version: 66.04
glider: 512
mission: 1
dive: 866
start: 3 4 111 15 10 29
data:
$ID,512
$MISSION,1
$DIVE,866
$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,-24605.391
$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,32
$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
$GPS1,150006,2246.835,-15803.302,14,1.3,31,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.3
$GPS2,150932,2246.838,-15803.288,11,1.8,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.043,0.253
$KALMAN_X,-330890.4,268.5,-97.5,344036.2,234.0
$KALMAN_Y,-608617.4,28.7,24.4,731862.6,-2176.5
$MHEAD_RNG_PITCHd_Wd,340.3,12902,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.25,0.000,2,0.000,0.000,45,2643,2763
$GC,71,-0.85,-146.0,3.1,-4.7,6,111,11.60,2.15,-17.80,0.000,4,0.246,0.038,2601,1209,3639
$GC,206,-0.85,-146.0,29.8,-16.4,28,214,0.00,2.35,0.00,0.000,6,0.000,0.059,2591,2624,3640
$GC,471,-0.85,-146.0,94.4,-22.9,53,475,0.00,2.10,0.00,0.000,4,0.000,0.068,2581,3903,3640
$GC,512,-0.85,-146.0,104.5,-21.8,56,520,0.00,1.90,0.00,0.000,6,0.000,0.025,2589,2628,3640
$GC,777,-0.85,-146.0,153.0,-19.5,81,781,0.00,2.05,0.00,0.000,4,0.000,0.026,2599,1219,3641
$GC,803,-0.85,-146.0,158.1,-19.0,83,807,0.00,2.30,0.00,0.000,6,0.000,0.056,2590,2651,3642
$GC,1098,-0.85,-146.0,206.6,-16.4,107,1101,0.00,2.03,0.00,0.000,4,0.000,0.065,2580,3897,3642
$GC,1134,-0.85,-146.0,212.7,-15.6,107,1138,0.00,1.85,0.00,0.000,6,0.000,0.023,2588,2625,3642
$GC,1393,-0.85,-146.0,250.4,-15.1,114,1397,0.00,2.03,0.00,0.000,4,0.000,0.026,2598,1232,3643
$GC,1446,-0.85,-146.0,257.4,-10.4,115,1450,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2649,3643
$GC,1725,-0.85,-146.0,297.1,-15.0,122,1729,0.00,2.00,0.00,0.000,4,0.000,0.062,2580,3894,3643
$GC,1776,-0.85,-146.0,304.0,-12.0,123,1780,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2637,3643
$GC,2062,-0.85,-146.0,340.5,-13.0,130,2065,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1235,3642
$GC,2148,-0.85,-146.0,349.6,-9.3,131,2155,0.00,2.22,0.00,0.000,6,0.000,0.050,2590,2641,3643
$GC,2402,-0.85,-146.0,377.0,-11.0,138,2405,0.00,2.03,0.00,0.000,4,0.000,0.062,2580,3895,3640
$GC,2460,-0.85,-146.0,383.2,-9.4,139,2463,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,2637,3640
$GC,2743,-0.85,-146.0,412.3,-10.3,146,2746,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1236,3638
$GC,2812,-0.85,-146.0,418.8,-7.5,147,2816,0.00,2.28,0.00,0.000,6,0.000,0.055,2589,2646,3638
$GC,3075,-0.85,-146.0,443.6,-9.7,154,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2646,3637
$GC,3319,-0.85,-146.0,468.3,-10.3,160,3322,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3891,3635
$GC,3367,-0.85,-146.0,473.1,-9.4,161,3371,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,2644,3634
$GC,3660,-0.85,-146.0,503.9,-10.6,168,3664,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1233,3632
$GC,3712,-0.85,-146.0,509.1,-8.8,169,3716,0.00,2.28,0.00,0.000,6,0.000,0.054,2590,2646,3631
$GC,3994,-0.85,-146.0,537.2,-10.1,176,3997,0.00,2.05,0.00,0.000,4,0.000,0.067,2581,3894,3629
$GC,4028,-0.85,-146.0,541.0,-10.0,176,4032,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2635,3629
$GC,4286,-0.85,-146.0,565.5,-9.5,183,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2628,3627
$GC,4530,-0.85,-146.0,587.2,-8.9,189,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2627,3626
