version: 66.04
glider: 512
mission: 1
dive: 1002
start: 3 19 111 2 8 58
data:
$ID,512
$MISSION,1
$DIVE,1002
$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,-27621.506
$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,54
$R_STBD_OVSHOOT,39
$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
$GPS1,013852,2254.799,-15759.154,14,3.4,34,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.7
$GPS2,020806,2254.647,-15759.661,40,0.9,40,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.229,0.114
$KALMAN_X,-403725.3,629.9,100.0,422544.1,-4011.0
$KALMAN_Y,-663079.2,307.6,-356.3,800874.0,-1087.1
$MHEAD_RNG_PITCHd_Wd,53.4,7411,-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,22,-0.85,-146.0,0.0,0.0,0,115,0.00,0.00,-90.72,0.000,2,0.000,0.000,37,2680,2804
$GC,121,-0.85,-146.0,3.0,-4.2,12,154,11.00,2.00,-16.70,0.000,4,0.230,0.068,2587,3868,3537
$GC,181,-0.85,-146.0,15.6,-23.6,20,189,0.00,1.83,0.00,0.000,6,0.000,0.023,2586,2639,3538
$GC,454,-0.85,-146.0,83.7,-22.9,50,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2632,3538
$GC,720,-0.85,-146.0,141.4,-19.8,75,723,0.00,2.08,0.00,0.000,4,0.000,0.027,2587,1236,3539
$GC,747,-0.85,-146.0,147.1,-20.3,77,751,0.00,2.33,0.00,0.000,6,0.000,0.066,2578,2614,3539
$GC,1020,-0.85,-146.0,195.9,-18.5,102,1024,0.00,2.17,0.00,0.000,4,0.000,0.073,2568,3899,3539
$GC,1054,-0.85,-146.0,202.7,-17.4,104,1059,0.12,1.85,0.00,0.000,6,0.156,0.023,2598,2642,3539
$GC,1313,-0.85,-146.0,237.4,-13.3,111,1317,0.00,2.10,0.00,0.000,4,0.000,0.028,2609,1224,3539
$GC,1383,-0.85,-146.0,245.8,-10.6,112,1387,0.00,2.35,0.00,0.000,6,0.000,0.059,2600,2654,3539
$GC,1653,-0.85,-146.0,277.4,-12.1,119,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2654,3539
$GC,1895,-0.85,-146.0,307.5,-12.4,125,1899,0.00,2.10,0.00,0.000,4,0.000,0.072,2590,3898,3537
$GC,1944,-0.85,-146.0,313.6,-12.3,126,1948,0.00,1.88,0.00,0.000,6,0.000,0.025,2597,2644,3536
$GC,2237,-0.85,-146.0,347.0,-11.2,133,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2637,3535
$GC,2480,-0.85,-146.0,373.6,-10.9,139,2483,0.00,2.15,0.00,0.000,4,0.000,0.073,2589,3892,3532
$GC,2515,-0.85,-146.0,377.7,-11.1,139,2519,0.00,1.85,0.00,0.000,6,0.000,0.025,2596,2640,3532
$GC,2774,-0.85,-146.0,405.3,-10.8,146,2778,0.00,2.17,0.00,0.000,4,0.000,0.074,2589,3901,3529
$GC,2815,-0.85,-146.0,410.1,-11.5,146,2821,0.00,1.88,0.00,0.000,6,0.000,0.025,2596,2634,3529
$GC,3067,-0.85,-146.0,436.7,-10.5,153,3069,0.00,0.00,-0.08,0.000,6,0.000,0.000,2596,2626,3551
$GC,3311,-0.85,-146.0,461.8,-10.4,159,3315,0.00,2.17,0.00,0.000,4,0.000,0.075,2588,3887,3549
$GC,3375,-0.85,-146.0,468.4,-10.1,160,3379,0.00,1.88,0.00,0.000,6,0.000,0.027,2596,2634,3549
$GC,3652,-0.85,-146.0,496.3,-10.2,167,3656,0.00,2.17,0.00,0.000,4,0.000,0.072,2588,3898,3547
$GC,3688,-0.85,-146.0,500.4,-10.7,167,3692,0.00,1.88,0.00,0.000,6,0.000,0.026,2595,2636,3546
$GC,3947,-0.85,-146.0,525.8,-9.9,174,3951,0.00,2.10,0.00,0.000,4,0.000,0.031,2605,1241,3544
$GC,3984,-0.85,-146.0,529.5,-9.0,174,3988,0.00,2.30,0.00,0.000,6,0.000,0.058,2597,2638,3544
$GC,4243,-0.85,-146.0,551.7,-8.7,181,4247,0.00,2.15,0.00,0.000,4,0.000,0.074,2587,3897,3542
