version: 66.04
glider: 512
mission: 1
dive: 869
start: 3 4 111 23 28 47
data:
$ID,512
$MISSION,1
$DIVE,869
$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,-24673.564
$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,45
$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
$GPS1,231824,2248.853,-15803.208,26,1.3,45,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-77.7
$GPS2,232750,2248.752,-15803.207,15,1.5,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.005,0.256
$KALMAN_X,-330747.6,-618.0,-242.2,345056.8,533.9
$KALMAN_Y,-615412.1,1057.1,224.5,740953.0,-4526.5
$MHEAD_RNG_PITCHd_Wd,351.0,9624,-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,-52.75,0.000,2,0.000,0.000,38,2679,2982
$GC,78,-0.85,-146.0,3.4,-5.3,7,110,11.35,2.00,-12.23,0.000,4,0.239,0.081,2585,3858,3637
$GC,157,-0.85,-146.0,28.9,-24.8,19,166,0.00,1.85,0.00,0.000,6,0.000,0.027,2592,2650,3639
$GC,421,-0.85,-146.0,90.4,-22.1,44,425,0.00,2.12,0.00,0.000,4,0.000,0.031,2602,1219,3640
$GC,506,-0.85,-146.0,104.7,-13.3,51,513,0.00,2.35,0.00,0.000,6,0.000,0.071,2593,2609,3640
$GC,770,-0.85,-146.0,151.2,-17.9,76,773,0.00,2.17,0.00,0.000,4,0.000,0.080,2582,3897,3641
$GC,808,-0.85,-146.0,158.0,-18.4,79,812,0.00,1.90,0.00,0.000,6,0.000,0.025,2590,2622,3641
$GC,1078,-0.85,-146.0,201.3,-14.9,104,1082,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,1222,3641
$GC,1158,-0.85,-146.0,211.1,-10.2,105,1162,0.00,2.30,0.00,0.000,6,0.000,0.054,2591,2653,3642
$GC,1410,-0.85,-146.0,245.2,-14.2,111,1414,0.00,2.05,0.00,0.000,4,0.000,0.071,2581,3896,3641
$GC,1440,-0.85,-146.0,249.9,-14.8,111,1444,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2626,3642
$GC,1703,-0.85,-146.0,286.8,-14.5,118,1707,0.00,2.03,0.00,0.000,4,0.000,0.027,2599,1236,3642
$GC,1772,-0.85,-146.0,295.2,-10.3,119,1776,0.00,2.33,0.00,0.000,6,0.000,0.066,2589,2637,3642
$GC,2036,-0.85,-146.0,326.5,-11.9,126,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2637,3641
$GC,2278,-0.85,-146.0,354.9,-11.7,132,2282,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1235,3640
$GC,2319,-0.85,-146.0,359.6,-10.6,132,2325,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2647,3640
$GC,2570,-0.85,-146.0,386.2,-10.7,139,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3639
$GC,2814,-0.85,-146.0,410.5,-9.8,145,2818,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1231,3638
$GC,2844,-0.85,-146.0,413.5,-9.7,145,2848,0.00,2.28,0.00,0.000,6,0.000,0.055,2589,2642,3638
$GC,3101,-0.85,-146.0,438.7,-10.2,152,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3636
$GC,3344,-0.85,-146.0,464.3,-10.5,158,3348,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1233,3635
$GC,3413,-0.85,-146.0,471.2,-9.7,159,3417,0.00,2.28,0.00,0.000,6,0.000,0.056,2590,2640,3634
$GC,3677,-0.85,-146.0,497.0,-9.8,166,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2641,3631
$GC,3920,-0.85,-146.0,520.0,-9.4,172,3923,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1235,3630
$GC,3949,-0.85,-146.0,522.9,-9.2,172,3953,0.00,2.35,0.00,0.000,6,0.000,0.064,2589,2648,3630
$GC,4208,-0.85,-146.0,546.8,-9.4,179,4211,0.00,2.12,0.00,0.000,4,0.000,0.079,2579,3900,3627
$GC,4248,-0.85,-146.0,550.8,-8.9,179,4255,0.00,1.88,0.00,0.000,6,0.000,0.029,2587,2636,3627
$GC,4502,-0.85,-146.0,573.7,-9.1,186,4506,0.00,2.08,0.00,0.000,4,0.000,0.031,2597,1242,3625
