version: 66.04
glider: 512
mission: 1
dive: 881
start: 3 6 111 8 29 13
data:
$ID,512
$MISSION,1
$DIVE,881
$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,-24938.535
$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,28
$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
$GPS1,082155,2252.968,-15804.224,40,1.5,41,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.4
$GPS2,082820,2252.967,-15804.264,12,1.4,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,0.066
$KALMAN_X,-349173.2,285.6,282.7,360226.0,-2473.7
$KALMAN_Y,-636648.1,-12.7,425.4,770866.8,-3695.1
$MHEAD_RNG_PITCHd_Wd,64.9,14984,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,46,2654,2763
$GC,70,-0.85,-146.0,3.0,-3.8,6,110,11.38,2.15,-18.40,0.000,4,0.242,0.042,2599,1244,3639
$GC,168,-0.85,-146.0,24.7,-18.4,21,176,0.00,2.38,0.00,0.000,6,0.000,0.076,2589,2626,3639
$GC,441,-0.85,-146.0,95.1,-26.0,48,444,0.00,2.12,0.00,0.000,4,0.000,0.071,2580,3904,3640
$GC,491,-0.85,-146.0,109.2,-25.6,52,500,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2649,3640
$GC,756,-0.85,-146.0,160.8,-18.2,77,760,0.00,2.08,0.00,0.000,4,0.000,0.026,2597,1227,3641
$GC,796,-0.85,-146.0,168.0,-14.8,80,804,0.00,2.38,0.00,0.000,6,0.000,0.064,2588,2645,3641
$GC,1078,-0.85,-146.0,214.2,-16.3,101,1082,0.00,2.08,0.00,0.000,4,0.000,0.071,2578,3898,3642
$GC,1108,-0.85,-146.0,219.8,-17.7,101,1112,0.00,1.88,0.00,0.000,6,0.000,0.024,2585,2635,3643
$GC,1371,-0.85,-146.0,258.0,-14.6,108,1375,0.00,2.05,0.00,0.000,4,0.000,0.025,2596,1228,3643
$GC,1406,-0.85,-146.0,263.0,-12.8,108,1410,0.00,2.33,0.00,0.000,6,0.000,0.060,2588,2646,3643
$GC,1658,-0.85,-146.0,295.1,-13.0,114,1662,0.00,2.05,0.00,0.000,4,0.000,0.069,2578,3894,3643
$GC,1705,-0.85,-146.0,301.2,-12.3,115,1709,0.00,1.83,0.00,0.000,6,0.000,0.024,2585,2637,3643
$GC,1997,-0.85,-146.0,336.3,-12.2,122,2001,0.00,2.12,0.00,0.000,4,0.000,0.067,2577,3902,3643
$GC,2032,-0.85,-146.0,340.6,-11.6,122,2036,0.00,1.85,0.00,0.000,6,0.000,0.025,2584,2632,3643
$GC,2291,-0.85,-146.0,368.4,-11.0,129,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2625,3643
$GC,2534,-0.85,-146.0,394.9,-10.9,135,2538,0.00,2.05,0.00,0.000,4,0.000,0.027,2594,1230,3641
$GC,2563,-0.85,-146.0,398.2,-10.3,135,2568,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2651,3640
$GC,2821,-0.85,-146.0,423.8,-10.1,142,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2651,3638
$GC,3065,-0.85,-146.0,446.5,-9.2,148,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2651,3637
$GC,3309,-0.85,-146.0,469.4,-9.5,154,3313,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1240,3635
$GC,3345,-0.85,-146.0,472.8,-8.3,154,3349,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2649,3635
$GC,3597,-0.85,-146.0,493.7,-8.3,160,3600,0.00,2.05,0.00,0.000,4,0.000,0.068,2580,3892,3633
$GC,3626,-0.85,-146.0,496.5,-8.8,160,3630,0.00,1.85,0.00,0.000,6,0.000,0.027,2587,2641,3632
$GC,3890,-0.85,-146.0,520.7,-9.4,167,3894,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1238,3631
$GC,3943,-0.85,-146.0,525.7,-7.7,168,3947,0.00,2.30,0.00,0.000,6,0.000,0.057,2590,2644,3630
$GC,4223,-0.85,-146.0,553.7,-10.3,175,4226,0.00,2.08,0.00,0.000,4,0.000,0.069,2579,3894,3628
$GC,4271,-0.85,-146.0,558.7,-10.0,176,4275,0.00,1.85,0.00,0.000,6,0.000,0.028,2586,2638,3627
$GC,4563,-0.85,-146.0,588.7,-10.0,183,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2633,3626
