version: 66.04
glider: 512
mission: 1
dive: 367
start: 1 14 111 0 52 40
data:
$ID,512
$MISSION,1
$DIVE,367
$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,250
$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,-12811.872
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2930
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3347
$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
$GPS1,004707,2248.086,-15758.124,42,1.5,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.2
$GPS2,005144,2248.122,-15758.148,15,1.5,15,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,0.214
$KALMAN_X,-149286.8,-1905.6,110.4,173226.9,-2195.1
$KALMAN_Y,-329097.4,3054.6,198.6,451499.0,-7636.4
$MHEAD_RNG_PITCHd_Wd,16.6,2162,-14.1,-8.000
$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,13,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-76.50,0.000,2,0.000,0.000,35,2550,3069
$GC,97,-0.74,-146.0,3.7,-5.5,10,131,11.80,2.45,-15.95,0.000,4,0.254,0.115,2668,3892,3944
$GC,264,-0.74,-146.0,34.2,-7.9,34,268,0.00,2.03,0.00,0.000,6,0.000,0.031,2677,2534,3946
$GC,533,-0.74,-146.0,63.9,-12.1,59,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2527,3947
$GC,788,-0.74,-146.0,91.9,-8.6,83,792,0.00,2.53,0.00,0.000,4,0.000,0.117,2667,3897,3947
$GC,841,-0.74,-146.0,95.7,-6.2,87,845,0.00,2.03,0.00,0.000,6,0.000,0.038,2676,2528,3948
$GC,1108,-0.74,-146.0,118.8,-8.9,112,1112,0.00,2.50,0.00,0.000,4,0.000,0.112,2673,3897,3950
$GC,1307,-0.74,-146.0,134.9,-9.0,129,1315,0.00,2.05,0.00,0.000,6,0.000,0.041,2681,2547,3951
$GC,1571,-0.74,-146.0,160.9,-10.9,154,1575,0.00,2.03,0.00,0.000,4,0.000,0.029,2688,1159,3952
$GC,1721,-0.74,-146.0,176.9,-8.5,167,1728,0.00,2.28,0.00,0.000,6,0.000,0.059,2686,2549,3951
$GC,2012,-0.74,-146.0,204.6,-10.2,192,2016,0.00,2.30,0.00,0.000,4,0.000,0.089,2686,3897,3952
$GC,2269,-0.74,-146.0,231.5,-11.1,197,2275,0.00,2.00,0.00,0.000,6,0.000,0.041,2694,2542,3952
$GC,2519,-0.74,-146.0,258.3,-11.2,204,2523,0.00,2.50,0.00,0.000,4,0.000,0.119,2686,3894,3952
$GC,2777,-0.74,-146.0,288.6,-11.1,209,2783,0.00,2.00,0.00,0.000,6,0.000,0.036,2695,2533,3952
$GC,3028,-0.74,-146.0,314.9,-10.7,216,3032,0.00,2.40,0.00,0.000,4,0.000,0.098,2689,3896,3951
$GC,3144,-0.74,-146.0,327.5,-10.4,218,3148,0.00,1.98,0.00,0.000,6,0.000,0.036,2696,2550,3951
$GC,3400,-0.74,-146.0,354.8,-10.8,225,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2542,3951
$GC,3645,-0.74,-146.0,380.7,-10.5,231,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2542,3949
$GC,3887,-0.74,-146.0,406.5,-10.7,237,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2542,3948
$GC,4131,-0.74,-146.0,432.8,-10.7,243,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2542,3946
$GC,4375,-0.74,-146.0,458.0,-10.2,249,4379,0.00,2.40,0.00,0.000,4,0.000,0.100,2688,3898,3944
$GC,4576,-0.74,-146.0,479.1,-10.6,253,4579,0.00,2.00,0.00,0.000,6,0.000,0.041,2696,2549,3943
$GC,4837,-0.74,-146.0,507.0,-10.9,260,4841,0.00,2.05,0.00,0.000,4,0.000,0.033,2697,1161,3941
$GC,4994,-0.74,-146.0,524.4,-11.0,263,4998,0.00,2.30,0.00,0.000,6,0.000,0.066,2697,2568,3940
$GC,5255,-0.74,-146.0,552.2,-10.8,270,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2568,3938
$GC,5500,-0.74,-146.0,578.1,-10.6,276,5504,0.00,2.10,0.00,0.000,4,0.000,0.034,2700,1168,3936
$GC,5698,-0.74,-146.0,598.7,-10.0,280,5702,0.00,2.25,0.00,0.000,6,0.000,0.062,2700,2545,3935
