version: 66.04
glider: 512
mission: 1
dive: 834
start: 2 28 111 21 48 1
data:
$ID,512
$MISSION,1
$DIVE,834
$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,-23918.463
$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,71
$R_STBD_OVSHOOT,26
$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
$GPS1,210900,2255.903,-15801.725,32,1.1,43,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.8
$GPS2,214708,2255.876,-15802.092,17,1.4,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.219,0.133
$KALMAN_X,-284068.8,393.8,-66.1,299101.5,-3090.9
$KALMAN_Y,-565321.5,68.3,-82.3,705362.2,-1520.7
$MHEAD_RNG_PITCHd_Wd,48.6,12077,-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,-90.60,0.000,2,0.000,0.000,42,2603,2792
$GC,115,-0.85,-146.0,3.0,-3.7,12,156,11.85,2.05,-18.48,0.000,4,0.250,0.039,2614,1245,3638
$GC,187,-0.85,-146.0,18.5,-22.6,22,196,0.00,2.30,0.00,0.000,6,0.000,0.062,2605,2629,3638
$GC,460,-0.85,-146.0,81.9,-21.8,52,464,0.00,2.08,0.00,0.000,4,0.000,0.065,2595,3908,3638
$GC,552,-0.85,-146.0,98.7,-13.0,60,556,0.00,1.83,0.00,0.000,6,0.000,0.022,2602,2641,3638
$GC,823,-0.85,-146.0,142.3,-16.2,85,827,0.00,2.03,0.00,0.000,4,0.000,0.025,2613,1239,3638
$GC,873,-0.85,-146.0,149.4,-13.1,89,877,0.00,2.25,0.00,0.000,6,0.000,0.056,2604,2651,3639
$GC,1137,-0.85,-146.0,188.2,-15.5,113,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2651,3639
$GC,1423,-0.85,-146.0,230.6,-14.4,126,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2651,3639
$GC,1666,-0.85,-146.0,261.2,-12.4,132,1670,0.00,2.08,0.00,0.000,4,0.000,0.025,2612,1239,3638
$GC,1706,-0.85,-146.0,265.9,-10.3,132,1713,0.00,2.22,0.00,0.000,6,0.000,0.054,2604,2641,3638
$GC,1959,-0.85,-146.0,292.5,-10.5,139,1962,0.00,2.03,0.00,0.000,4,0.000,0.066,2594,3894,3637
$GC,1995,-0.85,-146.0,296.6,-11.5,139,1999,0.00,1.83,0.00,0.000,6,0.000,0.024,2601,2626,3637
$GC,2254,-0.85,-146.0,325.7,-11.5,146,2257,0.00,2.00,0.00,0.000,4,0.000,0.026,2611,1241,3635
$GC,2306,-0.85,-146.0,331.5,-9.4,147,2310,0.00,2.22,0.00,0.000,6,0.000,0.051,2603,2649,3634
$GC,2586,-0.85,-146.0,362.0,-11.0,154,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2649,3632
$GC,2829,-0.85,-146.0,386.4,-9.7,160,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2649,3630
$GC,3076,-0.85,-146.0,409.2,-9.2,166,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2649,3628
$GC,3317,-0.85,-146.0,431.0,-9.0,172,3319,0.00,0.00,-0.08,0.000,6,0.000,0.000,2603,2649,3650
$GC,3561,-0.85,-146.0,450.7,-8.0,178,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2649,3648
$GC,3804,-0.85,-146.0,469.4,-7.6,184,3808,0.00,2.08,0.00,0.000,4,0.000,0.028,2611,1231,3646
$GC,3844,-0.85,-146.0,472.3,-6.3,184,3850,0.00,2.25,0.00,0.000,6,0.000,0.051,2603,2645,3646
$GC,4097,-0.85,-146.0,490.5,-7.5,191,4101,0.00,2.03,0.00,0.000,4,0.000,0.065,2593,3892,3644
$GC,4139,-0.85,-146.0,494.0,-8.5,191,4145,0.00,1.83,0.00,0.000,6,0.000,0.027,2600,2642,3643
$GC,4391,-0.85,-146.0,515.1,-8.6,198,4394,0.00,2.08,0.00,0.000,4,0.000,0.028,2610,1229,3641
$GC,4420,-0.85,-146.0,517.8,-9.1,198,4424,0.00,2.25,0.00,0.000,6,0.000,0.051,2605,2644,3641
$GC,4678,-0.85,-146.0,540.4,-9.1,205,4682,0.00,2.03,0.00,0.000,4,0.000,0.066,2595,3895,3638
$GC,4708,-0.85,-146.0,543.5,-9.9,205,4711,0.00,1.85,0.00,0.000,6,0.000,0.027,2602,2635,3638
$GC,4972,-0.85,-146.0,567.6,-9.1,212,4976,0.00,2.05,0.00,0.000,4,0.000,0.028,2613,1242,3637
$GC,5015,-0.85,-146.0,571.4,-7.8,212,5021,0.00,2.22,0.00,0.000,6,0.000,0.052,2606,2638,3637
