version: 66.04
glider: 512
mission: 1
dive: 853
start: 3 3 111 3 42 1
data:
$ID,512
$MISSION,1
$DIVE,853
$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,-24345.334
$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,51
$R_STBD_OVSHOOT,31
$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
$GPS1,032620,2253.697,-15758.005,12,1.9,12,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.6
$GPS2,034108,2253.681,-15758.142,13,1.7,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.128,0.222
$KALMAN_X,-322140.9,328.2,88.5,343883.2,-3326.0
$KALMAN_Y,-597277.0,191.2,-58.9,733099.5,-2648.1
$MHEAD_RNG_PITCHd_Wd,19.8,4519,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.33,0.000,2,0.000,0.000,51,2660,3217
$GC,85,-0.85,-146.0,3.5,-3.7,8,110,11.80,1.98,-7.35,0.000,4,0.252,0.068,2582,3889,3637
$GC,207,-0.85,-146.0,45.7,-18.5,23,211,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2635,3639
$GC,476,-0.85,-146.0,109.5,-24.1,48,480,0.00,2.05,0.00,0.000,4,0.000,0.027,2599,1226,3639
$GC,537,-0.85,-146.0,120.5,-14.9,53,541,0.00,2.33,0.00,0.000,6,0.000,0.065,2590,2629,3640
$GC,801,-0.85,-146.0,171.5,-17.8,77,804,0.00,2.08,0.00,0.000,4,0.000,0.069,2580,3897,3641
$GC,862,-0.85,-146.0,181.4,-14.9,82,866,0.00,1.85,0.00,0.000,6,0.000,0.022,2588,2619,3641
$GC,1147,-0.85,-146.0,228.7,-17.2,97,1151,0.00,2.00,0.00,0.000,4,0.000,0.026,2598,1244,3641
$GC,1215,-0.85,-146.0,238.4,-11.9,98,1220,0.00,2.30,0.00,0.000,6,0.000,0.061,2588,2648,3641
$GC,1478,-0.85,-146.0,273.2,-13.3,105,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3641
$GC,1723,-0.85,-146.0,304.7,-13.0,111,1727,0.00,2.08,0.00,0.000,4,0.000,0.026,2597,1235,3641
$GC,1771,-0.85,-146.0,310.3,-10.1,112,1775,0.00,2.28,0.00,0.000,6,0.000,0.054,2588,2653,3641
$GC,2056,-0.85,-146.0,345.2,-12.7,119,2059,0.00,2.00,0.00,0.000,4,0.000,0.064,2578,3892,3640
$GC,2091,-0.85,-146.0,349.6,-11.9,119,2094,0.00,1.83,0.00,0.000,6,0.000,0.025,2586,2634,3640
$GC,2349,-0.85,-146.0,379.7,-11.7,126,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2626,3639
$GC,2592,-0.85,-146.0,406.1,-10.5,132,2595,0.00,2.05,0.00,0.000,4,0.000,0.028,2596,1237,3637
$GC,2649,-0.85,-146.0,411.2,-7.4,133,2653,0.00,2.28,0.00,0.000,6,0.000,0.057,2588,2638,3637
$GC,2923,-0.85,-146.0,437.8,-10.3,140,2927,0.00,2.05,0.00,0.000,4,0.000,0.067,2578,3893,3635
$GC,2992,-0.85,-146.0,445.2,-9.9,141,2996,0.00,1.83,0.00,0.000,6,0.000,0.026,2585,2642,3634
$GC,3261,-0.85,-146.0,473.9,-11.0,148,3265,0.00,2.08,0.00,0.000,4,0.000,0.028,2587,1232,3632
$GC,3309,-0.85,-146.0,478.6,-9.1,149,3313,0.00,2.28,0.00,0.000,6,0.000,0.055,2578,2642,3632
$GC,3598,-0.85,-146.0,510.0,-11.1,156,3602,0.00,2.05,0.00,0.000,4,0.000,0.068,2568,3892,3629
$GC,3650,-0.85,-146.0,516.2,-10.4,157,3654,0.10,1.85,0.00,0.000,6,0.171,0.026,2598,2629,3629
$GC,3935,-0.85,-146.0,542.4,-9.2,164,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2622,3627
$GC,4179,-0.85,-146.0,566.0,-9.6,170,4182,0.00,2.05,0.00,0.000,4,0.000,0.029,2608,1241,3625
$GC,4222,-0.85,-146.0,569.7,-8.1,170,4228,0.00,2.28,0.00,0.000,6,0.000,0.054,2599,2637,3625
$GC,4474,-0.85,-146.0,592.0,-8.8,177,4477,0.00,2.08,0.00,0.000,4,0.000,0.067,2589,3895,3623