$GC,4543,-0.85,-146.0,577.5,-8.0,186,4549,0.00,2.30,0.00,0.000,6,0.000,0.060,2589,2644,3625
$GC,4796,-0.85,-146.0,599.9,-9.1,193,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3623
$STATE,4831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4831,begin apogee
$GC,4842,-0.32,0.0,603.6,9.1,194,4968,0.62,0.00,123.00,1.067,6,0.147,0.000,2770,2496,3040
$STATE,4968,end apogee,CONTROL_FINISHED_OK
$STATE,4968,begin climb
$GC,4973,0.85,146.0,609.5,0.0,197,5112,1.10,2.33,130.95,1.058,4,0.075,0.057,3150,3871,2443
$GC,5253,0.85,146.0,581.9,26.1,203,5257,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2433,2436
$GC,5516,0.85,146.0,524.7,21.1,210,5520,0.00,2.35,0.00,0.000,4,0.000,0.058,3159,3876,2431
$GC,5697,0.85,146.0,485.3,23.3,214,5700,0.00,2.12,0.00,0.000,6,0.000,0.028,3168,2460,2430
$GC,5989,0.85,146.0,432.2,17.0,221,5992,0.00,2.10,0.00,0.000,4,0.000,0.031,3179,1050,2428
$GC,6018,0.85,146.0,427.2,17.0,221,6022,0.00,2.25,0.00,0.000,6,0.000,0.051,3176,2456,2428
$GC,6275,0.85,146.0,382.7,17.3,228,6279,0.00,2.33,0.00,0.000,4,0.000,0.061,3176,3879,2426
$GC,6311,0.85,146.0,375.7,19.8,228,6317,0.00,2.15,0.00,0.000,6,0.000,0.028,3185,2448,2426
$GC,6562,0.85,146.0,333.0,16.6,235,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2442,2425
$GC,6807,0.85,146.0,294.4,15.3,241,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2442,2424
$GC,7050,0.85,146.0,265.8,10.3,247,7054,0.00,2.30,0.00,0.000,4,0.000,0.051,3176,3879,2424
$GC,7080,0.85,146.0,262.8,11.3,247,7083,0.00,2.12,0.00,0.000,6,0.000,0.028,3185,2459,2423
$GC,7337,0.85,146.0,234.5,11.2,254,7341,0.00,2.10,0.00,0.000,4,0.000,0.030,3195,1048,2423
$GC,7597,0.85,146.0,209.2,10.6,259,7602,0.15,2.25,0.00,0.000,6,0.232,0.047,3162,2468,2423
$GC,7857,0.92,200.2,189.3,7.2,274,7906,0.00,2.22,44.50,0.771,4,0.000,0.028,3170,1045,2223
$GC,8081,0.92,200.2,153.3,18.7,293,8085,0.00,2.25,0.00,0.000,6,0.000,0.043,3163,2461,2219
$GC,8346,0.92,200.2,102.8,18.9,317,8350,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1041,2217
$GC,8361,0.92,200.2,99.7,19.2,318,8365,0.00,2.22,0.00,0.000,6,0.000,0.041,3163,2467,2216
$GC,8632,0.92,200.2,58.5,14.6,343,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2467,2216
$GC,8897,0.92,200.2,25.2,14.5,371,8905,0.00,2.12,0.00,0.000,4,0.000,0.026,3172,1042,2216
$GC,8958,0.92,200.2,17.0,13.2,381,8967,0.00,2.25,0.00,0.000,6,0.000,0.042,3163,2453,2216
$STATE,9062,end climb,SURFACE_DEPTH_REACHED
$STATE,9062,begin surface coast
$FINISH,0.3,1.023902
$STATE,9090,end surface coast,CONTROL_FINISHED_OK
$STATE,9090,begin surface
$SM_CCo,9115,77.78,0.596,0,0,1612,350.04
$SM_GC,0.98,0.00,0.00,77.78,0.000,0.000,0.596,48,2682,1612,-8.85,1.19,350.04
$IRIDIUM_FIX,2237.01,-15810.61,280500,202055
$TT8_MAMPS,0.023777
$HUMID,1880
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,114.399
$10V_AH,10.6,67.118
$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,22.125,91.250,298.450,77.775,0.000,24.081,33.333,352.924,0.000,0.000,0.000,15.144,833.737,6230.391,436.244,1474.984,790.857,33.366,1054.430,0.000,1469.971,0.000,0.543,0.000
$DEVICE_MAMPS,239.304,80.535,1066.897,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,273.113,625.040,645.377,142.878,587.378,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35015,404
$CAP_FILE_SIZE,78145,0
$CFSIZE,260165632,226942976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,050311,020330,2249.057,-15803.705,37,1.2,43,10.1