version: 66.04
glider: 512
mission: 1
dive: 861
start: 3 4 111 1 13 5
data:
$ID,512
$MISSION,1
$DIVE,861
$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,-24538.174
$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,53
$R_STBD_OVSHOOT,45
$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
$GPS1,010304,2247.538,-15756.624,11,3.9,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.3
$GPS2,011208,2247.521,-15756.650,16,1.2,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.255,-0.022
$KALMAN_X,-333482.2,647.2,-90.6,357646.0,-2611.8
$KALMAN_Y,-600232.3,508.7,-273.3,724543.4,-238.2
$MHEAD_RNG_PITCHd_Wd,255.1,10886,-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,-52.85,0.000,2,0.000,0.000,54,2668,2984
$GC,77,-0.85,-146.0,3.4,-5.4,7,110,11.88,2.17,-12.52,0.000,4,0.255,0.041,2605,1245,3635
$GC,225,-0.85,-146.0,37.8,-15.8,27,229,0.00,2.25,0.00,0.000,6,0.000,0.062,2594,2621,3636
$GC,491,-0.85,-146.0,98.5,-21.6,51,494,0.00,2.10,0.00,0.000,4,0.000,0.067,2583,3906,3637
$GC,550,-0.85,-146.0,110.7,-19.6,56,554,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2644,3637
$GC,821,-0.85,-146.0,158.3,-17.5,81,825,0.00,2.08,0.00,0.000,4,0.000,0.026,2601,1219,3639
$GC,895,-0.85,-146.0,169.4,-12.0,87,903,0.00,2.35,0.00,0.000,6,0.000,0.058,2592,2643,3639
$GC,1176,-0.85,-146.0,213.3,-15.4,108,1180,0.00,2.08,0.00,0.000,4,0.000,0.025,2600,1228,3639
$GC,1224,-0.85,-146.0,220.0,-11.9,109,1228,0.00,2.28,0.00,0.000,6,0.000,0.053,2590,2648,3639
$GC,1512,-0.85,-146.0,259.9,-13.7,116,1516,0.00,2.03,0.00,0.000,4,0.000,0.064,2580,3893,3639
$GC,1576,-0.85,-146.0,268.2,-11.8,117,1580,0.00,1.85,0.00,0.000,6,0.000,0.023,2588,2618,3639
$GC,1850,-0.85,-146.0,300.6,-12.0,124,1854,0.00,2.00,0.00,0.000,4,0.000,0.026,2598,1236,3640
$GC,1902,-0.85,-146.0,306.1,-9.2,125,1906,0.00,2.28,0.00,0.000,6,0.000,0.058,2589,2637,3640
$GC,2183,-0.85,-146.0,338.3,-11.9,132,2186,0.00,2.08,0.00,0.000,4,0.000,0.067,2579,3902,3639
$GC,2285,-0.85,-146.0,349.5,-10.5,134,2289,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2627,3638
$GC,2566,-0.85,-146.0,379.7,-10.7,141,2570,0.00,2.03,0.00,0.000,4,0.000,0.028,2597,1239,3636
$GC,2614,-0.85,-146.0,384.2,-7.5,142,2618,0.00,2.28,0.00,0.000,6,0.000,0.055,2590,2642,3636
$GC,2902,-0.85,-146.0,411.0,-9.6,149,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3634
$GC,3144,-0.85,-146.0,435.0,-9.8,155,3147,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1244,3633
$GC,3173,-0.85,-146.0,438.0,-10.0,155,3177,0.00,2.25,0.00,0.000,6,0.000,0.054,2589,2642,3632
$GC,3430,-0.85,-146.0,462.0,-9.6,162,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3630
$GC,3674,-0.85,-146.0,484.7,-9.3,168,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2643,3628
$GC,3919,-0.85,-146.0,508.9,-10.1,174,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2643,3627
$GC,4161,-0.85,-146.0,533.2,-9.9,180,4164,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,1236,3625
$GC,4196,-0.85,-146.0,536.6,-8.9,180,4200,0.00,2.25,0.00,0.000,6,0.000,0.052,2589,2641,3625
$GC,4450,-0.85,-146.0,559.8,-9.3,186,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2641,3623
