version: 66.04
glider: 512
mission: 1
dive: 832
start: 2 28 111 15 4 28
data:
$ID,512
$MISSION,1
$DIVE,832
$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,647.82672
$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,-23856.416
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,142536,2254.652,-15801.466,27,1.6,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.7
$GPS2,150336,2254.919,-15801.861,35,1.0,35,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.168,0.193
$KALMAN_X,-280356.2,703.7,542.6,294859.7,-4544.1
$KALMAN_Y,-563254.4,535.8,231.2,700736.2,-1826.4
$MHEAD_RNG_PITCHd_Wd,31.0,11167,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-90.55,0.000,2,0.000,0.000,45,2651,2791
$GC,115,-0.85,-146.0,3.1,-3.8,12,155,11.88,2.15,-18.12,0.000,4,0.251,0.039,2616,1215,3637
$GC,203,-0.85,-146.0,21.6,-17.9,25,211,0.00,2.40,0.00,0.000,6,0.000,0.072,2607,2626,3638
$GC,476,-0.85,-146.0,81.8,-22.4,54,480,0.00,2.10,0.00,0.000,4,0.000,0.071,2597,3905,3638
$GC,536,-0.85,-146.0,94.0,-19.6,59,540,0.00,1.88,0.00,0.000,6,0.000,0.025,2604,2621,3638
$GC,806,-0.85,-146.0,139.4,-16.2,84,809,0.00,2.03,0.00,0.000,4,0.000,0.028,2614,1236,3638
$GC,845,-0.85,-146.0,145.3,-14.9,87,849,0.00,2.30,0.00,0.000,6,0.000,0.064,2606,2650,3638
$GC,1109,-0.85,-146.0,186.9,-16.5,111,1113,0.00,2.05,0.00,0.000,4,0.000,0.070,2596,3903,3638
$GC,1158,-0.85,-146.0,194.2,-13.9,115,1162,0.00,1.85,0.00,0.000,6,0.000,0.024,2603,2631,3638
$GC,1447,-0.85,-146.0,237.3,-15.0,125,1451,0.00,2.05,0.00,0.000,4,0.000,0.029,2613,1232,3638
$GC,1496,-0.85,-146.0,243.2,-10.6,126,1500,0.00,2.28,0.00,0.000,6,0.000,0.059,2605,2641,3637
$GC,1783,-0.85,-146.0,278.2,-12.1,133,1787,0.00,2.05,0.00,0.000,4,0.000,0.071,2595,3897,3637
$GC,1835,-0.85,-146.0,284.3,-9.9,134,1839,0.00,1.83,0.00,0.000,6,0.000,0.023,2603,2634,3637
$GC,2123,-0.85,-146.0,316.1,-11.4,141,2126,0.00,2.05,0.00,0.000,4,0.000,0.036,2613,1247,3636
$GC,2165,-0.85,-146.0,320.8,-9.2,141,2171,0.00,2.25,0.00,0.000,6,0.000,0.059,2604,2643,3636
$GC,2419,-0.85,-146.0,347.8,-11.0,148,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2643,3634
$GC,2660,-0.85,-146.0,371.8,-9.6,154,2664,0.00,2.08,0.00,0.000,4,0.000,0.030,2613,1244,3632
$GC,2696,-0.85,-146.0,375.0,-8.6,154,2700,0.00,2.28,0.00,0.000,6,0.000,0.061,2605,2649,3632
$GC,2947,-0.85,-146.0,398.2,-9.6,160,2951,0.00,2.05,0.00,0.000,4,0.000,0.071,2594,3900,3630
$GC,2983,-0.85,-146.0,401.9,-10.1,160,2986,0.00,1.85,0.00,0.000,6,0.000,0.023,2602,2621,3629
$GC,3240,-0.85,-146.0,429.5,-11.0,167,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2614,3627
$GC,3485,-0.85,-146.0,456.0,-10.6,173,3487,0.00,0.00,-0.08,0.000,6,0.000,0.000,2602,2614,3650
$GC,3728,-0.85,-146.0,479.4,-9.4,179,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2614,3648
$GC,3972,-0.85,-146.0,499.4,-8.0,185,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2614,3647
$GC,4216,-0.85,-146.0,518.5,-8.0,191,4220,0.00,2.15,0.00,0.000,4,0.000,0.074,2594,3892,3644
$GC,4247,-0.85,-146.0,521.1,-8.3,191,4251,0.00,1.83,0.00,0.000,6,0.000,0.025,2601,2644,3644
$GC,4512,-0.85,-146.0,542.3,-8.2,198,4516,0.00,2.08,0.00,0.000,4,0.000,0.032,2612,1240,3641
$GC,4555,-0.85,-146.0,545.8,-7.5,198,4561,0.00,2.30,0.00,0.000,6,0.000,0.062,2603,2646,3641
$GC,4807,-0.85,-146.0,567.4,-8.6,205,4811,0.00,2.08,0.00,0.000,4,0.000,0.074,2593,3892,3639
$GC,4837,-0.85,-146.0,570.2,-9.4,205,4840,0.00,1.85,0.00,0.000,6,0.000,0.026,2601,2636,3639
