338,begin climb
$GC,4344,0.85,146.0,607.2,0.0,173,4490,1.15,2.30,131.27,1.035,4,0.077,0.028,3170,1031,2343
$GC,4659,0.85,146.0,563.1,25.8,180,4664,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2471,2336
$GC,4913,0.85,146.0,498.7,25.6,186,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2472,2331
$GC,5155,0.85,146.0,443.5,22.6,192,5159,0.00,2.17,0.00,0.000,4,0.000,0.029,3172,1030,2329
$GC,5299,0.85,146.0,413.2,20.3,195,5303,0.00,2.30,0.00,0.000,6,0.000,0.045,3163,2464,2328
$GC,5580,0.85,146.0,352.9,21.8,202,5583,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1031,2326
$GC,5717,0.85,146.0,325.5,18.7,205,5721,0.00,2.28,0.00,0.000,6,0.000,0.043,3164,2460,2326
$GC,6003,0.85,146.0,276.5,16.3,212,6007,0.00,2.17,0.00,0.000,4,0.000,0.030,3172,1021,2324
$GC,6123,0.85,146.0,258.7,14.0,214,6127,0.00,2.33,0.00,0.000,6,0.000,0.045,3163,2468,2324
$GC,6387,0.85,146.0,219.6,14.8,221,6391,0.00,2.30,0.00,0.000,4,0.000,0.052,3162,3877,2323
$GC,6480,0.85,146.0,205.2,15.1,223,6484,0.00,2.17,0.00,0.000,6,0.000,0.028,3171,2444,2322
$GC,6747,0.85,146.0,169.1,13.8,245,6750,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1040,2322
$GC,7009,0.88,165.9,137.5,8.7,268,7034,0.00,2.28,14.48,0.705,6,0.000,0.042,3176,2472,2263
$GC,7295,0.88,165.9,102.8,12.4,294,7299,0.00,2.15,0.00,0.000,4,0.000,0.027,3184,1037,2260
$GC,7554,0.88,165.9,71.4,12.8,317,7558,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2464,2260
$GC,7825,0.88,165.9,43.3,11.1,342,7829,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1040,2260
$GC,7885,0.88,165.9,36.3,12.1,347,7889,0.00,2.25,0.00,0.000,6,0.000,0.039,3176,2472,2260
$GC,8152,0.88,165.9,4.0,14.0,391,8161,0.00,2.15,0.00,0.000,4,0.000,0.025,3185,1049,2260
$STATE,8167,end climb,SURFACE_DEPTH_REACHED
$STATE,8167,begin surface coast
$FINISH,0.4,1.023743
$STATE,8189,end surface coast,CONTROL_FINISHED_OK
$STATE,8189,begin surface
$SM_CCo,8220,107.07,0.604,0,0,1389,380.21
$SM_GC,1.27,0.00,0.00,107.07,0.000,0.000,0.604,48,2651,1389,-8.85,0.31,380.21
$IRIDIUM_FIX,2246.36,-15803.66,110600,060644
$TT8_MAMPS,0.023777
$HUMID,1894
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.7,129.995
$10V_AH,10.6,78.240
$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,22.400,77.925,268.425,107.075,0.000,29.557,34.617,416.281,0.250,0.000,0.000,36.558,823.599,5311.691,439.830,1565.541,860.334,33.371,1047.437,0.000,1535.130,0.000,0.543,0.000
$DEVICE_MAMPS,243.906,65.962,1069.965,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.711,654.336,672.459,157.159,642.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31937,397
$CAP_FILE_SIZE,72076,0
$CFSIZE,260165632,221802496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,180311,114331,2256.349,-15801.926,40,1.8,41,10.1