version: 66.04
glider: 512
mission: 1
dive: 878
start: 3 6 111 0 11 48
data:
$ID,512
$MISSION,1
$DIVE,878
$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,-24853.717
$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,56
$R_STBD_OVSHOOT,43
$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
$GPS1,235306,2252.654,-15804.977,37,1.0,43,10.1
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.7
$GPS2,001055,2252.561,-15805.055,10,1.1,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.245,0.075
$KALMAN_X,-345441.2,587.9,466.0,354644.0,-3069.6
$KALMAN_Y,-631647.4,699.0,276.7,764543.1,-4259.3
$MHEAD_RNG_PITCHd_Wd,62.8,16394,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,76,0.00,0.00,-52.75,0.000,2,0.000,0.000,41,2681,3016
$GC,82,-0.85,-146.0,3.7,-5.8,7,114,11.70,2.20,-11.38,0.000,4,0.248,0.040,2603,1235,3638
$GC,152,-0.85,-146.0,27.6,-29.1,17,160,0.00,2.30,0.00,0.000,6,0.000,0.063,2593,2609,3639
$GC,416,-0.85,-146.0,92.6,-22.1,42,419,0.00,2.12,0.00,0.000,4,0.000,0.067,2583,3901,3640
$GC,488,-0.85,-146.0,105.8,-14.4,48,497,0.00,1.88,0.00,0.000,6,0.000,0.025,2591,2642,3640
$GC,754,-0.85,-146.0,152.5,-17.3,73,758,0.00,2.05,0.00,0.000,4,0.000,0.026,2601,1234,3641
$GC,828,-0.85,-146.0,163.0,-11.0,79,832,0.00,2.33,0.00,0.000,6,0.000,0.061,2591,2651,3641
$GC,1111,-0.85,-146.0,207.7,-15.7,102,1115,0.00,2.08,0.00,0.000,4,0.000,0.027,2600,1231,3641
$GC,1151,-0.85,-146.0,213.6,-12.5,102,1157,0.00,2.33,0.00,0.000,6,0.000,0.061,2590,2652,3641
$GC,1403,-0.85,-146.0,246.4,-13.3,109,1407,0.00,2.08,0.00,0.000,4,0.000,0.025,2599,1233,3641
$GC,1433,-0.85,-146.0,250.1,-12.1,109,1437,0.00,2.25,0.00,0.000,6,0.000,0.052,2589,2646,3641
$GC,1692,-0.85,-146.0,282.5,-13.0,116,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3641
$GC,1934,-0.85,-146.0,313.6,-12.7,122,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3641
$GC,2177,-0.85,-146.0,343.2,-12.1,128,2181,0.00,2.10,0.00,0.000,4,0.000,0.027,2598,1221,3640
$GC,2252,-0.85,-146.0,350.7,-9.2,129,2256,0.00,2.30,0.00,0.000,6,0.000,0.056,2588,2642,3639
$GC,2510,-0.85,-146.0,378.6,-10.9,136,2514,0.00,2.08,0.00,0.000,4,0.000,0.070,2578,3900,3637
$GC,2568,-0.85,-146.0,384.6,-9.0,137,2572,0.00,1.85,0.00,0.000,6,0.000,0.026,2586,2634,3636
$GC,2848,-0.85,-146.0,413.1,-10.5,144,2852,0.00,2.05,0.00,0.000,4,0.000,0.028,2596,1236,3635
$GC,2896,-0.85,-146.0,417.7,-8.3,145,2901,0.00,2.28,0.00,0.000,6,0.000,0.056,2588,2647,3635
$GC,3182,-0.85,-146.0,447.9,-10.9,152,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2646,3633
$GC,3425,-0.85,-146.0,474.1,-10.7,158,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2647,3630
$GC,3669,-0.85,-146.0,501.1,-11.3,164,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3629
$GC,3913,-0.85,-146.0,528.0,-11.0,170,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2646,3627
$GC,4158,-0.85,-146.0,552.8,-10.1,176,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2646,3625
$GC,4401,-0.85,-146.0,574.9,-8.9,182,4404,0.00,2.10,0.00,0.000,4,0.000,0.030,2597,1244,3623
$GC,4442,-0.85,-146.0,578.2,-7.6,182,4448,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2648,3623
$GC,4694,-0.85,-146.0,598.8,-8.4,189,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3621
$STATE,4730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4730,begin apogee