$STATE,5711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5711,begin apogee
$GC,5717,-0.32,0.0,600.4,10.1,280,5843,0.35,0.00,119.62,1.058,6,0.099,0.000,2825,2545,3347
$STATE,5844,end apogee,CONTROL_FINISHED_OK
$STATE,5844,begin climb
$GC,5847,0.74,146.0,610.0,0.0,284,5979,0.95,2.22,124.18,1.034,4,0.071,0.032,3173,1172,2750
$GC,6236,0.80,194.2,618.7,6.2,292,6284,0.00,2.22,41.25,1.023,6,0.000,0.051,3172,2556,2555
$GC,6527,0.80,194.2,569.9,18.5,300,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2556,2548
$GC,6771,0.80,194.2,528.8,16.5,306,6775,0.00,2.15,0.00,0.000,4,0.000,0.058,3163,3898,2546
$GC,6821,0.80,194.2,519.9,16.4,307,6825,0.00,2.00,0.00,0.000,6,0.000,0.034,3172,2561,2545
$GC,7105,0.80,194.2,476.9,15.1,314,7108,0.00,2.17,0.00,0.000,4,0.000,0.057,3163,3903,2544
$GC,7150,0.80,194.2,469.6,16.4,315,7154,0.00,2.03,0.00,0.000,6,0.000,0.034,3172,2552,2543
$GC,7439,0.80,194.2,428.6,13.3,322,7443,0.00,2.10,0.00,0.000,4,0.000,0.031,3183,1134,2542
$GC,7652,0.80,194.2,402.2,11.6,326,7656,0.00,2.25,0.00,0.000,6,0.000,0.052,3176,2555,2541
$GC,7909,0.80,194.2,372.2,11.7,333,7913,0.00,2.10,0.00,0.000,4,0.000,0.032,3185,1136,2540
$GC,7956,0.80,194.2,367.3,10.5,334,7960,0.00,2.25,0.00,0.000,6,0.000,0.050,3177,2551,2540
$GC,8241,0.80,194.2,337.1,10.6,341,8244,0.00,2.10,0.00,0.000,4,0.000,0.031,3185,1138,2539
$GC,8274,0.80,194.2,333.5,10.8,341,8278,0.00,2.28,0.00,0.000,6,0.000,0.054,3177,2556,2539
$GC,8524,0.80,194.2,308.4,10.0,347,8527,0.00,2.15,0.00,0.000,4,0.000,0.061,3176,3900,2538
$GC,8663,0.80,194.2,295.0,9.6,350,8667,0.00,2.03,0.00,0.000,6,0.000,0.034,3185,2543,2538
$GC,8947,0.80,194.2,269.4,8.5,357,8951,0.00,2.20,0.00,0.000,4,0.000,0.057,3176,3907,2538
$GC,9205,0.80,196.4,248.4,7.9,362,9209,0.00,2.03,0.00,0.000,6,0.000,0.033,3185,2544,2537
$GC,9460,0.86,244.1,231.1,6.2,369,9503,0.00,0.00,40.95,0.811,6,0.000,0.000,3185,2539,2351
$GC,9749,0.86,244.1,184.3,18.0,382,9753,0.00,2.08,0.00,0.000,4,0.000,0.031,3195,1148,2344
$GC,9961,0.86,244.1,148.3,17.7,401,9965,0.00,2.25,0.00,0.000,6,0.000,0.051,3192,2554,2343
$GC,10225,0.86,244.1,106.6,15.5,425,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2554,2342
$GC,10480,0.92,289.9,84.2,6.3,449,10529,0.00,2.25,37.38,0.682,4,0.000,0.061,3192,3900,2164
$GC,10686,0.92,289.9,46.0,22.8,467,10694,0.00,2.05,0.00,0.000,6,0.000,0.031,3199,2561,2162
$STATE,10880,end climb,SURFACE_DEPTH_REACHED
$STATE,10880,begin surface coast
$FINISH,0.3,1.024033
$STATE,10892,end surface coast,CONTROL_FINISHED_OK
$STATE,10892,begin surface
$SM_CCo,10911,31.75,0.602,0,0,1920,350.04
$SM_GC,1.85,0.00,0.00,31.75,0.000,0.000,0.602,50,2552,1920,-9.00,0.06,350.04
$IRIDIUM_FIX,2241.69,-15757.16,080400,222233
$TT8_MAMPS,0.023777
$HUMID,1832
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,24.0,47.045
$10V_AH,10.7,28.233
$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,21.950,87.050,363.375,31.750,0.000,31.164,36.658,110.561,0.250,0.000,0.000,15.476,1048.950,7233.798,456.416,2093.251,402.124,33.361,1288.122,0.000,2080.010,0.000,0.542,0.000
$DEVICE_MAMPS,253.877,118.885,1057.693,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,336.923,788.803,812.099,169.782,704.884,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41468,498
$CAP_FILE_SIZE,88416,0
$CFSIZE,260165632,246419456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,140111,035602,2248.102,-15757.939,8,1.8,21,10.1