version: 66.04
glider: 512
mission: 1
dive: 867
start: 3 4 111 17 53 46
data:
$ID,512
$MISSION,1
$DIVE,867
$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,-24624.363
$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,50
$R_STBD_OVSHOOT,21
$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
$GPS1,174334,2247.714,-15803.666,13,4.4,33,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-75.0
$GPS2,175249,2247.740,-15803.644,12,1.6,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.067,0.247
$KALMAN_X,-331079.1,-43.0,300.7,343520.6,-708.2
$KALMAN_Y,-611088.1,824.4,246.5,734971.4,-3522.2
$MHEAD_RNG_PITCHd_Wd,5.1,11128,-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,-52.83,0.000,2,0.000,0.000,34,2657,2980
$GC,77,-0.85,-146.0,3.0,-4.3,7,110,11.50,2.17,-12.75,0.000,4,0.242,0.039,2598,1224,3635
$GC,211,-0.85,-146.0,34.7,-15.8,27,215,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2632,3637
$GC,476,-0.85,-146.0,99.3,-24.9,51,480,0.00,2.08,0.00,0.000,4,0.000,0.064,2579,3907,3638
$GC,517,-0.85,-146.0,109.0,-21.0,54,525,0.00,1.90,0.00,0.000,6,0.000,0.023,2586,2633,3638
$GC,782,-0.85,-146.0,159.2,-19.4,79,786,0.00,2.05,0.00,0.000,4,0.000,0.026,2596,1223,3639
$GC,820,-0.85,-146.0,166.1,-16.9,82,824,0.00,2.33,0.00,0.000,6,0.000,0.060,2587,2642,3639
$GC,1107,-0.85,-146.0,214.6,-17.0,103,1111,0.00,2.05,0.00,0.000,4,0.000,0.064,2577,3903,3640
$GC,1136,-0.85,-146.0,220.1,-17.8,103,1140,0.00,1.85,0.00,0.000,6,0.000,0.023,2585,2633,3640
$GC,1399,-0.85,-146.0,259.6,-15.1,110,1403,0.00,2.05,0.00,0.000,4,0.000,0.026,2594,1222,3640
$GC,1458,-0.85,-146.0,267.2,-10.9,111,1462,0.00,2.30,0.00,0.000,6,0.000,0.055,2587,2642,3640
$GC,1732,-0.85,-146.0,304.9,-14.0,118,1736,0.00,2.05,0.00,0.000,4,0.000,0.066,2577,3899,3640
$GC,1784,-0.85,-146.0,311.5,-11.2,119,1788,0.00,1.85,0.00,0.000,6,0.000,0.023,2585,2625,3640
$GC,2071,-0.85,-146.0,344.7,-11.4,126,2074,0.00,2.03,0.00,0.000,4,0.000,0.027,2595,1238,3640
$GC,2170,-0.85,-146.0,353.9,-8.2,128,2174,0.00,2.28,0.00,0.000,6,0.000,0.055,2587,2656,3640
$GC,2449,-0.85,-146.0,383.3,-10.7,135,2453,0.00,2.03,0.00,0.000,4,0.000,0.066,2578,3895,3638
$GC,2498,-0.85,-146.0,388.2,-9.6,136,2502,0.00,1.83,0.00,0.000,6,0.000,0.024,2585,2637,3638
$GC,2791,-0.85,-146.0,418.7,-10.3,143,2795,0.00,2.05,0.00,0.000,4,0.000,0.027,2596,1238,3636
$GC,2866,-0.85,-146.0,425.6,-8.0,144,2870,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2643,3636
$GC,3124,-0.85,-146.0,450.0,-9.7,151,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2643,3635
$GC,3366,-0.85,-146.0,474.0,-9.8,157,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3632
$GC,3612,-0.85,-146.0,498.1,-9.9,163,3616,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,1244,3630
$GC,3665,-0.85,-146.0,503.1,-7.9,164,3669,0.00,2.30,0.00,0.000,6,0.000,0.059,2589,2645,3630
$GC,3945,-0.85,-146.0,529.9,-9.6,171,3949,0.00,2.08,0.00,0.000,4,0.000,0.071,2579,3901,3628
$GC,3981,-0.85,-146.0,533.7,-10.0,171,3985,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2637,3627
$GC,4238,-0.85,-146.0,559.2,-9.9,178,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2632,3626
$GC,4482,-0.85,-146.0,582.2,-9.4,184,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2631,3624
