version: 66.04
glider: 512
mission: 1
dive: 850
start: 3 2 111 19 1 1
data:
$ID,512
$MISSION,1
$DIVE,850
$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,-24268.311
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,25
$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
$GPS1,184652,2254.175,-15758.657,11,4.5,31,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.2
$GPS2,190006,2254.221,-15758.705,35,1.3,39,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.247,0.068
$KALMAN_X,-315931.0,274.1,457.5,336384.4,-3583.4
$KALMAN_Y,-593071.5,792.9,603.9,728621.0,-3814.5
$MHEAD_RNG_PITCHd_Wd,64.6,5629,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.15,0.000,2,0.000,0.000,44,2652,2762
$GC,70,-0.85,-146.0,3.1,-4.3,6,110,11.90,2.05,-18.80,0.000,4,0.252,0.076,2589,3878,3638
$GC,152,-0.85,-146.0,23.8,-29.3,18,161,0.00,1.85,0.00,0.000,6,0.000,0.024,2593,2638,3640
$GC,426,-0.85,-146.0,94.9,-23.4,45,430,0.00,2.05,0.00,0.000,4,0.000,0.027,2603,1235,3640
$GC,453,-0.85,-146.0,101.3,-23.4,47,457,0.00,2.28,0.00,0.000,6,0.000,0.058,2594,2635,3640
$GC,723,-0.85,-146.0,151.9,-18.4,72,727,0.00,2.05,0.00,0.000,4,0.000,0.064,2583,3904,3641
$GC,753,-0.85,-146.0,158.1,-19.0,74,760,0.00,1.88,0.00,0.000,6,0.000,0.023,2591,2635,3641
$GC,1046,-0.85,-146.0,207.0,-16.2,99,1049,0.00,2.03,0.00,0.000,4,0.000,0.025,2601,1235,3642
$GC,1075,-0.85,-146.0,211.7,-14.6,99,1079,0.00,2.25,0.00,0.000,6,0.000,0.052,2592,2645,3642
$GC,1339,-0.85,-146.0,251.4,-15.3,106,1343,0.00,2.05,0.00,0.000,4,0.000,0.067,2582,3908,3642
$GC,1370,-0.85,-146.0,256.1,-14.4,106,1374,0.00,1.85,0.00,0.000,6,0.000,0.023,2590,2630,3642
$GC,1635,-0.85,-146.0,290.2,-12.7,113,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2621,3642
$GC,1877,-0.85,-146.0,321.1,-12.7,119,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2621,3642
$GC,2121,-0.85,-146.0,348.4,-11.1,125,2125,0.00,2.03,0.00,0.000,4,0.000,0.027,2600,1242,3641
$GC,2156,-0.85,-146.0,352.4,-11.0,125,2160,0.00,2.28,0.00,0.000,6,0.000,0.054,2590,2657,3641
$GC,2409,-0.85,-146.0,380.9,-11.9,131,2412,0.00,2.00,0.00,0.000,4,0.000,0.063,2580,3893,3639
$GC,2460,-0.85,-146.0,387.2,-10.6,132,2464,0.00,1.83,0.00,0.000,6,0.000,0.025,2588,2636,3639
$GC,2747,-0.85,-146.0,419.0,-11.2,139,2750,0.00,2.05,0.00,0.000,4,0.000,0.027,2598,1232,3638
$GC,2787,-0.85,-146.0,423.4,-8.9,139,2793,0.00,2.25,0.00,0.000,6,0.000,0.050,2589,2639,3637
$GC,3040,-0.85,-146.0,447.8,-10.1,146,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3635
$GC,3283,-0.85,-146.0,472.0,-9.9,152,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3633
$GC,3527,-0.85,-146.0,496.4,-9.9,158,3531,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1250,3631
$GC,3574,-0.85,-146.0,500.6,-8.2,159,3578,0.00,2.28,0.00,0.000,6,0.000,0.060,2589,2638,3631
$GC,3866,-0.85,-146.0,528.0,-9.6,166,3869,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3889,3629
$GC,3896,-0.85,-146.0,531.1,-9.2,166,3900,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2630,3628
$GC,4159,-0.85,-146.0,554.6,-8.9,173,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2622,3626
$GC,4405,-0.85,-146.0,574.2,-7.8,179,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2622,3625
