version: 66.04
glider: 512
mission: 1
dive: 830
start: 2 28 111 8 23 3
data:
$ID,512
$MISSION,1
$DIVE,830
$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,-23790.682
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2890
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,080807,2254.344,-15801.775,37,1.2,38,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-81.3
$GPS2,082208,2254.393,-15801.996,16,1.3,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.255,0.023
$KALMAN_X,-274406.5,567.1,-151.7,289519.7,-3876.0
$KALMAN_Y,-562128.0,492.3,368.9,698532.8,-3025.0
$MHEAD_RNG_PITCHd_Wd,74.6,11205,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.83,0.000,2,0.000,0.000,41,2608,3005
$GC,77,-0.85,-146.0,3.6,-5.2,7,110,11.98,2.05,-11.73,0.000,4,0.253,0.038,2617,1232,3637
$GC,173,-0.85,-146.0,30.1,-16.4,22,182,0.00,2.35,0.00,0.000,6,0.000,0.065,2608,2630,3638
$GC,438,-0.85,-146.0,87.7,-21.0,47,442,0.00,2.08,0.00,0.000,4,0.000,0.067,2598,3899,3639
$GC,479,-0.85,-146.0,97.3,-21.2,50,487,0.00,1.85,0.00,0.000,6,0.000,0.024,2606,2642,3639
$GC,744,-0.85,-146.0,148.7,-18.1,75,748,0.00,2.05,0.00,0.000,4,0.000,0.025,2616,1224,3640
$GC,803,-0.85,-146.0,157.2,-11.3,80,807,0.00,2.30,0.00,0.000,6,0.000,0.058,2607,2651,3640
$GC,1067,-0.85,-146.0,194.8,-14.8,104,1071,0.00,2.03,0.00,0.000,4,0.000,0.067,2597,3893,3641
$GC,1104,-0.85,-146.0,200.0,-13.7,107,1108,0.00,1.83,0.00,0.000,6,0.000,0.023,2604,2627,3641
$GC,1361,-0.85,-146.0,234.9,-13.6,114,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2620,3641
$GC,1605,-0.85,-146.0,265.6,-12.7,120,1609,0.00,2.00,0.00,0.000,4,0.000,0.025,2615,1237,3641
$GC,1653,-0.85,-146.0,270.6,-9.8,121,1657,0.00,2.25,0.00,0.000,6,0.000,0.053,2606,2642,3641
$GC,1939,-0.85,-146.0,302.0,-10.9,128,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2642,3640
$GC,2182,-0.85,-146.0,326.9,-10.1,134,2186,0.00,2.05,0.00,0.000,4,0.000,0.067,2596,3904,3640
$GC,2211,-0.85,-146.0,330.0,-10.7,134,2215,0.00,1.88,0.00,0.000,6,0.000,0.025,2604,2634,3639
$GC,2476,-0.85,-146.0,356.2,-10.0,141,2480,0.00,2.03,0.00,0.000,4,0.000,0.026,2614,1240,3637
$GC,2505,-0.85,-146.0,359.2,-10.3,141,2510,0.00,2.25,0.00,0.000,6,0.000,0.053,2605,2642,3637
$GC,2769,-0.85,-146.0,382.9,-9.2,148,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2642,3636
$GC,3012,-0.85,-146.0,405.4,-9.2,154,3016,0.00,2.08,0.00,0.000,4,0.000,0.027,2613,1236,3635
$GC,3048,-0.85,-146.0,408.6,-8.5,154,3052,0.00,2.28,0.00,0.000,6,0.000,0.054,2604,2648,3635
$GC,3300,-0.85,-146.0,430.8,-9.0,160,3304,0.00,2.03,0.00,0.000,4,0.000,0.067,2594,3894,3633
$GC,3349,-0.85,-146.0,435.2,-8.9,161,3352,0.00,1.83,0.00,0.000,6,0.000,0.025,2601,2638,3632
$GC,3640,-0.85,-146.0,463.5,-10.0,168,3644,0.00,2.05,0.00,0.000,4,0.000,0.028,2612,1238,3630
$GC,3692,-0.85,-146.0,468.7,-9.2,169,3696,0.00,2.22,0.00,0.000,6,0.000,0.051,2603,2641,3630
$GC,3973,-0.85,-146.0,496.5,-10.0,176,3977,0.00,2.05,0.00,0.000,4,0.000,0.064,2593,3901,3628
$GC,4004,-0.85,-146.0,499.8,-10.7,176,4008,0.00,1.85,0.00,0.000,6,0.000,0.026,2600,2637,3627
$GC,4269,-0.85,-146.0,524.0,-9.0,183,4273,0.00,2.05,0.00,0.000,4,0.000,0.028,2610,1239,3625
$GC,4293,-0.85,-146.0,526.5,-9.3,183,4298,0.00,2.25,0.00,0.000,6,0.000,0.053,2606,2643,3625
$GC,4557,-0.85,-146.0,549.2,-8.8,190,4560,0.00,2.05,0.00,0.000,4,0.000,0.067,2596,3895,3624
