version: 66.04
glider: 512
mission: 1
dive: 897
start: 3 8 111 3 0 31
data:
$ID,512
$MISSION,1
$DIVE,897
$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,-25288.145
$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,73
$R_STBD_OVSHOOT,23
$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
$GPS1,025246,2253.955,-15756.534,14,2.2,34,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.3
$GPS2,025938,2253.933,-15756.590,15,2.0,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.193,-0.169
$KALMAN_X,-371076.8,341.4,180.2,395382.2,-3124.5
$KALMAN_Y,-658060.4,575.5,-84.8,793986.8,-2339.0
$MHEAD_RNG_PITCHd_Wd,121.1,13005,-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,-52.80,0.000,2,0.000,0.000,41,2613,2994
$GC,78,-0.85,-146.0,3.7,-5.8,7,110,11.20,2.08,-12.00,0.000,4,0.236,0.040,2604,1258,3635
$GC,142,-0.85,-146.0,23.3,-27.8,16,150,0.00,2.35,0.00,0.000,6,0.000,0.072,2595,2630,3636
$GC,414,-0.85,-146.0,90.6,-24.6,44,418,0.00,2.12,0.00,0.000,4,0.000,0.074,2585,3900,3637
$GC,454,-0.85,-146.0,100.7,-23.0,47,461,0.00,1.85,0.00,0.000,6,0.000,0.025,2592,2670,3637
$GC,719,-0.85,-146.0,155.8,-19.7,72,722,0.00,2.15,0.00,0.000,4,0.000,0.031,2602,1222,3639
$GC,789,-0.85,-146.0,165.8,-10.4,78,793,0.00,2.38,0.00,0.000,6,0.000,0.069,2592,2646,3639
$GC,1080,-0.85,-146.0,214.4,-17.1,99,1084,0.00,2.08,0.00,0.000,4,0.000,0.073,2582,3894,3640
$GC,1117,-0.85,-146.0,220.4,-16.3,99,1121,0.00,1.85,0.00,0.000,6,0.000,0.023,2591,2632,3640
$GC,1376,-0.85,-146.0,258.2,-14.9,106,1380,0.00,2.08,0.00,0.000,4,0.000,0.030,2600,1230,3640
$GC,1406,-0.85,-146.0,262.9,-14.2,106,1410,0.00,2.35,0.00,0.000,6,0.000,0.064,2591,2650,3641
$GC,1670,-0.85,-146.0,297.7,-13.6,113,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2650,3640
$GC,1913,-0.85,-146.0,328.9,-12.4,119,1917,0.00,2.12,0.00,0.000,4,0.000,0.030,2599,1234,3640
$GC,1936,-0.85,-146.0,331.9,-11.7,119,1940,0.00,2.33,0.00,0.000,6,0.000,0.063,2590,2645,3640
$GC,2200,-0.85,-146.0,362.4,-12.3,126,2204,0.00,2.08,0.00,0.000,4,0.000,0.071,2581,3899,3639
$GC,2235,-0.85,-146.0,366.9,-11.9,126,2238,0.00,1.85,0.00,0.000,6,0.000,0.024,2588,2634,3639
$GC,2493,-0.85,-146.0,395.4,-10.9,133,2496,0.00,2.08,0.00,0.000,4,0.000,0.031,2598,1239,3637
$GC,2534,-0.85,-146.0,399.5,-8.4,133,2540,0.00,2.30,0.00,0.000,6,0.000,0.061,2589,2637,3637
$GC,2786,-0.85,-146.0,424.7,-10.8,140,2789,0.00,2.10,0.00,0.000,4,0.000,0.071,2579,3898,3636
$GC,2860,-0.85,-146.0,433.7,-11.4,141,2864,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2638,3635
$GC,3124,-0.85,-146.0,462.6,-10.8,148,3128,0.00,2.10,0.00,0.000,4,0.000,0.031,2597,1231,3634
$GC,3172,-0.85,-146.0,467.1,-7.7,149,3176,0.00,2.35,0.00,0.000,6,0.000,0.063,2587,2654,3634
$GC,3460,-0.85,-146.0,494.2,-9.5,156,3464,0.00,2.10,0.00,0.000,4,0.000,0.074,2578,3899,3631
$GC,3502,-0.85,-146.0,498.6,-9.3,156,3508,0.00,1.88,0.00,0.000,6,0.000,0.025,2585,2628,3631
$GC,3755,-0.85,-146.0,522.9,-9.9,163,3759,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,1240,3629
$GC,3798,-0.85,-146.0,526.9,-8.8,163,3804,0.00,2.35,0.00,0.000,6,0.000,0.067,2587,2637,3629
$GC,4050,-0.85,-146.0,548.7,-8.6,170,4054,0.00,2.12,0.00,0.000,4,0.000,0.077,2579,3900,3626
$GC,4075,-0.85,-146.0,551.2,-9.5,170,4079,0.00,1.88,0.00,0.000,6,0.000,0.027,2586,2635,3626
$GC,4345,-0.85,-146.0,577.6,-10.1,177,4349,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,1242,3625
$GC,4388,-0.85,-146.0,581.9,-8.8,177,4394,0.00,2.35,0.00,0.000,6,0.000,0.066,2589,2646,3625