$GC,4307,-0.85,-146.0,557.2,-7.5,182,4311,0.00,1.90,0.00,0.000,6,0.000,0.027,2595,2630,3541
$GC,4582,-0.85,-146.0,578.6,-7.6,189,4586,0.00,2.10,0.00,0.000,4,0.000,0.031,2605,1236,3540
$GC,4619,-0.85,-146.0,581.4,-7.0,189,4623,0.00,2.35,0.00,0.000,6,0.000,0.058,2597,2650,3540
$STATE,4866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4866,begin apogee
$GC,4878,-0.32,0.0,601.2,8.1,195,5006,0.57,0.00,124.62,1.068,6,0.120,0.000,2773,2455,2940
$STATE,5006,end apogee,CONTROL_FINISHED_OK
$STATE,5006,begin climb
$GC,5012,0.85,146.0,606.2,0.0,198,5158,1.10,2.20,132.23,1.028,4,0.078,0.035,3161,1074,2343
$GC,5167,0.85,146.0,602.7,20.4,201,5171,0.00,2.33,0.00,0.000,6,0.000,0.055,3161,2457,2340
$GC,5421,0.85,146.0,539.0,25.1,207,5425,0.00,2.15,0.00,0.000,4,0.000,0.035,3171,1059,2333
$GC,5547,0.85,146.0,510.4,21.7,209,5551,0.00,2.30,0.00,0.000,6,0.000,0.051,3163,2472,2331
$GC,5799,0.85,146.0,452.0,23.4,215,5803,0.00,2.15,0.00,0.000,4,0.000,0.035,3171,1067,2329
$GC,5824,0.85,146.0,447.1,19.4,215,5828,0.00,2.25,0.00,0.000,6,0.000,0.051,3163,2457,2328
$GC,6093,0.85,146.0,387.1,22.0,222,6097,0.00,2.15,0.00,0.000,4,0.000,0.035,3172,1058,2327
$GC,6168,0.85,146.0,371.6,18.7,223,6173,0.00,2.30,0.00,0.000,6,0.000,0.049,3164,2475,2326
$GC,6426,0.85,146.0,317.9,21.0,230,6430,0.00,2.15,0.00,0.000,4,0.000,0.031,3172,1060,2325
$GC,6456,0.85,146.0,312.3,18.8,230,6460,0.00,2.28,0.00,0.000,6,0.000,0.048,3164,2462,2325
$GC,6714,0.85,146.0,262.2,19.9,237,6718,0.00,2.15,0.00,0.000,4,0.000,0.031,3173,1054,2324
$GC,6976,0.85,146.0,222.1,17.2,242,6980,0.00,2.28,0.00,0.000,6,0.000,0.045,3165,2468,2323
$GC,7233,0.85,146.0,187.5,13.2,254,7237,0.00,2.15,0.00,0.000,4,0.000,0.030,3173,1052,2322
$GC,7500,0.85,146.0,152.6,13.1,277,7504,0.00,2.25,0.00,0.000,6,0.000,0.044,3173,2460,2322
$GC,7770,0.85,146.0,123.8,10.3,302,7774,0.00,2.12,0.00,0.000,4,0.000,0.028,3183,1044,2322
$GC,8030,0.86,149.9,97.4,9.4,325,8035,0.00,2.25,0.00,0.000,6,0.000,0.041,3179,2464,2322
$GC,8297,0.89,177.8,71.2,8.4,349,8328,0.00,2.15,24.48,0.645,4,0.000,0.026,3187,1061,2215
$GC,8583,0.89,177.8,28.6,16.1,374,8592,0.00,2.25,0.00,0.000,6,0.000,0.044,3187,2457,2211
$STATE,8740,end climb,SURFACE_DEPTH_REACHED
$STATE,8740,begin surface coast
$FINISH,0.4,1.023845
$STATE,8763,end surface coast,CONTROL_FINISHED_OK
$STATE,8763,begin surface
$SM_CCo,8790,91.72,0.599,0,0,1389,380.21
$SM_GC,1.18,0.00,0.00,91.72,0.000,0.000,0.599,41,2673,1389,-8.87,0.93,380.21
$IRIDIUM_FIX,2246.36,-15756.28,120600,020200
$TT8_MAMPS,0.023777
$HUMID,1916
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.6,131.026
$10V_AH,10.6,78.840
$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,21.400,90.150,281.325,91.725,0.000,104.990,189.309,1075.335,0.000,0.000,0.000,40.337,847.984,5964.792,457.061,1568.760,1798.130,33.374,1094.850,0.000,1537.562,0.000,0.545,0.000
$DEVICE_MAMPS,230.100,75.166,1068.431,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,274.555,658.366,676.647,151.162,621.809,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35111,406
$CAP_FILE_SIZE,82392,0
$CFSIZE,260165632,221540352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,190311,043822,2254.882,-15758.777,12,2.1,32,10.1