$GC,5269,-0.85,-146.0,593.2,-8.7,219,5273,0.00,2.05,0.00,0.000,4,0.000,0.067,2596,3892,3634
$GC,5310,-0.85,-146.0,597.1,-8.8,219,5316,0.00,1.85,0.00,0.000,6,0.000,0.028,2603,2638,3634
$STATE,5357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5357,begin apogee
$GC,5368,-0.32,0.0,601.3,8.7,221,5496,0.60,0.00,125.68,1.074,6,0.143,0.000,2782,2516,3040
$STATE,5497,end apogee,CONTROL_FINISHED_OK
$STATE,5497,begin climb
$GC,5501,0.85,146.0,608.0,0.0,224,5641,1.08,2.33,131.40,1.052,4,0.074,0.061,3160,3901,2443
$GC,5753,0.85,146.0,588.8,23.5,229,5759,0.00,2.12,0.00,0.000,6,0.000,0.028,3171,2491,2436
$GC,6005,0.85,146.0,531.4,22.5,236,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2486,2431
$GC,6248,0.85,146.0,479.8,20.2,242,6252,0.00,2.08,0.00,0.000,4,0.000,0.029,3182,1088,2429
$GC,6261,0.85,146.0,476.7,20.4,242,6265,0.00,2.20,0.00,0.000,6,0.000,0.044,3176,2500,2430
$GC,6535,0.85,146.0,422.7,19.1,249,6538,0.00,2.10,0.00,0.000,4,0.000,0.029,3184,1081,2428
$GC,6694,0.85,146.0,394.6,16.5,252,6698,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2506,2427
$GC,6956,0.85,146.0,355.1,15.0,259,6960,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1088,2425
$GC,6969,0.85,146.0,353.3,14.2,259,6973,0.00,2.22,0.00,0.000,6,0.000,0.044,3177,2506,2425
$GC,7249,0.85,146.0,311.5,14.4,266,7253,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1083,2424
$GC,7509,0.85,146.0,277.3,13.0,271,7513,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2511,2423
$GC,7763,0.85,146.0,246.1,12.3,277,7766,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1085,2422
$GC,7905,0.85,146.0,228.1,12.5,280,7909,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2510,2422
$GC,8184,0.85,146.0,197.0,11.0,287,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2511,2422
$GC,8441,0.85,146.0,172.1,10.3,311,8444,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1093,2422
$GC,8577,0.85,146.0,158.6,10.0,323,8581,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2509,2422
$GC,8842,0.90,186.1,133.7,7.8,347,8880,0.00,0.00,31.85,0.713,6,0.000,0.000,3176,2510,2281
$GC,9138,0.90,186.1,91.6,13.2,375,9142,0.00,2.20,0.00,0.000,4,0.000,0.051,3176,3906,2278
$GC,9395,0.90,186.1,59.5,11.5,398,9398,0.00,2.08,0.00,0.000,6,0.000,0.025,3185,2487,2276
$GC,9666,0.92,199.6,35.6,9.0,423,9683,0.00,2.05,12.80,0.588,4,0.000,0.026,3195,1097,2226
$GC,9705,0.92,199.6,32.0,9.8,426,9709,0.00,2.17,0.00,0.000,6,0.000,0.040,3191,2503,2224
$STATE,9905,end climb,SURFACE_DEPTH_REACHED
$STATE,9905,begin surface coast
$FINISH,0.2,1.023616
$STATE,9923,end surface coast,CONTROL_FINISHED_OK
$STATE,9923,begin surface
$SM_CCo,9948,224.43,0.591,0,0,399,647.83
$SM_GC,1.09,0.00,0.00,224.43,0.000,0.000,0.591,50,2665,399,-8.87,0.71,647.83
$IRIDIUM_FIX,2248.70,-15800.62,240500,212106
$TT8_MAMPS,0.023777
$HUMID,1826
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.6,109.847
$10V_AH,10.6,63.905
$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,22.450,88.650,301.725,224.425,0.000,144.392,187.666,1527.625,0.250,0.000,0.000,17.330,937.434,6965.554,607.808,1685.936,2267.637,33.370,1290.464,0.000,1679.213,0.000,0.545,0.000
$DEVICE_MAMPS,250.042,66.729,1073.800,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,313.366,744.048,764.212,172.926,708.343,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38287,464
$CAP_FILE_SIZE,90462,0
$CFSIZE,260165632,228347904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,010311,003900,2255.982,-15801.628,39,2.0,39,10.1