version: 66.04
glider: 512
mission: 3
dive: 752
start: 11 21 112 2 42 26
data:
$ID,512
$MISSION,3
$DIVE,752
$D_SURF,3
$D_FLARE,2
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,300
$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,-7
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52093
$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,-68917.961
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2533
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,30
$C_ROLL_DIVE,2790
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,2
$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,0.0043351329
$SEABIRD_T_H,0.00062097196
$SEABIRD_T_I,2.1804433e-05
$SEABIRD_T_J,2.1334395e-06
$SEABIRD_C_G,-10.059877
$SEABIRD_C_H,1.1555313
$SEABIRD_C_I,-0.0022602002
$SEABIRD_C_J,0.00025523445
$GPS1,022805,2148.803,-15800.022,37,1.3,38,9.9
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-78.8
$GPS2,024148,2148.875,-15800.026,16,1.3,33,9.9
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,WAY2
$TGT_LATLONG,2148.400,-15801.200
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.151,-0.191
$KALMAN_X,-11124.8,279.6,-331.1,16240.9,111.3
$KALMAN_Y,20299.9,3.1,-20.8,-32999.2,1047.6
$MHEAD_RNG_PITCHd_Wd,208.5,2202,-19.0,-10.025
$D_GRID,400
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,21,-0.54,-126.5,0.0,0.0,0,101,0.00,0.00,-78.35,0.000,2,0.000,0.000,34,2854,2570
$GC,106,-0.54,-126.5,2.2,-4.0,15,129,9.07,1.62,-8.62,0.000,4,0.204,0.037,2360,1705,2936
$GC,265,-0.54,-126.5,33.5,-15.0,42,270,0.00,1.62,0.00,0.000,6,0.000,0.040,2354,2783,2937
$GC,587,-0.54,-126.5,95.3,-18.1,73,590,0.00,1.62,0.00,0.000,4,0.000,0.045,2346,3857,2937
$GC,615,-0.54,-126.5,101.3,-18.1,75,621,0.00,1.55,0.00,0.000,6,0.000,0.018,2346,2781,2937
$GC,938,-0.54,-126.5,152.3,-15.5,106,941,0.00,1.65,0.00,0.000,4,0.000,0.043,2339,3849,2937
$GC,1030,-0.54,-126.5,165.9,-13.7,114,1035,0.00,1.48,0.00,0.000,6,0.000,0.019,2339,2811,2938
$GC,1367,-0.54,-126.5,211.2,-13.0,141,1370,0.00,1.48,0.00,0.000,4,0.000,0.020,2339,1737,2937
$GC,1438,-0.54,-126.5,220.0,-11.9,142,1441,0.00,1.62,0.00,0.000,6,0.000,0.039,2331,2818,2937
$GC,1779,-0.54,-126.5,257.9,-10.7,151,1781,0.00,1.52,0.00,0.000,4,0.000,0.020,2331,1742,2937
$GC,1812,-0.54,-126.5,261.1,-9.6,151,1816,0.08,1.62,0.00,0.000,6,0.118,0.040,2352,2806,2937
$GC,2148,-0.54,-126.5,290.5,-9.5,160,2151,0.00,1.60,0.00,0.000,4,0.000,0.048,2345,3855,2936
$GC,2187,-0.54,-126.5,294.3,-9.6,160,2191,0.00,1.50,0.00,0.000,6,0.000,0.020,2345,2803,2936
$GC,2517,-0.54,-126.5,323.8,-8.7,169,2520,0.00,1.45,0.00,0.000,4,0.000,0.021,2345,1754,2934
$GC,2643,-0.54,-126.5,334.1,-8.7,171,2646,0.00,1.60,0.00,0.000,6,0.000,0.041,2338,2816,2933
$GC,2973,-0.54,-126.5,363.7,-8.6,180,2976,0.00,1.50,0.00,0.000,4,0.000,0.021,2338,1762,2931
$GC,3071,-0.54,-126.5,371.2,-7.1,182,3074,0.00,1.58,0.00,0.000,6,0.000,0.042,2333,2782,2930