$GC,4598,-0.85,-146.0,553.0,-8.3,190,4605,0.00,1.88,0.00,0.000,6,0.000,0.027,2603,2632,3623
$GC,4850,-0.85,-146.0,574.4,-8.4,197,4853,0.00,2.05,0.00,0.000,4,0.000,0.029,2613,1248,3621
$GC,4891,-0.85,-146.0,577.5,-7.8,197,4897,0.00,2.28,0.00,0.000,6,0.000,0.056,2604,2645,3621
$GC,5143,-0.85,-146.0,595.1,-6.9,204,5146,0.00,2.05,0.00,0.000,4,0.000,0.069,2594,3890,3620
$GC,5173,-0.85,-146.0,597.4,-8.1,204,5177,0.00,1.83,0.00,0.000,6,0.000,0.028,2602,2648,3619
$STATE,5229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5230,begin apogee
$GC,5240,-0.32,0.0,601.6,6.9,206,5365,0.60,0.00,122.53,1.068,6,0.139,0.000,2782,2517,3040
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5371,0.85,146.0,606.4,0.0,209,5518,1.08,2.33,132.77,1.051,4,0.067,0.029,3173,1067,2443
$GC,5775,0.85,146.0,560.2,19.4,218,5779,0.00,2.28,0.00,0.000,6,0.000,0.049,3165,2497,2435
$GC,6055,0.85,146.0,500.0,21.5,225,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2498,2432
$GC,6299,0.85,146.0,453.1,18.8,231,6302,0.00,2.12,0.00,0.000,4,0.000,0.029,3173,1070,2429
$GC,6367,0.85,146.0,440.7,17.1,232,6371,0.00,2.28,0.00,0.000,6,0.000,0.051,3173,2501,2429
$GC,6637,0.85,146.0,393.5,17.1,239,6641,0.00,2.12,0.00,0.000,4,0.000,0.030,3183,1070,2427
$GC,6847,0.85,146.0,360.1,15.9,243,6851,0.00,2.28,0.00,0.000,6,0.000,0.047,3176,2506,2426
$GC,7104,0.85,146.0,317.4,16.9,250,7108,0.00,2.22,0.00,0.000,4,0.000,0.054,3176,3908,2426
$GC,7228,0.85,146.0,297.6,15.6,252,7232,0.00,2.12,0.00,0.000,6,0.000,0.028,3185,2476,2424
$GC,7486,0.85,146.0,264.5,12.4,259,7489,0.00,2.05,0.00,0.000,4,0.000,0.030,3195,1093,2424
$GC,7554,0.88,168.6,257.8,8.6,260,7578,0.00,2.25,17.75,0.815,6,0.000,0.048,3192,2505,2352
$GC,7822,0.88,168.6,220.7,15.1,267,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2505,2348
$GC,8070,0.88,168.6,187.0,13.0,279,8074,0.00,2.25,0.00,0.000,4,0.000,0.055,3191,3912,2347
$GC,8328,0.88,168.6,148.1,14.6,301,8335,0.00,2.12,0.00,0.000,6,0.000,0.027,3200,2508,2346
$GC,8592,0.90,179.6,116.6,9.1,326,8607,0.00,2.17,10.32,0.654,4,0.000,0.027,3211,1077,2308
$GC,8623,0.94,214.0,114.2,8.1,328,8661,0.00,2.22,31.62,0.699,6,0.000,0.040,3205,2511,2167
$GC,8916,0.94,214.0,63.1,19.0,355,8920,0.00,2.12,0.00,0.000,4,0.000,0.027,3214,1087,2161
$GC,8987,0.94,214.0,51.4,15.4,361,8992,0.00,2.22,0.00,0.000,6,0.000,0.043,3214,2505,2160
$STATE,9235,end climb,SURFACE_DEPTH_REACHED
$STATE,9235,begin surface coast
$FINISH,0.5,1.023691
$STATE,9247,end surface coast,CONTROL_FINISHED_OK
$STATE,9247,begin surface
$SM_CCo,9273,72.53,0.604,0,0,1612,350.04
$SM_GC,1.16,0.00,0.00,72.53,0.000,0.000,0.604,54,2673,1612,-8.86,0.93,350.04
$IRIDIUM_FIX,2246.36,-15803.66,240500,080803
$TT8_MAMPS,0.023777
$HUMID,1878
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,108.927
$10V_AH,10.6,63.442
$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,22.650,97.325,315.000,72.525,0.000,85.294,118.126,356.136,0.250,0.000,0.000,20.026,852.486,6458.396,437.305,1502.539,942.961,33.369,1087.939,0.000,1490.103,0.000,0.543,0.000
$DEVICE_MAMPS,253.110,69.030,1067.664,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.660,600.408,618.945,128.137,531.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31908,397
$CAP_FILE_SIZE,85246,0
$CFSIZE,260165632,228581376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,280211,105944,2253.938,-15801.359,9,2.0,10,10.1