version: 66.04
glider: 512
mission: 1
dive: 864
start: 3 4 111 9 33 48
data:
$ID,512
$MISSION,1
$DIVE,864
$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,-24575.023
$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,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,31
$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
$GPS1,092106,2246.728,-15800.630,36,0.9,42,10.1
$_CALLS,1
$_XMS_NAKs,36
$_XMS_TOUTs,2
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.1
$GPS2,093255,2246.671,-15800.594,12,1.8,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.242,0.084
$KALMAN_X,-331491.8,454.5,211.9,348759.3,-985.5
$KALMAN_Y,-603224.2,-1354.9,-394.6,727956.1,-452.9
$MHEAD_RNG_PITCHd_Wd,278.9,4153,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,77,0.00,0.00,-52.90,0.000,2,0.000,0.000,43,2661,3011
$GC,82,-0.85,-146.0,3.6,-5.9,7,115,11.60,2.20,-11.70,0.000,4,0.245,0.040,2601,1219,3637
$GC,141,-0.85,-146.0,23.8,-35.4,15,150,0.00,2.33,0.00,0.000,6,0.000,0.058,2592,2620,3639
$GC,413,-0.85,-146.0,91.0,-23.6,42,417,0.00,2.08,0.00,0.000,4,0.000,0.028,2600,1222,3640
$GC,429,-0.85,-146.0,94.4,-23.7,43,433,0.00,2.28,0.00,0.000,6,0.000,0.052,2591,2654,3640
$GC,699,-0.85,-146.0,143.0,-16.8,68,703,0.00,2.12,0.00,0.000,4,0.000,0.025,2599,1217,3641
$GC,739,-0.85,-146.0,148.9,-15.2,71,744,0.00,2.33,0.00,0.000,6,0.000,0.061,2590,2639,3641
$GC,1003,-0.85,-146.0,190.1,-15.8,95,1007,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3898,3641
$GC,1031,-0.85,-146.0,194.2,-15.9,97,1035,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2621,3641
$GC,1320,-0.85,-146.0,239.6,-16.3,107,1324,0.00,2.03,0.00,0.000,4,0.000,0.026,2597,1226,3641
$GC,1394,-0.85,-146.0,249.1,-10.9,108,1398,0.00,2.25,0.00,0.000,6,0.000,0.051,2588,2647,3641
$GC,1657,-0.85,-146.0,284.2,-13.4,115,1661,0.00,2.03,0.00,0.000,4,0.000,0.064,2578,3897,3642
$GC,1715,-0.85,-146.0,291.1,-10.6,116,1719,0.00,1.85,0.00,0.000,6,0.000,0.023,2585,2620,3641
$GC,1995,-0.85,-146.0,325.5,-12.6,123,1999,0.00,2.00,0.00,0.000,4,0.000,0.027,2596,1245,3641
$GC,2024,-0.85,-146.0,329.1,-11.6,123,2028,0.00,2.22,0.00,0.000,6,0.000,0.054,2587,2640,3641
$GC,2282,-0.85,-146.0,358.5,-11.6,130,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2641,3640
$GC,2527,-0.85,-146.0,382.1,-9.4,136,2531,0.00,2.05,0.00,0.000,4,0.000,0.028,2595,1245,3638
$GC,2575,-0.85,-146.0,386.6,-7.9,137,2579,0.00,2.22,0.00,0.000,6,0.000,0.053,2587,2640,3638
$GC,2860,-0.85,-146.0,417.6,-11.3,144,2864,0.00,2.05,0.00,0.000,4,0.000,0.064,2577,3896,3636
$GC,2884,-0.85,-146.0,420.4,-11.6,144,2888,0.00,1.85,0.00,0.000,6,0.000,0.025,2584,2633,3636
$GC,3154,-0.85,-146.0,447.0,-9.7,151,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2625,3635
$GC,3397,-0.85,-146.0,471.5,-10.1,157,3400,0.00,2.05,0.00,0.000,4,0.000,0.028,2595,1235,3632
$GC,3432,-0.85,-146.0,475.3,-9.9,157,3436,0.00,2.25,0.00,0.000,6,0.000,0.054,2590,2640,3632
$GC,3690,-0.85,-146.0,501.3,-10.6,164,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2640,3630
$GC,3933,-0.85,-146.0,526.7,-10.5,170,3936,0.00,2.05,0.00,0.000,4,0.000,0.067,2579,3892,3627
$GC,3962,-0.85,-146.0,529.9,-11.0,170,3966,0.00,1.85,0.00,0.000,6,0.000,0.028,2587,2637,3627
$GC,4225,-0.85,-146.0,557.3,-10.5,177,4229,0.00,2.08,0.00,0.000,4,0.000,0.030,2597,1231,3625
$GC,4261,-0.85,-146.0,561.1,-9.9,177,4265,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2641,3625
