version: 66.04
glider: 512
mission: 1
dive: 836
start: 3 1 111 4 1 29
data:
$ID,512
$MISSION,1
$DIVE,836
$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,-23947.139
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,44
$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
$GPS1,033907,2255.818,-15800.893,32,1.1,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-77.8
$GPS2,040032,2255.735,-15801.102,12,1.4,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.209,0.148
$KALMAN_X,-287905.0,49.6,368.3,304550.6,-2941.7
$KALMAN_Y,-568346.0,-527.4,27.9,708615.4,-1703.6
$MHEAD_RNG_PITCHd_Wd,44.7,10415,-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,-52.83,0.000,2,0.000,0.000,44,2671,2991
$GC,77,-0.85,-146.0,3.4,-5.3,7,110,11.90,2.15,-12.38,0.000,4,0.252,0.037,2607,1250,3637
$GC,152,-0.85,-146.0,25.5,-22.7,18,161,0.00,2.28,0.00,0.000,6,0.000,0.067,2597,2611,3638
$GC,420,-0.85,-146.0,93.5,-23.9,44,423,0.00,2.10,0.00,0.000,4,0.000,0.067,2587,3899,3639
$GC,479,-0.85,-146.0,108.0,-23.8,49,483,0.00,1.83,0.00,0.000,6,0.000,0.023,2594,2639,3639
$GC,749,-0.85,-146.0,160.1,-19.1,74,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2634,3639
$GC,1021,-0.85,-146.0,208.3,-16.8,97,1024,0.00,2.10,0.00,0.000,4,0.000,0.069,2585,3902,3640
$GC,1062,-0.85,-146.0,215.2,-15.6,97,1068,0.00,1.83,0.00,0.000,6,0.000,0.022,2594,2635,3640
$GC,1315,-0.85,-146.0,253.1,-15.3,104,1319,0.00,2.10,0.00,0.000,4,0.000,0.067,2585,3898,3640
$GC,1367,-0.85,-146.0,260.4,-12.0,105,1371,0.00,1.83,0.00,0.000,6,0.000,0.022,2593,2629,3640
$GC,1654,-0.85,-146.0,295.8,-12.2,112,1657,0.00,2.03,0.00,0.000,4,0.000,0.025,2603,1228,3640
$GC,1706,-0.85,-146.0,301.5,-8.9,113,1711,0.00,2.28,0.00,0.000,6,0.000,0.053,2594,2650,3640
$GC,1986,-0.85,-146.0,332.5,-11.4,120,1990,0.00,2.03,0.00,0.000,4,0.000,0.066,2584,3898,3639
$GC,2034,-0.85,-146.0,338.1,-11.4,121,2038,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2637,3638
$GC,2326,-0.85,-146.0,372.7,-12.0,128,2330,0.00,2.08,0.00,0.000,4,0.000,0.066,2583,3887,3636
$GC,2349,-0.85,-146.0,375.8,-12.7,128,2353,0.00,1.83,0.00,0.000,6,0.000,0.025,2591,2644,3636
$GC,2618,-0.85,-146.0,406.4,-11.6,135,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2638,3635
$GC,2863,-0.85,-146.0,434.5,-11.4,141,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2637,3633
$GC,3106,-0.85,-146.0,460.4,-10.4,147,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2637,3631
$GC,3349,-0.85,-146.0,484.5,-9.7,153,3353,0.00,2.10,0.00,0.000,4,0.000,0.071,2583,3898,3629
$GC,3389,-0.85,-146.0,488.4,-9.5,153,3396,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2649,3628
$GC,3641,-0.85,-146.0,511.6,-9.3,160,3645,0.00,2.08,0.00,0.000,4,0.000,0.028,2601,1237,3626
$GC,3695,-0.85,-146.0,516.5,-8.4,161,3700,0.00,2.28,0.00,0.000,6,0.000,0.055,2591,2643,3626
$GC,3976,-0.85,-146.0,541.6,-8.8,168,3979,0.00,2.05,0.00,0.000,4,0.000,0.067,2582,3894,3624
$GC,4033,-0.85,-146.0,546.9,-8.7,169,4037,0.00,1.85,0.00,0.000,6,0.000,0.026,2589,2636,3623
$GC,4315,-0.85,-146.0,570.5,-8.4,176,4319,0.00,2.05,0.00,0.000,4,0.000,0.028,2599,1242,3621
$GC,4363,-0.85,-146.0,574.3,-6.4,177,4367,0.00,2.28,0.00,0.000,6,0.000,0.058,2590,2638,3621
$GC,4648,-0.85,-146.0,598.7,-8.6,184,4651,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3892,3618
