version: 66.04
glider: 512
mission: 1
dive: 868
start: 3 4 111 20 43 45
data:
$ID,512
$MISSION,1
$DIVE,868
$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,-24657.789
$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,55
$R_STBD_OVSHOOT,39
$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
$GPS1,203006,2248.393,-15803.390,32,1.0,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.0
$GPS2,204249,2248.347,-15803.386,15,1.7,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.057,0.250
$KALMAN_X,-330822.7,-457.1,81.6,344337.6,-365.4
$KALMAN_Y,-613255.0,1160.6,220.6,737947.1,-4038.8
$MHEAD_RNG_PITCHd_Wd,2.8,10202,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.30,0.000,2,0.000,0.000,35,2662,3225
$GC,85,-0.85,-146.0,3.7,-3.4,8,109,11.52,1.92,-7.12,0.000,4,0.242,0.064,2583,3873,3637
$GC,120,-0.85,-146.0,20.5,-37.7,12,128,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2643,3638
$GC,388,-0.85,-146.0,91.7,-22.8,38,391,0.00,2.10,0.00,0.000,4,0.000,0.030,2601,1228,3640
$GC,494,-0.85,-146.0,111.2,-14.3,47,501,0.00,2.35,0.00,0.000,6,0.000,0.069,2591,2611,3640
$GC,758,-0.85,-146.0,158.9,-18.8,72,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2611,3640
$GC,1051,-0.85,-146.0,208.1,-16.0,97,1055,0.00,2.05,0.00,0.000,4,0.000,0.029,2599,1226,3641
$GC,1085,-0.85,-146.0,213.2,-13.1,97,1089,0.00,2.38,0.00,0.000,6,0.000,0.067,2590,2658,3641
$GC,1343,-0.85,-146.0,246.6,-13.1,104,1347,0.00,2.12,0.00,0.000,4,0.000,0.028,2599,1223,3641
$GC,1390,-0.85,-146.0,251.9,-9.9,105,1394,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2636,3641
$GC,1680,-0.85,-146.0,286.8,-12.2,112,1684,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3899,3641
$GC,1732,-0.85,-146.0,293.2,-10.5,113,1736,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2619,3641
$GC,2018,-0.85,-146.0,327.2,-12.0,120,2022,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1204,3640
$GC,2081,-0.85,-146.0,333.6,-9.5,121,2085,0.00,2.40,0.00,0.000,6,0.000,0.068,2589,2652,3640
$GC,2349,-0.85,-146.0,361.9,-10.8,128,2353,0.00,2.10,0.00,0.000,4,0.000,0.080,2580,3894,3639
$GC,2412,-0.85,-146.0,368.8,-10.3,129,2416,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2640,3638
$GC,2688,-0.85,-146.0,398.9,-11.1,136,2692,0.00,2.08,0.00,0.000,4,0.000,0.030,2597,1240,3636
$GC,2736,-0.85,-146.0,404.0,-9.1,137,2740,0.00,2.33,0.00,0.000,6,0.000,0.066,2590,2648,3636
$GC,3022,-0.85,-146.0,434.2,-10.9,144,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3634
$GC,3265,-0.85,-146.0,460.2,-10.7,150,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3632
$GC,3511,-0.85,-146.0,485.0,-10.2,156,3515,0.00,2.12,0.00,0.000,4,0.000,0.031,2598,1232,3630
$GC,3568,-0.85,-146.0,490.5,-8.2,157,3573,0.00,2.33,0.00,0.000,6,0.000,0.062,2590,2649,3629
$GC,3844,-0.85,-146.0,515.7,-9.4,164,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3627
$GC,4087,-0.85,-146.0,538.5,-9.5,170,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2650,3626
$GC,4333,-0.85,-146.0,562.1,-9.7,176,4336,0.00,2.10,0.00,0.000,4,0.000,0.075,2579,3899,3623
$GC,4369,-0.85,-146.0,565.8,-9.7,176,4373,0.00,1.88,0.00,0.000,6,0.000,0.030,2587,2638,3623
$GC,4629,-0.85,-146.0,589.7,-9.2,183,4633,0.00,2.10,0.00,0.000,4,0.000,0.031,2597,1232,3621
