version: 66.04
glider: 512
mission: 1
dive: 858
start: 3 3 111 17 11 59
data:
$ID,512
$MISSION,1
$DIVE,858
$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,-24471.266
$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,57
$R_STBD_OVSHOOT,16
$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
$GPS1,170124,2250.959,-15757.487,31,1.4,48,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.2
$GPS2,171102,2251.000,-15757.511,12,1.8,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.120,-0.226
$KALMAN_X,-330831.5,610.6,547.2,352911.9,-3579.8
$KALMAN_Y,-601767.3,1051.9,700.7,730997.2,-1546.2
$MHEAD_RNG_PITCHd_Wd,142.0,7425,-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,-52.78,0.000,2,0.000,0.000,48,2614,2983
$GC,77,-0.85,-146.0,3.2,-5.0,7,110,12.25,2.08,-12.65,0.000,4,0.263,0.038,2606,1241,3637
$GC,179,-0.85,-146.0,30.7,-16.9,23,183,0.00,2.30,0.00,0.000,6,0.000,0.064,2596,2638,3638
$GC,448,-0.85,-146.0,92.3,-24.1,48,451,0.00,2.08,0.00,0.000,4,0.000,0.069,2586,3898,3640
$GC,510,-0.85,-146.0,106.1,-17.0,53,516,0.00,1.85,0.00,0.000,6,0.000,0.024,2594,2656,3639
$GC,773,-0.85,-146.0,154.5,-17.2,78,777,0.00,2.08,0.00,0.000,4,0.000,0.026,2604,1231,3641
$GC,836,-0.85,-146.0,163.3,-10.6,83,843,0.00,2.33,0.00,0.000,6,0.000,0.058,2594,2640,3641
$GC,1119,-0.85,-146.0,207.2,-15.9,107,1122,0.00,2.10,0.00,0.000,4,0.000,0.025,2603,1220,3641
$GC,1142,-0.85,-146.0,211.2,-15.9,107,1146,0.00,2.28,0.00,0.000,6,0.000,0.052,2593,2648,3642
$GC,1404,-0.85,-146.0,250.3,-15.0,114,1408,0.00,2.10,0.00,0.000,4,0.000,0.025,2601,1223,3642
$GC,1422,-0.85,-146.0,253.0,-13.9,114,1427,0.00,2.28,0.00,0.000,6,0.000,0.057,2592,2639,3642
$GC,1699,-0.85,-146.0,286.6,-12.2,121,1702,0.00,2.05,0.00,0.000,4,0.000,0.068,2582,3892,3641
$GC,1734,-0.85,-146.0,291.1,-11.5,121,1737,0.00,1.83,0.00,0.000,6,0.000,0.023,2589,2633,3642
$GC,1993,-0.85,-146.0,321.2,-12.2,128,1996,0.00,2.03,0.00,0.000,4,0.000,0.026,2600,1234,3642
$GC,2062,-0.85,-146.0,328.7,-9.7,129,2066,0.00,2.25,0.00,0.000,6,0.000,0.053,2590,2644,3642
$GC,2325,-0.85,-146.0,358.1,-11.4,136,2329,0.00,2.03,0.00,0.000,4,0.000,0.065,2580,3891,3640
$GC,2393,-0.85,-146.0,365.3,-9.2,137,2397,0.00,1.83,0.00,0.000,6,0.000,0.025,2588,2635,3640
$GC,2663,-0.85,-146.0,392.1,-10.2,144,2666,0.00,2.05,0.00,0.000,4,0.000,0.027,2598,1229,3638
$GC,2703,-0.85,-146.0,396.1,-8.7,144,2709,0.00,2.25,0.00,0.000,6,0.000,0.051,2590,2640,3638
$GC,2956,-0.85,-146.0,421.3,-10.4,151,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3637
$GC,3201,-0.85,-146.0,448.1,-11.0,157,3204,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1229,3636
$GC,3224,-0.85,-146.0,451.1,-11.4,157,3228,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2641,3636
$GC,3487,-0.85,-146.0,479.9,-11.1,164,3491,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3901,3634
$GC,3505,-0.85,-146.0,482.2,-11.0,164,3509,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2639,3633
$GC,3780,-0.85,-146.0,509.9,-10.2,171,3784,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,1235,3631
$GC,3809,-0.85,-146.0,513.1,-10.2,171,3814,0.00,2.30,0.00,0.000,6,0.000,0.059,2587,2635,3631
$GC,4068,-0.85,-146.0,535.8,-8.7,178,4071,0.00,2.08,0.00,0.000,4,0.000,0.068,2579,3894,3629
$GC,4097,-0.85,-146.0,538.4,-8.5,178,4101,0.00,1.85,0.00,0.000,6,0.000,0.027,2586,2635,3629
$GC,4361,-0.85,-146.0,558.7,-7.7,185,4364,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,1247,3626