$STATE,4661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4674,-0.32,0.0,600.4,8.9,184,4799,0.57,0.00,122.00,1.080,6,0.145,0.000,2765,2470,3040
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4805,0.85,146.0,605.1,0.0,187,4941,1.10,0.00,131.12,1.048,6,0.077,0.000,3150,2470,2444
$GC,5178,0.85,146.0,559.6,22.3,196,5182,0.00,2.10,0.00,0.000,4,0.000,0.031,3160,1079,2434
$GC,5320,0.85,146.0,528.7,19.4,199,5324,0.00,2.22,0.00,0.000,6,0.000,0.045,3161,2491,2433
$GC,5602,0.85,146.0,474.1,19.0,206,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2492,2429
$GC,5843,0.85,146.0,430.0,18.0,212,5846,0.00,2.25,0.00,0.000,4,0.000,0.054,3161,3905,2427
$GC,5929,0.85,146.0,413.8,18.2,213,5935,0.00,2.12,0.00,0.000,6,0.000,0.028,3171,2485,2427
$GC,6180,0.85,146.0,370.9,17.1,220,6184,0.00,2.10,0.00,0.000,4,0.000,0.030,3182,1068,2426
$GC,6310,0.85,146.0,351.2,14.9,222,6317,0.00,2.22,0.00,0.000,6,0.000,0.045,3176,2482,2425
$GC,6562,0.85,146.0,312.1,15.5,229,6566,0.00,2.28,0.00,0.000,4,0.000,0.056,3176,3902,2423
$GC,6586,0.85,146.0,308.6,14.9,229,6589,0.00,2.12,0.00,0.000,6,0.000,0.028,3185,2480,2423
$GC,6857,0.85,146.0,274.7,12.0,236,6861,0.15,2.10,0.00,0.000,4,0.281,0.028,3169,1065,2423
$GC,6869,0.85,146.0,273.1,11.3,236,6873,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2484,2422
$GC,7138,0.87,161.1,247.1,8.9,243,7153,0.00,2.30,10.25,0.750,4,0.000,0.054,3162,3906,2385
$GC,7407,0.87,161.1,213.2,12.7,249,7410,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2462,2384
$GC,7669,0.87,161.1,186.9,10.6,262,7673,0.00,2.33,0.00,0.000,4,0.000,0.052,3162,3905,2383
$GC,7755,0.87,161.1,176.6,11.1,269,7759,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2470,2383
$GC,8027,0.90,179.2,149.7,8.8,294,8053,0.00,2.33,17.60,0.706,4,0.000,0.051,3162,3897,2308
$GC,8269,0.90,179.2,116.9,13.4,315,8273,0.00,2.10,0.00,0.000,6,0.000,0.025,3172,2468,2307
$GC,8539,0.90,183.9,87.9,9.4,340,8553,0.00,2.08,5.18,0.511,4,0.000,0.025,3182,1071,2291
$GC,8800,0.90,183.9,62.5,10.5,363,8808,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2491,2291
$GC,9065,0.90,183.9,36.2,10.7,388,9069,0.00,2.08,0.00,0.000,4,0.000,0.025,3184,1067,2291
$GC,9200,0.90,183.9,22.4,10.6,407,9209,0.00,2.20,0.00,0.000,6,0.000,0.037,3176,2486,2291
$STATE,9361,end climb,SURFACE_DEPTH_REACHED
$STATE,9361,begin surface coast
$FINISH,0.5,1.023736
$STATE,9388,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9413,88.50,0.581,0,0,1612,350.04
$SM_GC,1.61,0.00,0.00,88.50,0.000,0.000,0.581,47,2663,1612,-8.85,0.68,350.04
$IRIDIUM_FIX,2246.36,-15758.45,250500,030311
$TT8_MAMPS,0.023777
$HUMID,1830
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.5,110.141
$10V_AH,10.6,64.113
$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,22.575,92.950,286.150,88.500,0.000,85.173,107.841,807.635,0.250,0.000,0.000,12.079,923.167,6360.639,435.158,1688.595,1386.764,33.372,1114.914,0.000,1681.528,0.000,0.544,0.000
$DEVICE_MAMPS,281.489,71.331,1079.936,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,298.198,708.325,728.789,165.373,681.208,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35110,441
$CAP_FILE_SIZE,89684,0
$CFSIZE,260165632,228311040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,010311,064107,2255.755,-15800.502,29,1.2,30,10.1