$GC,4647,-0.85,-146.0,590.1,-6.2,185,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2622,3624
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4856,-0.32,0.0,601.3,5.5,190,4982,0.62,0.00,123.40,1.075,6,0.153,0.000,2769,2500,3040
$STATE,4983,end apogee,CONTROL_FINISHED_OK
$STATE,4983,begin climb
$GC,4988,0.85,146.0,602.6,0.0,193,5136,1.10,2.30,133.12,1.035,4,0.073,0.030,3163,1049,2443
$GC,5398,0.85,146.0,546.8,20.6,202,5402,0.00,2.30,0.00,0.000,6,0.000,0.052,3163,2477,2435
$GC,5672,0.85,146.0,490.1,20.3,209,5675,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1052,2431
$GC,5769,0.85,146.0,471.4,18.4,211,5773,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2489,2431
$GC,6054,0.85,146.0,419.6,18.2,218,6057,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1045,2429
$GC,6192,0.85,146.0,396.3,17.8,221,6196,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2480,2428
$GC,6483,0.85,146.0,351.0,14.8,228,6487,0.00,2.28,0.00,0.000,4,0.000,0.055,3162,3900,2426
$GC,6525,0.85,146.0,343.9,18.5,229,6529,0.00,2.15,0.00,0.000,6,0.000,0.027,3171,2458,2425
$GC,6817,0.85,146.0,302.6,12.8,236,6821,0.00,2.30,0.00,0.000,4,0.000,0.052,3163,3896,2425
$GC,6869,0.85,146.0,296.0,12.6,237,6873,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2469,2423
$GC,7154,0.85,146.0,262.2,11.6,244,7158,0.00,2.28,0.00,0.000,4,0.000,0.050,3163,3898,2424
$GC,7414,0.85,146.0,233.4,11.1,249,7418,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2472,2423
$GC,7674,0.87,157.6,209.2,9.1,256,7688,0.00,2.33,7.75,0.685,4,0.000,0.048,3163,3891,2397
$GC,7770,0.87,157.6,197.9,12.8,258,7778,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2474,2396
$GC,8035,0.87,157.6,166.2,11.9,283,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2474,2396
$GC,8299,0.87,157.6,136.4,9.8,308,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2474,2396
$GC,8565,0.94,213.1,112.8,7.2,333,8619,0.00,2.33,49.15,0.700,4,0.000,0.048,3163,3904,2170
$GC,8812,0.94,213.1,68.8,19.4,354,8815,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2476,2167
$GC,9077,0.94,213.1,24.0,15.0,382,9085,0.00,2.33,0.00,0.000,4,0.000,0.052,3163,3890,2165
$GC,9122,0.94,213.1,16.5,17.4,389,9130,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2476,2165
$STATE,9204,end climb,SURFACE_DEPTH_REACHED
$STATE,9204,begin surface coast
$FINISH,0.3,1.023756
$STATE,9222,end surface coast,CONTROL_FINISHED_OK
$STATE,9222,begin surface
$SM_CCo,9248,73.75,0.597,0,0,1613,350.04
$SM_GC,1.16,0.00,0.00,73.75,0.000,0.000,0.597,50,2670,1613,-8.85,0.88,350.04
$IRIDIUM_FIX,2246.36,-15751.06,260500,181810
$TT8_MAMPS,0.023777
$HUMID,1880
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,111.968
$10V_AH,10.6,65.401
$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,22.675,81.475,313.425,73.750,0.000,53.569,86.033,410.381,0.000,0.000,0.000,39.559,847.082,6371.297,436.330,1551.876,914.715,33.370,1086.319,0.000,1521.300,0.000,0.543,0.000
$DEVICE_MAMPS,252.343,75.933,1074.567,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.209,627.190,647.154,137.339,562.374,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32153,407
$CAP_FILE_SIZE,79085,0
$CFSIZE,260165632,227741696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,020311,213739,2253.781,-15758.016,9,4.6,29,10.1