version: 66.04
glider: 512
mission: 1
dive: 857
start: 3 3 111 14 27 24
data:
$ID,512
$MISSION,1
$DIVE,857
$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,-24458.146
$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,62
$R_STBD_OVSHOOT,24
$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
$GPS1,141406,2252.095,-15757.419,36,1.6,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.8
$GPS2,142627,2252.074,-15757.510,11,1.6,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.086,-0.241
$KALMAN_X,-329349.2,545.4,66.3,351977.6,-3326.8
$KALMAN_Y,-601937.9,498.6,240.1,734160.9,-1405.2
$MHEAD_RNG_PITCHd_Wd,150.3,9410,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.38,0.000,2,0.000,0.000,41,2611,3246
$GC,85,-0.85,-146.0,3.9,-5.3,8,110,12.20,2.03,-6.70,0.000,4,0.260,0.039,2606,1239,3638
$GC,174,-0.85,-146.0,36.7,-19.5,20,178,0.00,2.33,0.00,0.000,6,0.000,0.066,2596,2631,3640
$GC,446,-0.85,-146.0,98.7,-21.8,45,449,0.00,2.08,0.00,0.000,4,0.000,0.066,2586,3902,3641
$GC,497,-0.85,-146.0,110.3,-20.0,49,504,0.00,1.88,0.00,0.000,6,0.000,0.026,2593,2653,3640
$GC,761,-0.85,-146.0,154.9,-16.8,74,765,0.00,2.08,0.00,0.000,4,0.000,0.026,2603,1225,3641
$GC,822,-0.85,-146.0,163.2,-11.8,79,826,0.00,2.33,0.00,0.000,6,0.000,0.061,2594,2643,3641
$GC,1104,-0.85,-146.0,206.8,-15.3,102,1108,0.00,2.08,0.00,0.000,4,0.000,0.026,2603,1225,3642
$GC,1134,-0.85,-146.0,211.2,-14.1,102,1138,0.00,2.30,0.00,0.000,6,0.000,0.054,2593,2656,3642
$GC,1392,-0.85,-146.0,248.3,-14.7,109,1395,0.00,2.10,0.00,0.000,4,0.000,0.025,2601,1225,3642
$GC,1432,-0.85,-146.0,253.8,-11.3,109,1438,0.00,2.30,0.00,0.000,6,0.000,0.057,2592,2645,3642
$GC,1685,-0.85,-146.0,285.6,-13.1,116,1689,0.00,2.10,0.00,0.000,4,0.000,0.026,2601,1215,3642
$GC,1705,-0.85,-146.0,288.3,-13.4,116,1709,0.00,2.28,0.00,0.000,6,0.000,0.054,2591,2642,3642
$GC,1973,-0.85,-146.0,321.7,-12.3,123,1977,0.00,2.10,0.00,0.000,4,0.000,0.026,2600,1208,3642
$GC,2020,-0.85,-146.0,327.1,-9.9,124,2024,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2641,3641
$GC,2307,-0.85,-146.0,359.7,-11.3,131,2311,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3893,3640
$GC,2360,-0.85,-146.0,365.2,-9.6,132,2364,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2624,3640
$GC,2645,-0.85,-146.0,395.1,-10.7,139,2649,0.00,2.03,0.00,0.000,4,0.000,0.027,2598,1236,3638
$GC,2697,-0.85,-146.0,400.1,-8.3,140,2701,0.00,2.25,0.00,0.000,6,0.000,0.054,2589,2640,3638
$GC,2977,-0.85,-146.0,428.3,-10.4,147,2981,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3899,3636
$GC,3006,-0.85,-146.0,431.5,-10.3,147,3009,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2634,3635
$GC,3269,-0.85,-146.0,457.7,-10.1,154,3272,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1239,3633
$GC,3303,-0.85,-146.0,461.3,-9.6,154,3308,0.00,2.25,0.00,0.000,6,0.000,0.053,2589,2642,3633
$GC,3556,-0.85,-146.0,486.0,-10.0,160,3559,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3892,3631
$GC,3574,-0.85,-146.0,487.9,-10.0,160,3578,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2636,3631
$GC,3848,-0.85,-146.0,514.5,-9.6,167,3852,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1251,3629
$GC,3872,-0.85,-146.0,517.0,-9.9,167,3876,0.00,2.25,0.00,0.000,6,0.000,0.054,2590,2640,3629
$GC,4136,-0.85,-146.0,540.5,-9.1,174,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3627
$GC,4379,-0.85,-146.0,562.7,-9.3,180,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3625
