version: 66.04
glider: 512
mission: 1
dive: 803
start: 2 25 111 9 16 19
data:
$ID,512
$MISSION,1
$DIVE,803
$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,-23163.08
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3080
$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
$GPS1,090730,2243.560,-15800.416,39,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.9
$GPS2,091526,2243.563,-15800.391,15,1.3,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.221,0.130
$KALMAN_X,-260283.6,671.8,-227.8,278137.8,1789.8
$KALMAN_Y,-518715.3,-66.4,-138.8,636160.1,-247.5
$MHEAD_RNG_PITCHd_Wd,290.3,7769,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-52.75,0.000,2,0.000,0.000,44,2656,3050
$GC,81,-0.85,-146.0,3.6,-6.0,7,113,11.52,2.03,-11.50,0.000,4,0.244,0.072,2576,3881,3678
$GC,337,-0.85,-146.0,67.0,-16.2,35,345,0.00,1.85,0.00,0.000,6,0.000,0.025,2583,2642,3680
$GC,601,-0.85,-146.0,128.1,-22.6,60,604,0.00,2.08,0.00,0.000,4,0.000,0.026,2593,1219,3681
$GC,640,-0.85,-146.0,137.0,-23.7,63,644,0.00,2.30,0.00,0.000,6,0.000,0.058,2584,2633,3681
$GC,904,-0.85,-146.0,188.3,-19.7,87,907,0.00,2.05,0.00,0.000,4,0.000,0.063,2571,3906,3681
$GC,919,-0.85,-146.0,190.9,-18.3,88,923,0.00,1.85,0.00,0.000,6,0.000,0.023,2579,2621,3682
$GC,1178,-0.85,-146.0,236.7,-18.0,98,1182,0.00,2.00,0.00,0.000,4,0.000,0.025,2587,1241,3683
$GC,1235,-0.85,-146.0,244.6,-11.2,99,1239,0.00,2.28,0.00,0.000,6,0.000,0.056,2587,2650,3683
$GC,1515,-0.85,-146.0,283.9,-14.4,106,1519,0.00,2.03,0.00,0.000,4,0.000,0.065,2579,3901,3683
$GC,1545,-0.85,-146.0,288.2,-13.8,106,1548,0.00,1.83,0.00,0.000,6,0.000,0.023,2586,2637,3683
$GC,1807,-0.85,-146.0,319.8,-12.0,113,1811,0.00,2.03,0.00,0.000,4,0.000,0.026,2596,1241,3683
$GC,1887,-0.85,-146.0,327.8,-8.2,114,1892,0.00,2.25,0.00,0.000,6,0.000,0.055,2589,2635,3683
$GC,2139,-0.85,-146.0,356.2,-12.0,120,2142,0.00,2.05,0.00,0.000,4,0.000,0.065,2579,3899,3681
$GC,2180,-0.85,-146.0,361.2,-11.2,120,2187,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2641,3681
$GC,2431,-0.85,-146.0,390.4,-11.8,127,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2636,3680
$GC,2676,-0.85,-146.0,418.5,-11.6,133,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2635,3678
$GC,2918,-0.85,-146.0,444.9,-10.7,139,2922,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1239,3677
$GC,2937,-0.85,-146.0,447.1,-10.8,139,2941,0.00,2.25,0.00,0.000,6,0.000,0.052,2589,2648,3677
$GC,3206,-0.85,-146.0,474.5,-10.5,146,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3675
$GC,3448,-0.85,-146.0,498.8,-9.8,152,3452,0.00,2.10,0.00,0.000,4,0.000,0.028,2597,1228,3673
$GC,3478,-0.85,-146.0,501.7,-9.5,152,3482,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2645,3673
$GC,3741,-0.85,-146.0,525.3,-9.2,159,3745,0.00,2.05,0.00,0.000,4,0.000,0.071,2580,3897,3672
$GC,3788,-0.85,-146.0,529.8,-9.0,160,3792,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2637,3670
$GC,4079,-0.85,-146.0,558.2,-9.9,167,4082,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1240,3669
$GC,4114,-0.85,-146.0,561.8,-9.4,167,4118,0.00,2.25,0.00,0.000,6,0.000,0.052,2590,2649,3669
$GC,4367,-0.85,-146.0,586.0,-9.7,173,4371,0.00,2.03,0.00,0.000,4,0.000,0.064,2580,3894,3666