$GC,4741,-0.32,0.0,602.1,8.4,190,4866,0.62,0.00,121.62,1.068,6,0.150,0.000,2770,2499,3040
$STATE,4866,end apogee,CONTROL_FINISHED_OK
$STATE,4866,begin climb
$GC,4871,0.85,146.0,607.4,0.0,193,5016,1.10,2.35,132.15,1.042,4,0.083,0.061,3149,3875,2442
$GC,5202,0.85,146.0,571.8,22.8,200,5206,0.00,2.17,0.00,0.000,6,0.000,0.028,3158,2442,2435
$GC,5464,0.85,146.0,515.5,20.4,207,5468,0.00,2.33,0.00,0.000,4,0.000,0.055,3159,3876,2431
$GC,5488,0.85,146.0,510.5,20.8,207,5492,0.00,2.15,0.00,0.000,6,0.000,0.026,3169,2442,2431
$GC,5751,0.85,146.0,459.7,19.3,214,5755,0.00,2.33,0.00,0.000,4,0.000,0.052,3163,3881,2429
$GC,5785,0.85,146.0,452.8,20.0,214,5789,0.00,2.15,0.00,0.000,6,0.000,0.028,3173,2464,2429
$GC,6044,0.85,146.0,402.0,19.3,221,6048,0.00,2.12,0.00,0.000,4,0.000,0.030,3183,1029,2427
$GC,6067,0.85,146.0,397.5,18.0,221,6072,0.00,2.25,0.00,0.000,6,0.000,0.041,3179,2470,2427
$GC,6331,0.85,146.0,351.7,16.9,228,6335,0.00,2.25,0.00,0.000,4,0.000,0.052,3176,3874,2425
$GC,6383,0.85,146.0,342.7,17.1,229,6387,0.00,2.15,0.00,0.000,6,0.000,0.026,3185,2444,2425
$GC,6670,0.85,146.0,300.6,14.5,236,6673,0.00,2.10,0.00,0.000,4,0.000,0.029,3195,1026,2424
$GC,6861,0.85,146.0,277.3,11.2,240,6866,0.15,2.25,0.00,0.000,6,0.239,0.043,3162,2460,2424
$GC,7140,0.85,146.0,248.8,9.7,247,7144,0.00,2.12,0.00,0.000,4,0.000,0.030,3171,1035,2423
$GC,7183,0.92,196.2,245.7,7.4,247,7230,0.00,2.25,41.70,0.831,6,0.000,0.041,3162,2469,2238
$GC,7476,0.92,196.2,195.3,19.3,255,7480,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1039,2232
$GC,7580,0.92,196.2,176.0,19.1,264,7584,0.00,2.22,0.00,0.000,6,0.000,0.042,3163,2458,2230
$GC,7844,0.92,196.2,123.2,17.0,288,7848,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1034,2229
$GC,8058,0.92,196.2,93.2,14.6,307,8062,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2468,2229
$GC,8324,0.92,196.2,58.9,12.6,331,8328,0.00,2.10,0.00,0.000,4,0.000,0.026,3172,1030,2229
$GC,8350,0.92,196.2,55.6,12.0,333,8354,0.00,2.22,0.00,0.000,6,0.000,0.041,3164,2460,2229
$GC,8615,0.92,196.2,24.1,13.7,361,8623,0.00,2.30,0.00,0.000,4,0.000,0.054,3163,3872,2229
$GC,8745,0.92,196.2,4.5,15.5,384,8753,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2449,2229
$STATE,8759,end climb,SURFACE_DEPTH_REACHED
$STATE,8760,begin surface coast
$FINISH,0.4,1.023701
$STATE,8777,end surface coast,CONTROL_FINISHED_OK
$STATE,8777,begin surface
$SM_CCo,8803,84.40,0.594,0,0,1612,350.04
$SM_GC,1.06,0.00,0.00,84.40,0.000,0.000,0.594,48,2680,1612,-8.85,1.13,350.04
$IRIDIUM_FIX,2244.02,-15806.70,300500,000043
$TT8_MAMPS,0.02301
$HUMID,1872
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,115.479
$10V_AH,10.6,67.934
$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,22.550,87.700,295.475,84.400,0.000,119.728,140.707,450.500,0.250,0.000,0.000,15.709,810.271,6197.902,437.249,1418.592,1096.707,33.366,1031.500,0.000,1410.761,0.000,0.544,0.000
$DEVICE_MAMPS,247.741,69.797,1068.431,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,263.356,595.893,615.167,138.975,570.019,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32099,389
$CAP_FILE_SIZE,82288,0
$CFSIZE,260165632,226570240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,060311,024125,2252.166,-15804.395,41,1.2,41,10.1