$GC,4692,-0.85,-146.0,582.4,-9.4,192,4696,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,1240,3621
$GC,4727,-0.85,-146.0,585.6,-8.6,192,4731,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2641,3621
$STATE,4898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4898,begin apogee
$GC,4910,-0.32,0.0,602.1,9.6,197,5035,0.62,0.00,122.20,1.070,6,0.146,0.000,2771,2508,3041
$STATE,5036,end apogee,CONTROL_FINISHED_OK
$STATE,5036,begin climb
$GC,5040,0.85,146.0,608.5,0.0,200,5179,1.08,2.38,131.32,1.057,4,0.074,0.061,3149,3899,2445
$GC,5282,0.85,146.0,594.2,22.1,205,5286,0.00,2.20,0.00,0.000,6,0.000,0.028,3159,2451,2438
$GC,5541,0.85,146.0,539.1,21.5,212,5545,0.00,2.08,0.00,0.000,4,0.000,0.031,3169,1058,2435
$GC,5655,0.85,146.0,515.7,20.0,214,5659,0.00,2.25,0.00,0.000,6,0.000,0.045,3162,2484,2434
$GC,5919,0.85,146.0,465.2,19.3,221,5923,0.00,2.25,0.00,0.000,4,0.000,0.054,3162,3896,2431
$GC,5994,0.85,146.0,450.3,20.4,222,5998,0.00,2.12,0.00,0.000,6,0.000,0.027,3171,2475,2431
$GC,6257,0.85,146.0,403.3,17.1,229,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2470,2429
$GC,6500,0.85,146.0,361.2,17.5,235,6504,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1049,2427
$GC,6597,0.85,146.0,345.6,15.6,237,6602,0.00,2.28,0.00,0.000,6,0.000,0.047,3176,2484,2427
$GC,6877,0.85,146.0,309.7,12.3,244,6881,0.00,2.28,0.00,0.000,4,0.000,0.056,3177,3896,2426
$GC,7137,0.85,146.0,273.2,11.0,249,7141,0.00,2.12,0.00,0.000,6,0.000,0.027,3185,2465,2425
$GC,7396,0.90,179.2,251.3,8.1,256,7438,0.00,2.10,29.33,0.785,4,0.000,0.028,3195,1072,2308
$GC,7693,0.90,179.2,207.1,15.3,262,7697,0.00,2.22,0.00,0.000,6,0.000,0.041,3192,2488,2304
$GC,7960,0.90,179.2,164.5,16.6,284,7964,0.00,2.10,0.00,0.000,4,0.000,0.028,3200,1079,2302
$GC,8226,0.90,179.2,125.9,12.6,307,8231,0.15,2.20,0.00,0.000,6,0.235,0.041,3172,2479,2302
$GC,8495,0.90,179.2,96.5,10.8,331,8499,0.00,2.08,0.00,0.000,4,0.000,0.028,3180,1068,2301
$GC,8693,0.92,202.3,78.1,8.6,348,8721,0.00,2.20,20.45,0.651,6,0.000,0.041,3176,2482,2214
$GC,8982,0.92,202.3,42.2,15.1,374,8986,0.00,2.25,0.00,0.000,4,0.000,0.051,3175,3902,2210
$GC,9058,0.92,202.3,28.1,17.9,380,9067,0.00,2.15,0.00,0.000,6,0.000,0.025,3185,2471,2210
$STATE,9215,end climb,SURFACE_DEPTH_REACHED
$STATE,9215,begin surface coast
$FINISH,0.3,1.009520
$STATE,9237,end surface coast,CONTROL_FINISHED_OK
$STATE,9237,begin surface
$SM_CCo,9262,77.12,0.588,0,0,1613,350.04
$SM_GC,1.05,0.00,0.00,77.12,0.000,0.000,0.588,46,2663,1613,-8.86,0.65,350.04
$IRIDIUM_FIX,2239.35,-15757.16,270500,222219
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.5,113.383
$10V_AH,10.6,66.383
$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,22.575,86.375,303.300,77.125,0.000,29.941,41.076,316.245,0.000,0.000,0.000,16.777,890.672,6168.765,437.693,1627.709,767.279,33.361,1092.091,0.000,1614.322,0.000,0.544,0.000
$DEVICE_MAMPS,254.644,67.496,1069.965,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,279.398,640.860,659.873,147.045,604.620,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35299,412
$CAP_FILE_SIZE,79502,0
$CFSIZE,260165632,227274752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,040311,035004,2246.740,-15757.927,11,2.8,31,10.1