$GC,4677,-0.85,-146.0,594.4,-8.0,184,4681,0.00,2.30,0.00,0.000,6,0.000,0.058,2590,2644,3621
$STATE,4756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4756,begin apogee
$GC,4766,-0.32,0.0,601.8,9.0,186,4892,0.62,0.00,122.18,1.070,6,0.146,0.000,2772,2477,3041
$STATE,4892,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4898,0.85,146.0,607.7,0.0,189,5040,1.10,0.00,132.70,1.044,6,0.083,0.000,3150,2477,2444
$GC,5304,0.85,146.0,562.9,21.3,199,5307,0.00,2.17,0.00,0.000,4,0.000,0.030,3160,1031,2434
$GC,5351,0.85,146.0,553.7,18.9,200,5355,0.00,2.30,0.00,0.000,6,0.000,0.050,3160,2468,2433
$GC,5636,0.85,146.0,494.4,20.4,207,5640,0.00,2.25,0.00,0.000,4,0.000,0.055,3160,3873,2431
$GC,5735,0.85,146.0,473.3,20.6,209,5739,0.00,2.15,0.00,0.000,6,0.000,0.028,3170,2438,2429
$GC,6015,0.85,146.0,422.6,18.0,216,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2432,2428
$GC,6258,0.85,146.0,376.0,18.9,222,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2432,2426
$GC,6501,0.85,146.0,335.0,16.3,228,6505,0.00,2.35,0.00,0.000,4,0.000,0.057,3163,3879,2425
$GC,6626,0.85,146.0,314.0,17.3,230,6630,0.00,2.15,0.00,0.000,6,0.000,0.029,3172,2446,2424
$GC,6880,0.85,146.0,279.4,12.8,236,6884,0.00,2.08,0.00,0.000,4,0.000,0.031,3183,1052,2425
$GC,7017,0.87,158.9,264.8,9.0,239,7032,0.00,2.25,8.85,0.758,6,0.000,0.047,3176,2459,2393
$GC,7309,0.87,158.9,235.0,10.8,246,7312,0.00,2.10,0.00,0.000,4,0.000,0.030,3185,1052,2390
$GC,7570,0.89,171.3,208.9,9.1,251,7589,0.00,2.25,12.70,0.749,6,0.000,0.048,3176,2466,2341
$GC,7854,0.89,171.3,174.3,11.5,271,7858,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1042,2338
$GC,7880,0.89,171.3,170.6,11.4,273,7884,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2466,2338
$GC,8145,0.89,171.3,137.9,13.7,297,8149,0.00,2.25,0.00,0.000,4,0.000,0.053,3176,3871,2337
$GC,8240,0.89,171.3,124.5,12.9,305,8244,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2458,2337
$GC,8510,0.95,224.7,98.1,7.2,330,8562,0.00,2.33,46.58,0.686,4,0.000,0.051,3176,3876,2124
$GC,8582,0.95,224.7,90.5,16.0,335,8589,0.00,2.17,0.00,0.000,6,0.000,0.027,3185,2462,2122
$GC,8848,0.95,224.7,44.2,17.7,360,8851,0.00,2.10,0.00,0.000,4,0.000,0.028,3196,1035,2118
$GC,9064,0.95,224.7,3.9,18.7,392,9073,0.00,2.25,0.00,0.000,6,0.000,0.043,3191,2452,2117
$STATE,9079,end climb,SURFACE_DEPTH_REACHED
$STATE,9079,begin surface coast
$FINISH,0.4,1.023662
$STATE,9097,end surface coast,CONTROL_FINISHED_OK
$STATE,9097,begin surface
$SM_CCo,9123,64.82,0.592,0,0,1613,350.04
$SM_GC,1.26,0.00,0.00,64.82,0.000,0.000,0.592,44,2678,1613,-8.86,1.07,350.04
$IRIDIUM_FIX,2241.69,-15804.53,280500,202014
$TT8_MAMPS,0.023777
$HUMID,1888
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,114.276
$10V_AH,10.6,67.028
$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,22.400,86.875,323.000,64.825,0.000,47.026,75.856,403.505,0.250,0.000,0.000,32.798,844.030,6259.963,430.370,1524.426,898.609,33.367,1075.577,0.000,1498.779,0.000,0.544,0.000
$DEVICE_MAMPS,242.372,79.768,1069.965,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.677,607.145,627.042,130.693,534.879,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31842,397
$CAP_FILE_SIZE,80561,0
$CFSIZE,260165632,226988032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,040311,231824,2248.853,-15803.208,26,1.3,45,10.1