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4691,-0.32,0.0,600.4,8.9,189,4817,0.62,0.00,122.57,1.057,6,0.143,0.000,2772,2476,3040
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4823,0.85,146.0,605.6,0.0,192,4970,1.08,2.38,132.62,1.039,4,0.071,0.054,3150,3875,2442
$GC,5003,0.85,146.0,605.2,20.7,196,5008,0.00,2.20,0.00,0.000,6,0.000,0.028,3159,2438,2439
$GC,5278,0.85,146.0,544.6,21.9,203,5282,0.00,2.35,0.00,0.000,4,0.000,0.058,3159,3873,2433
$GC,5352,0.85,146.0,526.5,23.9,204,5356,0.00,2.12,0.00,0.000,6,0.000,0.028,3168,2452,2432
$GC,5616,0.85,146.0,473.3,19.8,211,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2445,2430
$GC,5859,0.85,146.0,429.8,17.8,217,5863,0.00,2.30,0.00,0.000,4,0.000,0.053,3163,3875,2428
$GC,5901,0.85,146.0,421.5,20.6,218,5905,0.00,2.12,0.00,0.000,6,0.000,0.028,3172,2459,2427
$GC,6192,0.85,146.0,368.2,17.7,225,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2453,2426
$GC,6436,0.85,146.0,329.8,15.5,231,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2453,2424
$GC,6679,0.85,146.0,296.0,13.4,237,6683,0.00,2.10,0.00,0.000,4,0.000,0.031,3183,1038,2424
$GC,6821,0.85,146.0,275.6,12.2,240,6826,0.00,2.25,0.00,0.000,6,0.000,0.045,3176,2459,2424
$GC,7101,0.85,146.0,246.4,10.0,247,7105,0.00,2.10,0.00,0.000,4,0.000,0.030,3185,1043,2423
$GC,7362,0.86,146.5,223.8,9.6,252,7366,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2466,2423
$GC,7619,0.90,185.1,202.3,7.9,259,7660,0.00,2.20,31.67,0.775,4,0.000,0.028,3185,1042,2284
$GC,7674,0.90,185.1,196.5,12.5,261,7679,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2467,2282
$GC,7939,0.90,185.1,150.3,16.9,285,7943,0.00,2.25,0.00,0.000,4,0.000,0.052,3176,3879,2280
$GC,7991,0.90,185.1,140.9,18.6,289,7998,0.00,2.15,0.00,0.000,6,0.000,0.025,3185,2450,2278
$GC,8256,0.90,185.1,100.6,12.1,314,8260,0.00,2.28,0.00,0.000,4,0.000,0.047,3176,3873,2279
$GC,8277,0.90,185.1,98.2,11.5,315,8281,0.00,2.10,0.00,0.000,6,0.000,0.024,3185,2447,2279
$GC,8547,0.90,185.1,71.3,10.0,340,8551,0.00,2.03,0.00,0.000,4,0.000,0.027,3195,1044,2279
$GC,8607,0.90,185.1,65.0,10.1,345,8611,0.00,2.22,0.00,0.000,6,0.000,0.041,3192,2471,2279
$GC,8873,0.90,185.1,39.4,10.7,369,8876,0.00,2.22,0.00,0.000,4,0.000,0.051,3192,3872,2279
$GC,8979,0.90,185.1,25.5,13.7,381,8987,0.00,2.10,0.00,0.000,6,0.000,0.024,3200,2463,2279
$STATE,9161,end climb,SURFACE_DEPTH_REACHED
$STATE,9161,begin surface coast
$FINISH,0.3,1.019707
$STATE,9184,end surface coast,CONTROL_FINISHED_OK
$STATE,9184,begin surface
$SM_CCo,9210,90.78,0.591,0,0,1612,350.04
$SM_GC,1.34,0.00,0.00,90.78,0.000,0.000,0.591,49,2662,1612,-8.85,0.62,350.04
$IRIDIUM_FIX,2239.35,-15804.53,280500,151526
$TT8_MAMPS,0.023777
$HUMID,1842
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.6,114.145
$10V_AH,10.6,66.938
$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,22.275,90.250,286.875,90.775,0.000,30.112,34.255,332.591,0.000,0.000,0.000,18.344,873.263,6234.662,435.306,1552.556,767.263,33.362,1061.375,0.000,1546.148,0.000,0.543,0.000
$DEVICE_MAMPS,242.372,70.564,1056.926,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.513,651.861,671.097,158.336,649.924,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34938,418
$CAP_FILE_SIZE,77918,0
$CFSIZE,260165632,227024896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,040311,203006,2248.393,-15803.390,32,1.0,32,10.1