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4691,-0.32,0.0,600.7,9.9,186,4817,0.62,0.00,122.78,1.073,6,0.146,0.000,2771,2477,3040
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4823,0.85,146.0,607.0,0.0,189,4960,1.10,2.28,130.57,1.061,4,0.081,0.029,3161,1024,2444
$GC,5013,0.85,146.0,603.7,20.1,193,5017,0.00,2.30,0.00,0.000,6,0.000,0.045,3161,2460,2439
$GC,5276,0.85,146.0,544.7,22.6,200,5280,0.00,2.28,0.00,0.000,4,0.000,0.057,3161,3873,2434
$GC,5402,0.85,146.0,515.9,21.8,202,5406,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2437,2432
$GC,5659,0.85,146.0,463.5,20.2,209,5663,0.00,2.05,0.00,0.000,4,0.000,0.030,3183,1059,2430
$GC,5739,0.85,146.0,449.6,16.4,210,5743,0.00,2.20,0.00,0.000,6,0.000,0.042,3176,2467,2430
$GC,5998,0.85,146.0,403.4,17.3,217,6002,0.00,2.10,0.00,0.000,4,0.000,0.029,3184,1056,2427
$GC,6079,0.85,146.0,390.4,15.1,218,6083,0.00,2.20,0.00,0.000,6,0.000,0.042,3176,2462,2427
$GC,6331,0.85,146.0,351.6,14.9,224,6334,0.00,2.10,0.00,0.000,4,0.000,0.029,3185,1054,2426
$GC,6411,0.85,146.0,338.3,17.2,225,6415,0.00,2.20,0.00,0.000,6,0.000,0.044,3176,2459,2426
$GC,6669,0.85,146.0,300.6,13.7,232,6673,0.00,2.28,0.00,0.000,4,0.000,0.053,3176,3875,2425
$GC,6698,0.85,146.0,296.4,14.5,232,6702,0.00,2.12,0.00,0.000,6,0.000,0.027,3185,2458,2424
$GC,6955,0.85,146.0,269.1,10.3,239,6958,0.00,2.10,0.00,0.000,4,0.000,0.029,3195,1036,2424
$GC,7018,0.85,146.0,262.1,10.8,240,7023,0.15,2.22,0.00,0.000,6,0.235,0.042,3161,2463,2424
$GC,7292,0.88,164.2,236.6,8.8,247,7311,0.00,2.30,13.68,0.781,4,0.000,0.051,3151,3869,2370
$GC,7428,0.88,164.2,219.3,15.1,250,7432,0.00,2.12,0.00,0.000,6,0.000,0.026,3160,2450,2368
$GC,7694,0.88,164.2,187.7,10.4,263,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2444,2366
$GC,7958,0.88,164.2,157.5,10.9,288,7962,0.00,2.30,0.00,0.000,4,0.000,0.048,3151,3881,2367
$GC,8046,0.88,164.2,146.8,12.2,295,8050,0.00,2.10,0.00,0.000,6,0.000,0.025,3160,2455,2366
$GC,8316,0.90,184.2,119.6,8.7,320,8341,0.00,2.08,18.25,0.688,4,0.000,0.027,3170,1048,2289
$GC,8350,0.94,217.7,116.8,8.1,322,8386,0.00,2.22,30.70,0.696,6,0.000,0.041,3162,2451,2151
$GC,8657,0.94,217.7,66.4,17.3,350,8661,0.00,2.30,0.00,0.000,4,0.000,0.055,3162,3874,2145
$GC,8699,0.94,217.7,58.6,17.8,353,8704,0.00,2.10,0.00,0.000,6,0.000,0.026,3171,2476,2145
$GC,8969,0.94,217.7,15.1,17.2,385,8977,0.00,2.15,0.00,0.000,4,0.000,0.027,3182,1029,2145
$GC,8990,0.94,217.7,11.0,16.9,387,8998,0.00,2.28,0.00,0.000,6,0.000,0.046,3176,2454,2145
$STATE,9030,end climb,SURFACE_DEPTH_REACHED
$STATE,9030,begin surface coast
$FINISH,0.3,1.024155
$STATE,9047,end surface coast,CONTROL_FINISHED_OK
$STATE,9048,begin surface
$SM_CCo,9074,69.55,0.599,0,0,1613,350.04
$SM_GC,1.17,0.00,0.00,69.55,0.000,0.000,0.599,50,2673,1613,-8.85,0.96,350.04
$IRIDIUM_FIX,2241.69,-15802.37,300500,050507
$TT8_MAMPS,0.023777
$HUMID,1881
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,115.841
$10V_AH,10.6,68.208
$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,22.250,103.100,315.975,69.550,0.000,31.588,39.922,151.683,0.250,0.000,0.000,13.022,838.477,6192.763,443.119,1437.034,619.016,33.366,1070.175,0.000,1434.985,0.000,0.543,0.000
$DEVICE_MAMPS,242.372,75.933,1073.033,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.364,613.933,633.634,134.387,549.155,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31865,397
$CAP_FILE_SIZE,78177,0
$CFSIZE,260165632,226451456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,060311,110258,2252.581,-15803.554,14,2.4,34,10.1