version: 66.04
glider: 512
mission: 1
dive: 812
start: 2 26 111 9 14 47
data:
$ID,512
$MISSION,1
$DIVE,812
$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,-23334.672
$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,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,090322,2247.750,-15804.288,13,2.3,33,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.5
$GPS2,091352,2247.842,-15804.258,15,2.5,34,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.085,0.242
$KALMAN_X,-258966.2,227.7,52.3,270329.2,-773.3
$KALMAN_Y,-536824.3,953.9,469.6,660530.4,-4404.8
$MHEAD_RNG_PITCHd_Wd,9.2,10690,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.12,0.000,2,0.000,0.000,44,2658,2777
$GC,69,-0.85,-146.0,3.1,-4.0,6,109,11.60,2.03,-18.85,0.000,4,0.246,0.078,2573,3858,3658
$GC,269,-0.85,-146.0,46.6,-18.9,33,272,0.00,1.77,0.00,0.000,6,0.000,0.024,2580,2641,3659
$GC,538,-0.85,-146.0,114.0,-26.5,58,542,0.00,2.05,0.00,0.000,4,0.000,0.026,2587,1229,3660
$GC,578,-0.85,-146.0,123.4,-22.9,61,582,0.00,2.25,0.00,0.000,6,0.000,0.058,2577,2615,3660
$GC,843,-0.85,-146.0,186.7,-23.3,85,847,0.00,2.08,0.00,0.000,4,0.000,0.064,2567,3896,3661
$GC,894,-0.85,-146.0,197.5,-17.9,89,901,0.00,1.85,0.00,0.000,6,0.000,0.022,2574,2637,3661
$GC,1156,-0.85,-146.0,245.4,-18.5,97,1159,0.00,2.03,0.00,0.000,4,0.000,0.025,2583,1239,3662
$GC,1190,-0.85,-146.0,251.4,-16.5,97,1195,0.00,2.30,0.00,0.000,6,0.000,0.060,2575,2650,3662
$GC,1444,-0.85,-146.0,291.3,-16.4,103,1448,0.00,2.03,0.00,0.000,4,0.000,0.066,2565,3895,3662
$GC,1467,-0.85,-146.0,295.8,-16.7,103,1471,0.00,1.85,0.00,0.000,6,0.000,0.022,2573,2634,3662
$GC,1736,-0.85,-146.0,335.9,-15.0,110,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2627,3662
$GC,1980,-0.85,-146.0,368.7,-13.2,116,1984,0.00,2.08,0.00,0.000,4,0.000,0.063,2565,3895,3660
$GC,2004,-0.85,-146.0,372.2,-13.3,116,2008,0.00,1.83,0.00,0.000,6,0.000,0.023,2572,2633,3660
$GC,2273,-0.85,-146.0,404.9,-12.6,123,2276,0.00,2.03,0.00,0.000,4,0.000,0.026,2582,1240,3659
$GC,2313,-0.85,-146.0,410.0,-10.8,123,2319,0.00,2.25,0.00,0.000,6,0.000,0.054,2576,2644,3658
$GC,2565,-0.85,-146.0,441.6,-13.2,130,2568,0.00,2.05,0.00,0.000,4,0.000,0.066,2565,3901,3657
$GC,2616,-0.85,-146.0,448.3,-12.3,131,2620,0.00,1.85,0.00,0.000,6,0.000,0.024,2573,2627,3657
$GC,2901,-0.85,-146.0,482.7,-11.8,138,2905,0.00,2.03,0.00,0.000,4,0.000,0.027,2574,1240,3655
$GC,2930,-0.85,-146.0,486.3,-11.8,138,2934,0.00,2.25,0.00,0.000,6,0.000,0.057,2574,2640,3655
$GC,3188,-0.85,-146.0,515.4,-11.6,145,3191,0.00,2.05,0.00,0.000,4,0.000,0.066,2565,3896,3653
$GC,3236,-0.85,-146.0,520.8,-11.1,146,3240,0.00,1.83,0.00,0.000,6,0.000,0.025,2573,2640,3652
$GC,3529,-0.85,-146.0,552.8,-10.9,153,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2634,3649
$GC,3771,-0.85,-146.0,578.5,-10.5,159,3774,0.00,2.12,0.00,0.000,4,0.000,0.070,2564,3902,3647
$GC,3805,-0.85,-146.0,582.4,-10.7,159,3809,0.00,1.88,0.00,0.000,6,0.000,0.026,2573,2634,3647
$STATE,3978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3979,begin apogee
$GC,3989,-0.32,0.0,600.1,10.2,164,4116,0.65,0.00,123.25,1.044,6,0.152,0.000,2762,2521,3060
$STATE,4116,end apogee,CONTROL_FINISHED_OK
$STATE,4116,begin climb