$GC,3388,-0.54,-126.5,399.1,-9.1,190,3391,0.00,1.48,-0.08,0.000,4,0.000,0.041,2333,1746,2950
$STATE,3395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3395,begin apogee
$GC,3407,-0.18,0.0,400.3,8.9,190,3525,0.43,0.00,115.97,0.844,6,0.110,0.000,2471,2424,2419
$STATE,3525,end apogee,CONTROL_FINISHED_OK
$STATE,3525,begin climb
$GC,3531,0.54,126.5,403.1,0.0,193,3656,0.62,1.58,113.40,0.811,4,0.055,0.023,2712,1384,1903
$GC,3676,0.54,126.5,392.6,12.5,196,3679,0.00,1.60,0.00,0.000,6,0.000,0.037,2711,2425,1900
$GC,4022,0.54,126.5,349.1,12.5,205,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2425,1894
$GC,4345,0.54,126.5,311.8,11.4,213,4348,0.00,1.62,0.00,0.000,4,0.000,0.044,2712,3498,1893
$GC,4384,0.54,126.5,306.6,13.8,213,4387,0.00,1.55,0.00,0.000,6,0.000,0.022,2719,2433,1892
$GC,4714,0.54,126.5,270.2,10.5,222,4717,0.00,1.62,0.00,0.000,4,0.000,0.044,2716,3485,1890
$GC,4753,0.54,130.0,266.2,9.8,222,4757,0.00,1.55,0.00,0.000,6,0.000,0.022,2722,2423,1890
$GC,5084,0.55,147.0,235.1,9.1,231,5112,0.00,1.67,18.75,0.670,4,0.000,0.043,2716,3468,1820
$GC,5314,0.55,162.5,211.8,9.2,236,5333,0.00,1.48,14.77,0.703,6,0.000,0.023,2722,2454,1757
$GC,5654,0.57,204.6,182.8,7.8,258,5695,0.00,0.00,36.25,0.713,6,0.000,0.000,2722,2454,1585
$GC,6007,0.58,236.7,151.2,8.3,292,6039,0.00,1.65,27.50,0.673,4,0.000,0.044,2716,3471,1454
$GC,6089,0.59,258.2,144.1,8.9,299,6115,0.00,1.42,19.65,0.650,6,0.000,0.022,2722,2501,1365
$GC,6428,0.60,280.7,114.4,8.8,332,6448,0.00,0.00,19.50,0.626,6,0.000,0.000,2722,2501,1274
$GC,6762,0.62,323.3,87.3,7.8,364,6800,0.00,0.00,35.95,0.616,6,0.000,0.000,2722,2501,1101
$GC,7110,0.65,416.6,65.0,5.1,398,7193,0.00,1.73,75.47,0.595,4,0.000,0.026,2726,1366,720
$GC,7238,0.67,467.3,56.8,7.3,410,7283,0.00,1.77,41.42,0.576,6,0.000,0.034,2726,2537,513
$GC,7602,0.67,467.3,13.1,14.7,455,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2537,510
$STATE,7679,end climb,SURFACE_DEPTH_REACHED
$STATE,7679,begin surface coast
$FINISH,0.2,1.011955
$STATE,7706,end surface coast,CONTROL_FINISHED_OK
$STATE,7706,begin surface
$SM_CCo,7790,0.00,0.000,0,0,509,468.76
$SM_GC,1.17,6.82,0.00,0.00,0.024,0.000,0.000,25,2839,509,-7.72,1.39,468.76
$IRIDIUM_FIX,2143.45,-15801.57,150202,020221
$TT8_MAMPS,0.048321
$HUMID,2288
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.30
$XPDR_PINGS,18
$24V_AH,23.7,104.462
$10V_AH,10.2,92.163
$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,17.025,47.150,518.650,0.000,0.000,117.645,127.276,232.299,4.500,0.000,0.000,33.760,0.000,6006.180,528.348,1228.790,830.346,33.330,1117.975,0.000,989.447,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,47.554,844.467,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,244.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31868,475
$CAP_FILE_SIZE,70885,0
$CFSIZE,260165632,217632768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,211112,045315,2148.479,-15800.218,12,3.6,31,9.9