$GC,4409,-0.85,-146.0,590.2,-9.4,173,4414,0.00,1.85,0.00,0.000,6,0.000,0.028,2587,2635,3665
$STATE,4534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4534,begin apogee
$GC,4544,-0.32,0.0,602.6,9.6,177,4671,0.60,0.00,123.70,1.050,6,0.146,0.000,2764,2523,3079
$STATE,4671,end apogee,CONTROL_FINISHED_OK
$STATE,4671,begin climb
$GC,4676,0.85,146.0,609.3,0.0,180,4814,1.10,2.20,128.90,1.029,4,0.085,0.028,3146,1123,2484
$GC,5077,0.85,146.0,573.9,17.5,189,5081,0.00,2.25,0.00,0.000,6,0.000,0.047,3146,2531,2475
$GC,5363,0.85,146.0,522.7,17.8,196,5366,0.00,2.10,0.00,0.000,4,0.000,0.029,3155,1112,2472
$GC,5476,0.85,146.0,503.5,16.1,198,5480,0.00,2.22,0.00,0.000,6,0.000,0.046,3150,2527,2471
$GC,5739,0.85,146.0,457.5,17.6,205,5742,0.00,2.10,0.00,0.000,4,0.000,0.030,3159,1107,2469
$GC,5841,0.85,146.0,440.7,16.3,207,5845,0.00,2.22,0.00,0.000,6,0.000,0.047,3159,2521,2469
$GC,6115,0.85,146.0,398.6,14.7,214,6118,0.00,2.10,0.00,0.000,4,0.000,0.029,3168,1106,2467
$GC,6167,0.85,146.0,391.7,13.6,215,6171,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2521,2467
$GC,6446,0.85,146.0,353.2,13.6,222,6450,0.00,2.22,0.00,0.000,4,0.000,0.058,3162,3905,2466
$GC,6706,0.85,146.0,317.5,13.1,227,6710,0.00,2.08,0.00,0.000,6,0.000,0.028,3171,2512,2464
$GC,6962,0.85,146.0,288.4,11.0,234,6966,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1092,2463
$GC,7065,0.85,146.0,278.5,10.1,236,7069,0.12,2.22,0.00,0.000,6,0.237,0.044,3152,2521,2463
$GC,7344,0.90,182.8,256.4,8.0,243,7379,0.00,2.15,30.02,0.815,4,0.000,0.027,3160,1110,2333
$GC,7633,0.90,182.8,217.2,15.5,248,7637,0.00,2.22,0.00,0.000,6,0.000,0.044,3161,2526,2329
$GC,7897,0.90,182.8,177.1,17.2,264,7901,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1101,2327
$GC,8000,0.90,182.8,162.0,14.4,273,8004,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2529,2327
$GC,8266,0.90,182.8,127.9,10.9,297,8269,0.00,2.17,0.00,0.000,4,0.000,0.050,3162,3908,2327
$GC,8372,0.90,182.8,115.7,10.6,306,8380,0.00,2.10,0.00,0.000,6,0.000,0.025,3172,2505,2326
$GC,8637,0.96,229.9,94.3,7.5,331,8687,0.00,2.12,40.58,0.672,4,0.000,0.027,3182,1113,2141
$GC,8935,0.96,229.9,50.0,17.6,357,8943,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2511,2137
$STATE,9188,end climb,SURFACE_DEPTH_REACHED
$STATE,9188,begin surface coast
$FINISH,0.4,1.023792
$STATE,9206,end surface coast,CONTROL_FINISHED_OK
$STATE,9206,begin surface
$SM_CCo,9230,63.15,0.588,0,0,1652,350.04
$SM_GC,1.60,0.00,0.00,63.15,0.000,0.000,0.588,47,2645,1652,-8.82,0.14,350.04
$IRIDIUM_FIX,2234.68,-15758.03,210500,060608
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.5,105.841
$10V_AH,10.7,61.057
$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,22.200,92.975,323.200,63.150,0.000,23.148,41.699,261.823,0.000,0.000,0.000,15.703,871.811,6151.644,428.069,1644.660,676.477,33.365,1124.643,0.000,1628.092,0.000,0.544,0.000
$DEVICE_MAMPS,243.906,79.768,1050.023,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.591,606.458,625.822,134.666,558.896,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32020,397
$CAP_FILE_SIZE,81185,0
$CFSIZE,260165632,229703680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,250211,115236,2243.800,-15801.396,33,1.3,38,10.0