$GC,4413,-0.85,-146.0,562.9,-7.0,186,4417,0.00,2.30,0.00,0.000,6,0.000,0.059,2588,2636,3626
$GC,4693,-0.85,-146.0,588.1,-9.6,193,4697,0.00,2.10,0.00,0.000,4,0.000,0.071,2579,3908,3625
$GC,4727,-0.85,-146.0,591.9,-11.1,193,4731,0.00,1.88,0.00,0.000,6,0.000,0.028,2586,2643,3625
$STATE,4819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4819,begin apogee
$GC,4830,-0.32,0.0,601.2,10.1,196,4956,0.62,0.00,122.85,1.066,6,0.147,0.000,2770,2500,3040
$STATE,4956,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4961,0.85,146.0,607.7,0.0,199,5109,1.10,2.40,133.02,1.036,4,0.071,0.057,3150,3902,2443
$GC,5211,0.85,146.0,593.3,22.2,204,5215,0.00,2.20,0.00,0.000,6,0.000,0.028,3159,2454,2437
$GC,5462,0.85,146.0,538.4,22.2,210,5466,0.00,2.08,0.00,0.000,4,0.000,0.029,3170,1060,2433
$GC,5510,0.85,146.0,528.0,21.9,211,5515,0.00,2.25,0.00,0.000,6,0.000,0.047,3162,2487,2432
$GC,5798,0.85,146.0,467.0,20.8,218,5801,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1054,2430
$GC,5816,0.85,146.0,462.9,20.9,218,5820,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2486,2430
$GC,6084,0.85,146.0,414.3,17.4,225,6088,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1055,2428
$GC,6133,0.85,146.0,406.4,16.1,226,6137,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2481,2428
$GC,6424,0.85,146.0,358.8,16.3,233,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2481,2426
$GC,6667,0.85,146.0,325.4,13.3,239,6671,0.00,2.28,0.00,0.000,4,0.000,0.055,3162,3899,2425
$GC,6927,0.85,146.0,284.3,14.3,244,6933,0.00,2.12,0.00,0.000,6,0.000,0.028,3172,2471,2425
$GC,7180,0.85,146.0,257.5,10.2,251,7184,0.00,2.28,0.00,0.000,4,0.000,0.051,3162,3895,2424
$GC,7439,0.86,153.4,233.6,9.3,256,7449,0.00,2.10,3.88,0.527,6,0.000,0.025,3172,2465,2415
$GC,7739,0.88,163.7,207.4,9.2,264,7762,0.00,2.35,11.40,0.702,4,0.000,0.049,3163,3904,2372
$GC,8020,0.88,163.7,169.2,14.8,283,8024,0.00,2.10,0.00,0.000,6,0.000,0.027,3172,2486,2371
$GC,8289,0.88,163.7,135.9,11.5,308,8293,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3897,2371
$GC,8545,0.96,232.6,109.2,6.6,330,8615,0.00,2.12,60.28,0.691,6,0.000,0.025,3172,2471,2091
$GC,8873,0.96,232.6,51.2,20.7,360,8877,0.00,2.05,0.00,0.000,4,0.000,0.026,3182,1081,2084
$GC,8889,0.96,232.6,47.9,19.5,361,8893,0.00,2.20,0.00,0.000,6,0.000,0.042,3176,2489,2084
$STATE,9116,end climb,SURFACE_DEPTH_REACHED
$STATE,9116,begin surface coast
$FINISH,0.3,1.023800
$STATE,9128,end surface coast,CONTROL_FINISHED_OK
$STATE,9128,begin surface
$SM_CCo,9153,55.90,0.593,0,0,1613,350.04
$SM_GC,1.60,0.00,0.00,55.90,0.000,0.000,0.593,52,2672,1613,-8.84,0.90,350.04
$IRIDIUM_FIX,2241.69,-15759.32,270500,141443
$TT8_MAMPS,0.023777
$HUMID,1912
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.5,113.016
$10V_AH,10.6,66.114
$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,22.875,102.625,331.425,55.900,0.000,25.421,51.944,343.743,0.250,0.000,0.000,12.491,860.724,6127.511,436.585,1559.876,810.308,33.371,1114.453,0.000,1549.123,0.000,0.543,0.000
$DEVICE_MAMPS,263.081,70.564,1066.130,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.687,602.174,620.996,131.116,538.725,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31949,396
$CAP_FILE_SIZE,82129,0
$CFSIZE,260165632,227405824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,030311,194646,2249.832,-15757.073,10,6.6,30,10.1