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4606,-0.32,0.0,602.5,9.8,183,4732,0.62,0.00,122.53,1.074,6,0.143,0.000,2772,2467,3040
$STATE,4733,end apogee,CONTROL_FINISHED_OK
$STATE,4733,begin climb
$GC,4737,0.85,146.0,608.9,0.0,186,4875,1.08,2.42,130.15,1.053,4,0.069,0.065,3150,3872,2442
$GC,5033,0.85,146.0,581.8,23.3,192,5039,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2454,2435
$GC,5285,0.85,146.0,532.2,19.3,199,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2448,2431
$GC,5529,0.85,146.0,482.8,19.9,205,5533,0.00,2.33,0.00,0.000,4,0.000,0.054,3150,3880,2429
$GC,5541,0.85,146.0,480.1,20.1,205,5545,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2450,2429
$GC,5816,0.85,146.0,427.1,19.3,212,5819,0.00,2.08,0.00,0.000,4,0.000,0.029,3170,1053,2428
$GC,5856,0.85,146.0,420.2,16.3,212,5862,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2464,2427
$GC,6108,0.85,146.0,378.4,16.5,219,6112,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1056,2425
$GC,6150,0.85,146.0,371.6,16.2,219,6156,0.00,2.22,0.00,0.000,6,0.000,0.045,3162,2463,2425
$GC,6404,0.85,146.0,333.1,14.5,226,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2463,2424
$GC,6646,0.85,146.0,298.7,13.5,232,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2463,2424
$GC,6890,0.85,146.0,269.4,11.1,238,6893,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1058,2423
$GC,6953,0.85,146.0,263.1,9.9,239,6957,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2471,2423
$GC,7225,0.86,153.3,237.6,9.3,246,7229,0.00,2.28,0.00,0.000,4,0.000,0.056,3162,3875,2422
$GC,7410,0.89,177.1,220.1,8.6,250,7439,0.00,2.12,24.60,0.795,6,0.000,0.027,3172,2449,2317
$GC,7699,0.89,177.1,180.2,15.2,266,7702,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1050,2312
$GC,7781,0.89,177.1,168.8,13.1,273,7786,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2459,2312
$GC,8047,0.89,177.1,133.4,12.6,297,8051,0.00,2.30,0.00,0.000,4,0.000,0.058,3175,3873,2311
$GC,8081,0.89,177.1,129.2,13.7,299,8085,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2463,2310
$GC,8350,0.89,177.1,98.6,10.3,324,8353,0.00,2.08,0.00,0.000,4,0.000,0.028,3195,1041,2310
$GC,8434,0.89,177.1,89.8,10.2,331,8442,0.00,2.28,0.00,0.000,6,0.000,0.047,3189,2455,2310
$GC,8700,0.89,177.1,63.3,9.8,356,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2455,2310
$GC,8965,0.93,204.2,42.4,8.4,381,8995,0.00,2.35,24.05,0.609,4,0.000,0.056,3189,3875,2207
$STATE,9219,end climb,SURFACE_DEPTH_REACHED
$STATE,9219,begin surface coast
$FINISH,0.4,1.023801
$STATE,9236,end surface coast,CONTROL_FINISHED_OK
$STATE,9236,begin surface
$SM_CCo,9264,78.45,0.584,0,0,1612,350.04
$SM_GC,1.37,0.00,0.00,78.45,0.000,0.000,0.584,47,2610,1612,-8.86,-0.88,350.04
$IRIDIUM_FIX,2246.36,-15758.45,010600,000054
$TT8_MAMPS,0.023777
$HUMID,1858
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.6,117.664
$10V_AH,10.6,69.581
$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,21.850,103.250,301.325,78.450,0.000,23.702,52.068,171.500,0.250,0.000,0.000,15.647,881.023,6271.485,445.672,1522.259,637.882,33.368,1074.953,0.000,1516.862,0.000,0.542,0.000
$DEVICE_MAMPS,236.236,77.467,1073.800,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,285.199,665.599,685.181,156.043,639.652,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35166,422
$CAP_FILE_SIZE,78473,0
$CFSIZE,260165632,225796096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,080311,053754,2253.081,-15756.310,35,1.5,53,10.1