$GC,4121,0.85,146.0,606.2,0.0,167,4255,1.12,0.00,130.25,1.023,6,0.082,0.000,3145,2522,2464
$GC,4467,0.85,146.0,570.5,21.4,176,4471,0.00,2.12,0.00,0.000,4,0.000,0.029,3155,1104,2455
$GC,4502,0.85,146.0,563.0,20.7,176,4506,0.00,2.25,0.00,0.000,6,0.000,0.046,3150,2527,2455
$GC,4754,0.85,146.0,514.6,19.4,182,4757,0.00,2.20,0.00,0.000,4,0.000,0.053,3150,3908,2451
$GC,4788,0.85,146.0,507.5,19.5,182,4792,0.00,2.05,0.00,0.000,6,0.000,0.026,3159,2522,2451
$GC,5045,0.85,146.0,462.4,17.5,189,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2516,2449
$GC,5289,0.85,146.0,420.9,16.7,195,5293,0.00,2.22,0.00,0.000,4,0.000,0.052,3151,3905,2448
$GC,5302,0.85,146.0,418.6,16.6,195,5306,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2518,2447
$GC,5581,0.85,146.0,374.1,15.7,202,5585,0.00,2.08,0.00,0.000,4,0.000,0.028,3170,1101,2445
$GC,5711,0.85,146.0,355.7,15.8,204,5718,0.00,2.25,0.00,0.000,6,0.000,0.045,3162,2522,2445
$GC,5965,0.85,146.0,318.1,14.3,211,5968,0.00,2.20,0.00,0.000,4,0.000,0.054,3162,3905,2444
$GC,6128,0.85,146.0,292.7,14.4,214,6132,0.00,2.08,0.00,0.000,6,0.000,0.028,3171,2516,2443
$GC,6392,0.85,146.0,263.0,10.9,221,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2509,2443
$GC,6636,0.88,168.7,240.9,8.6,227,6665,0.00,2.25,19.30,0.732,4,0.000,0.051,3163,3908,2371
$GC,6841,0.88,168.7,209.9,15.7,231,6845,0.00,2.08,0.00,0.000,6,0.000,0.026,3172,2511,2369
$GC,7102,0.89,176.6,179.1,9.3,249,7112,0.00,0.00,8.05,0.670,6,0.000,0.000,3172,2505,2340
$GC,7368,0.89,176.6,150.9,10.2,274,7371,0.00,2.05,0.00,0.000,4,0.000,0.027,3182,1101,2338
$GC,7627,0.91,193.2,126.1,8.9,297,7654,0.00,2.22,16.02,0.679,6,0.000,0.041,3175,2530,2270
$GC,7913,0.91,193.2,89.9,14.6,323,7917,0.00,2.12,0.00,0.000,4,0.000,0.026,3184,1100,2268
$GC,7985,0.91,193.2,79.5,13.4,329,7989,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2531,2269
$GC,8250,0.91,193.2,42.1,12.7,353,8254,0.00,2.10,0.00,0.000,4,0.000,0.025,3184,1112,2269
$GC,8298,0.91,193.2,36.0,12.3,357,8302,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2531,2269
$GC,8565,0.91,193.2,4.2,9.8,402,8573,0.00,2.12,0.00,0.000,4,0.000,0.025,3184,1103,2268
$STATE,8579,end climb,SURFACE_DEPTH_REACHED
$STATE,8579,begin surface coast
$FINISH,1.2,1.023747
$STATE,8592,end surface coast,CONTROL_FINISHED_OK
$STATE,8592,begin surface
$SM_CCo,8619,90.32,0.587,0,0,1632,350.04
$SM_GC,1.57,0.00,0.00,90.32,0.000,0.000,0.587,49,2635,1632,-8.82,-0.14,350.04
$IRIDIUM_FIX,2239.35,-15805.41,220500,090928
$TT8_MAMPS,0.023777
$HUMID,1827
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.5,106.883
$10V_AH,10.6,61.865
$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,22.225,87.950,296.875,90.325,0.000,49.130,71.532,275.236,0.250,0.000,0.000,35.343,837.169,5801.264,473.878,1484.589,748.234,33.364,1045.095,0.000,1464.117,0.000,0.543,0.000
$DEVICE_MAMPS,246.207,78.234,1043.887,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,274.851,654.327,676.667,155.930,639.488,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31987,406
$CAP_FILE_SIZE,75191,0
$CFSIZE,260165632,229330944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,260211,114125,2248.582,-15803.797,42,2.0,43,10.1