$GC,5102,-0.85,-146.0,594.5,-9.4,212,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2629,3637
$STATE,5176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5176,begin apogee
$GC,5187,-0.32,0.0,602.1,9.4,214,5316,0.60,0.00,125.93,1.045,6,0.137,0.000,2782,2503,3040
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5317,begin climb
$GC,5321,0.85,146.0,609.5,0.0,217,5460,1.08,2.38,131.00,1.043,4,0.068,0.062,3162,3902,2443
$GC,5673,0.85,146.0,567.3,24.6,225,5677,0.00,2.10,0.00,0.000,6,0.000,0.026,3172,2495,2435
$GC,5959,0.85,146.0,504.1,21.8,232,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2489,2430
$GC,6204,0.85,146.0,454.9,19.6,238,6208,0.00,2.08,0.00,0.000,4,0.000,0.028,3183,1085,2429
$GC,6262,0.85,146.0,444.4,16.9,239,6266,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2510,2429
$GC,6536,0.85,146.0,396.4,17.1,246,6540,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1084,2426
$GC,6560,0.85,146.0,392.1,17.3,246,6564,0.00,2.20,0.00,0.000,6,0.000,0.042,3176,2503,2426
$GC,6823,0.85,146.0,349.5,15.8,253,6826,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1084,2424
$GC,6947,0.85,146.0,331.5,13.9,255,6951,0.00,2.20,0.00,0.000,6,0.000,0.043,3176,2498,2423
$GC,7206,0.85,146.0,293.2,14.7,262,7210,0.00,2.08,0.00,0.000,4,0.000,0.028,3185,1084,2423
$GC,7230,0.85,146.0,289.7,13.7,262,7234,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2511,2423
$GC,7492,0.85,146.0,252.5,13.7,269,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2511,2422
$GC,7736,0.85,146.0,223.4,11.5,275,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2511,2421
$GC,7981,0.87,158.3,200.4,9.1,281,7991,0.00,0.00,8.27,0.683,6,0.000,0.000,3176,2511,2394
$GC,8235,0.87,158.3,173.4,11.7,302,8238,0.00,2.12,0.00,0.000,4,0.000,0.026,3185,1070,2393
$GC,8262,0.87,158.3,170.2,12.1,304,8265,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2501,2392
$GC,8532,0.87,158.3,140.2,11.7,329,8536,0.00,2.22,0.00,0.000,4,0.000,0.053,3175,3909,2392
$GC,8588,0.87,158.3,134.2,10.7,333,8592,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2475,2392
$GC,8857,0.92,197.4,107.7,7.9,358,8898,0.00,2.33,34.90,0.682,4,0.000,0.047,3176,3903,2234
$GC,9155,0.92,197.4,62.7,14.2,384,9159,0.00,2.08,0.00,0.000,6,0.000,0.025,3185,2499,2232
$GC,9420,0.92,197.4,27.5,12.5,410,9428,0.00,2.28,0.00,0.000,4,0.000,0.048,3176,3906,2229
$STATE,9576,end climb,SURFACE_DEPTH_REACHED
$STATE,9576,begin surface coast
$FINISH,0.2,1.023717
$STATE,9597,end surface coast,CONTROL_FINISHED_OK
$STATE,9597,begin surface
$SM_CCo,9624,229.27,0.601,0,0,398,647.83
$SM_GC,1.31,0.00,0.00,229.27,0.000,0.000,0.601,54,2609,398,-8.86,-0.88,647.83
$IRIDIUM_FIX,2248.70,-15803.66,240500,151511
$TT8_MAMPS,0.023777
$HUMID,1829
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,109.385
$10V_AH,10.7,63.669
$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,22.450,88.875,300.100,229.275,0.000,134.889,199.336,1497.775,0.500,0.000,0.000,35.571,899.705,6834.078,602.232,1567.886,2232.280,33.369,1239.847,0.000,1544.104,0.000,0.545,0.000
$DEVICE_MAMPS,250.809,73.632,1044.654,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,298.786,701.588,723.587,160.904,656.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35050,442
$CAP_FILE_SIZE,86532,0
$CFSIZE,260165632,228450304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,280211,174943,2255.379,-15801.539,9,2.0,14,10.1