$GC,4514,-0.85,-146.0,587.3,-10.6,183,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3623
$STATE,4670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4670,begin apogee
$GC,4681,-0.32,0.0,603.3,9.9,187,4807,0.62,0.00,122.65,1.062,6,0.143,0.000,2773,2492,3040
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4812,0.85,146.0,609.2,0.0,190,4950,1.08,2.35,130.75,1.053,4,0.070,0.059,3149,3873,2443
$GC,5035,0.85,146.0,596.1,22.9,195,5039,0.00,2.20,0.00,0.000,6,0.000,0.028,3159,2435,2437
$GC,5309,0.85,146.0,534.5,22.4,202,5312,0.00,2.08,0.00,0.000,4,0.000,0.031,3170,1045,2433
$GC,5446,0.85,146.0,504.7,21.4,205,5451,0.00,2.25,0.00,0.000,6,0.000,0.050,3163,2457,2431
$GC,5732,0.85,146.0,446.2,20.2,212,5736,0.00,2.10,0.00,0.000,4,0.000,0.030,3172,1033,2429
$GC,5772,0.85,146.0,438.0,18.8,212,5778,0.00,2.25,0.00,0.000,6,0.000,0.045,3164,2462,2429
$GC,6024,0.85,146.0,392.1,17.9,219,6028,0.00,2.28,0.00,0.000,4,0.000,0.054,3163,3878,2427
$GC,6132,0.85,146.0,372.0,18.0,221,6137,0.00,2.12,0.00,0.000,6,0.000,0.029,3172,2456,2426
$GC,6401,0.85,146.0,330.8,14.4,228,6405,0.00,2.10,0.00,0.000,4,0.000,0.031,3183,1033,2425
$GC,6554,0.85,146.0,310.5,12.9,231,6558,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2471,2425
$GC,6829,0.85,146.0,274.0,13.3,238,6833,0.00,2.25,0.00,0.000,4,0.000,0.053,3176,3873,2424
$GC,6999,0.85,146.0,252.9,11.0,241,7003,0.00,2.12,0.00,0.000,6,0.000,0.026,3185,2441,2423
$GC,7257,0.85,146.0,225.7,11.3,248,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2435,2423
$GC,7502,0.89,177.4,206.8,8.2,254,7532,0.00,2.08,24.98,0.784,4,0.000,0.028,3195,1071,2316
$GC,7547,0.89,177.4,202.5,11.0,255,7551,0.00,2.22,0.00,0.000,6,0.000,0.043,3192,2465,2315
$GC,7818,0.89,177.4,160.9,17.1,277,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2466,2312
$GC,8082,0.89,177.4,121.2,15.1,302,8086,0.00,2.25,0.00,0.000,4,0.000,0.051,3192,3881,2312
$GC,8143,0.89,177.4,112.6,13.9,307,8148,0.15,2.10,0.00,0.000,6,0.264,0.026,3174,2462,2311
$GC,8412,0.96,235.1,88.1,7.1,331,8473,0.00,2.15,49.88,0.681,4,0.000,0.027,3183,1061,2080
$GC,8481,0.96,235.1,80.7,13.2,337,8488,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2458,2079
$GC,8746,0.96,235.1,32.8,19.1,362,8750,0.00,2.25,0.00,0.000,4,0.000,0.050,3176,3873,2075
$STATE,8873,end climb,SURFACE_DEPTH_REACHED
$STATE,8873,begin surface coast
$FINISH,1.3,1.023614
$STATE,8884,end surface coast,CONTROL_FINISHED_OK
$STATE,8884,begin surface
$SM_CCo,8912,57.53,0.595,0,0,1612,350.04
$SM_GC,1.58,0.00,0.00,57.53,0.000,0.000,0.595,47,2590,1612,-8.86,-1.41,350.04
$IRIDIUM_FIX,2237.01,-15800.20,280500,060646
$TT8_MAMPS,0.023777
$HUMID,1902
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.6,113.764
$10V_AH,10.6,66.655
$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,22.500,94.050,328.250,57.525,0.000,30.081,41.072,485.302,0.000,0.000,0.000,12.247,814.212,6105.982,428.503,1409.410,924.306,33.365,1041.475,0.000,1403.778,0.000,0.543,0.000
$DEVICE_MAMPS,263.848,67.496,1062.295,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.095,589.148,606.322,126.716,517.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31930,386
$CAP_FILE_SIZE,79291,0
$CFSIZE,260165632,227155968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,040311,120437,2246.421,-15802.184,32,1.3,33,10.1