$GC,4624,-0.85,-146.0,586.2,-9.6,186,4627,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1238,3624
$GC,4672,-0.85,-146.0,590.4,-7.9,187,4676,0.00,2.28,0.00,0.000,6,0.000,0.055,2590,2641,3623
$STATE,4790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4790,begin apogee
$GC,4800,-0.32,0.0,601.6,9.1,190,4926,0.62,0.00,122.57,1.055,6,0.148,0.000,2772,2504,3040
$STATE,4927,end apogee,CONTROL_FINISHED_OK
$STATE,4927,begin climb
$GC,4931,0.85,146.0,607.0,0.0,193,5070,1.08,2.35,131.10,1.043,4,0.071,0.057,3150,3904,2442
$GC,5100,0.85,146.0,608.4,17.1,197,5104,0.00,2.20,0.00,0.000,6,0.000,0.026,3159,2463,2440
$GC,5385,0.85,146.0,548.5,20.9,204,5389,0.00,2.08,0.00,0.000,4,0.000,0.030,3170,1070,2433
$GC,5493,0.85,146.0,526.3,20.1,206,5498,0.00,2.25,0.00,0.000,6,0.000,0.051,3162,2477,2432
$GC,5769,0.85,146.0,471.4,19.9,213,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2478,2430
$GC,6011,0.85,146.0,425.2,19.0,219,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2478,2429
$GC,6255,0.85,146.0,384.3,16.7,225,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2478,2427
$GC,6500,0.85,146.0,344.2,16.5,231,6504,0.00,2.10,0.00,0.000,4,0.000,0.030,3171,1072,2426
$GC,6524,0.85,146.0,340.4,14.7,231,6528,0.00,2.22,0.00,0.000,6,0.000,0.046,3162,2484,2426
$GC,6794,0.85,146.0,305.2,12.0,238,6798,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1054,2424
$GC,6943,0.85,146.0,291.0,10.4,241,6948,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2481,2424
$GC,7218,0.85,146.0,261.8,10.4,248,7222,0.00,2.28,0.00,0.000,4,0.000,0.055,3162,3902,2423
$GC,7478,0.85,146.0,229.5,11.4,253,7484,0.00,2.12,0.00,0.000,6,0.000,0.028,3172,2473,2422
$GC,7730,0.89,171.7,207.3,8.5,260,7755,0.00,2.10,20.15,0.764,4,0.000,0.028,3182,1067,2338
$GC,7803,0.89,171.7,199.0,14.0,261,7807,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2483,2337
$GC,8075,0.89,171.7,159.5,14.7,286,8078,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1059,2336
$GC,8317,0.89,171.7,128.1,9.8,307,8321,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2492,2335
$GC,8583,1.01,270.7,106.6,5.2,331,8673,0.00,2.20,85.07,0.690,4,0.000,0.026,3184,1068,1935
$GC,8761,1.01,270.7,78.4,24.1,345,8765,0.00,2.28,0.00,0.000,6,0.000,0.047,3176,2479,1929
$GC,9032,1.01,270.7,14.2,23.8,375,9040,0.00,2.28,0.00,0.000,4,0.000,0.050,3176,3900,1927
$STATE,9067,end climb,SURFACE_DEPTH_REACHED
$STATE,9067,begin surface coast
$FINISH,0.2,1.023720
$STATE,9079,end surface coast,CONTROL_FINISHED_OK
$STATE,9079,begin surface
$SM_CCo,9107,38.38,0.593,0,0,1612,350.04
$SM_GC,1.83,0.00,0.00,38.38,0.000,0.000,0.593,53,2614,1612,-8.84,-0.68,350.04
$IRIDIUM_FIX,2244.02,-15759.32,270500,141416
$TT8_MAMPS,0.024544
$HUMID,1905
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,112.891
$10V_AH,10.6,66.025
$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,22.875,98.775,358.900,38.375,0.000,55.008,67.521,395.352,0.250,0.000,0.000,18.686,828.262,6293.031,423.659,1446.398,901.971,33.368,1068.797,0.000,1433.692,0.000,0.544,0.000
$DEVICE_MAMPS,260.013,67.496,1054.625,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.880,571.184,587.173,118.104,486.611,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31895,383
$CAP_FILE_SIZE,81783,0
$CFSIZE,260165632,227450880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,030311,170124,2250.959,-15757.487,31,1.4,48,10.1