$GC,4498,-0.85,-146.0,594.2,-9.2,177,4502,0.00,1.85,0.00,0.000,6,0.000,0.028,2597,2643,3622
$STATE,4599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4600,begin apogee
$GC,4611,-0.32,0.0,602.9,8.3,180,4737,0.60,0.00,122.85,1.067,6,0.143,0.000,2774,2510,3040
$STATE,4737,end apogee,CONTROL_FINISHED_OK
$STATE,4737,begin climb
$GC,4742,0.85,146.0,608.2,0.0,183,4881,1.08,2.28,131.18,1.045,4,0.073,0.028,3162,1038,2444
$GC,4948,0.85,146.0,599.4,21.7,187,4954,0.00,2.30,0.00,0.000,6,0.000,0.045,3162,2480,2438
$GC,5200,0.85,146.0,543.2,22.4,194,5204,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1042,2434
$GC,5280,0.85,146.0,526.2,20.7,195,5284,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2482,2433
$GC,5533,0.85,146.0,476.4,19.2,201,5536,0.00,2.25,0.00,0.000,4,0.000,0.055,3162,3892,2430
$GC,5608,0.85,146.0,461.2,18.9,202,5611,0.00,2.15,0.00,0.000,6,0.000,0.027,3171,2459,2429
$GC,5870,0.85,146.0,414.8,17.1,209,5875,0.00,2.30,0.00,0.000,4,0.000,0.052,3162,3894,2428
$GC,5928,0.85,146.0,404.2,17.6,210,5932,0.00,2.12,0.00,0.000,6,0.000,0.028,3171,2473,2427
$GC,6202,0.85,146.0,357.1,16.9,217,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2468,2426
$GC,6447,0.85,146.0,320.1,15.0,223,6450,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3895,2425
$GC,6555,0.85,146.0,304.3,12.7,225,6559,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2468,2425
$GC,6829,0.85,146.0,272.1,12.3,232,6833,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1062,2424
$GC,7089,0.93,209.2,249.9,6.8,237,7149,0.00,2.22,52.90,0.834,6,0.000,0.044,3176,2485,2186
$GC,7403,0.93,209.2,191.2,22.2,246,7406,0.00,2.12,0.00,0.000,4,0.000,0.029,3185,1066,2179
$GC,7532,0.93,209.2,165.0,20.4,257,7539,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2480,2178
$GC,7795,0.93,209.2,115.8,18.0,282,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2480,2177
$GC,8061,0.93,209.2,72.5,16.3,307,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2480,2177
$GC,8327,0.93,209.2,31.9,14.2,332,8330,0.00,2.08,0.00,0.000,4,0.000,0.026,3185,1080,2177
$GC,8381,0.93,209.2,24.5,14.1,340,8389,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2483,2177
$STATE,8515,end climb,SURFACE_DEPTH_REACHED
$STATE,8515,begin surface coast
$FINISH,0.4,1.023711
$STATE,8538,end surface coast,CONTROL_FINISHED_OK
$STATE,8538,begin surface
$SM_CCo,8564,70.75,0.583,0,0,1612,350.04
$SM_GC,1.09,0.00,0.00,70.75,0.000,0.000,0.583,47,2640,1612,-8.86,0.00,350.04
$IRIDIUM_FIX,2244.02,-15756.28,270500,030334
$TT8_MAMPS,0.023777
$HUMID,1897
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.5,112.392
$10V_AH,10.6,65.678
$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,22.575,84.900,306.925,70.750,0.000,59.347,74.404,485.810,0.000,0.000,0.000,13.988,793.345,5876.357,426.982,1412.470,1017.404,33.366,1032.257,0.000,1404.687,0.000,0.545,0.000
$DEVICE_MAMPS,251.576,82.069,1066.897,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,248.892,553.136,570.139,126.823,524.816,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28882,368
$CAP_FILE_SIZE,77847,0
$CFSIZE,260165632,227614720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,030311,060725,2254.255,-15757.925,41,1.1,42,10.1