$STATE,4687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4688,begin apogee
$GC,4699,-0.32,0.0,602.4,9.4,193,4825,0.62,0.00,122.97,1.059,6,0.143,0.000,2773,2484,3040
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4830,0.85,146.0,607.3,0.0,196,4970,1.10,2.38,131.00,1.048,4,0.084,0.054,3150,3872,2443
$GC,5000,0.85,146.0,607.2,18.7,200,5004,0.00,2.17,0.00,0.000,6,0.000,0.026,3159,2442,2440
$GC,5291,0.85,146.0,542.3,22.1,207,5295,0.00,2.08,0.00,0.000,4,0.000,0.029,3170,1044,2434
$GC,5333,0.85,146.0,533.2,21.9,207,5339,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2458,2433
$GC,5587,0.85,146.0,483.8,19.3,214,5590,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1046,2430
$GC,5639,0.85,146.0,473.7,18.3,215,5643,0.00,2.25,0.00,0.000,6,0.000,0.048,3163,2457,2430
$GC,5918,0.85,146.0,424.3,17.6,222,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2458,2428
$GC,6162,0.85,146.0,381.2,17.3,228,6165,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1043,2427
$GC,6220,0.85,146.0,370.5,18.2,229,6224,0.00,2.28,0.00,0.000,6,0.000,0.048,3163,2466,2426
$GC,6495,0.85,146.0,328.4,14.3,236,6498,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1044,2425
$GC,6653,0.85,146.0,309.2,11.0,239,6657,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2464,2425
$GC,6924,0.87,156.5,281.5,9.1,246,6938,0.00,2.33,7.25,0.728,4,0.000,0.053,3162,3874,2400
$GC,7025,0.87,156.5,269.5,12.7,248,7029,0.00,2.10,0.00,0.000,6,0.000,0.026,3172,2462,2400
$GC,7305,0.87,156.5,237.5,11.2,255,7308,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1053,2399
$GC,7565,0.89,174.2,211.5,8.8,260,7587,0.00,2.20,16.77,0.759,6,0.000,0.042,3176,2458,2329
$GC,7853,0.89,174.2,172.1,16.9,278,7857,0.00,2.08,0.00,0.000,4,0.000,0.028,3184,1040,2326
$GC,7894,0.89,174.2,166.2,12.6,281,7900,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2463,2326
$GC,8157,0.89,174.2,129.1,14.6,306,8161,0.00,2.25,0.00,0.000,4,0.000,0.051,3176,3876,2326
$GC,8294,0.89,174.2,111.8,13.8,318,8298,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2454,2325
$GC,8565,0.96,234.7,88.9,6.9,343,8623,0.00,2.12,52.65,0.673,4,0.000,0.028,3196,1043,2082
$GC,8672,0.96,234.7,74.3,20.1,352,8680,0.00,2.25,0.00,0.000,6,0.000,0.042,3192,2452,2078
$GC,8936,0.96,234.7,18.1,23.8,381,8944,0.00,2.12,0.00,0.000,4,0.000,0.030,3200,1061,2076
$STATE,9008,end climb,SURFACE_DEPTH_REACHED
$STATE,9008,begin surface coast
$FINISH,0.8,1.023651
$STATE,9020,end surface coast,CONTROL_FINISHED_OK
$STATE,9020,begin surface
$SM_CCo,9049,55.53,0.588,0,0,1613,350.04
$SM_GC,1.63,0.00,0.00,55.53,0.000,0.000,0.588,42,2656,1613,-8.87,0.45,350.04
$IRIDIUM_FIX,2237.01,-15800.20,280500,121206
$TT8_MAMPS,0.023777
$HUMID,1898
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,114.024
$10V_AH,10.6,66.844
$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,22.375,97.975,330.650,55.525,0.000,28.731,40.902,343.969,0.250,0.000,0.000,11.635,851.823,6100.718,442.911,1499.691,781.397,33.369,1085.844,0.000,1495.191,0.000,0.543,0.000
$DEVICE_MAMPS,246.207,68.263,1059.227,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.389,604.828,621.974,133.307,545.679,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31906,396
$CAP_FILE_SIZE,79324,0
$CFSIZE,260165632,227069952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,1
$GPS,040311,174334,2247.714,-15803.666,13,4.4,33,10.1