version: 66.04
glider: 512
mission: 1
dive: 856
start: 3 3 111 11 33 57
data:
$ID,512
$MISSION,1
$DIVE,856
$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,-24438.832
$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,54
$R_STBD_OVSHOOT,40
$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
$GPS1,112352,2253.492,-15756.833,11,9.1,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-76.3
$GPS2,113301,2253.443,-15756.958,46,1.0,46,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.073,-0.246
$KALMAN_X,-327585.4,460.5,98.2,351217.5,-4005.9
$KALMAN_Y,-602268.1,139.5,149.6,737489.5,-3258.2
$MHEAD_RNG_PITCHd_Wd,153.4,12019,-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,-52.78,0.000,2,0.000,0.000,46,2662,2996
$GC,77,-0.85,-146.0,3.5,-5.8,7,110,11.73,2.17,-12.02,0.000,4,0.250,0.039,2601,1232,3636
$GC,167,-0.85,-146.0,30.8,-22.0,21,172,0.00,2.30,0.00,0.000,6,0.000,0.064,2592,2617,3637
$GC,433,-0.85,-146.0,95.9,-24.2,45,436,0.00,2.12,0.00,0.000,4,0.000,0.070,2582,3907,3638
$GC,473,-0.85,-146.0,106.1,-22.8,48,481,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2651,3639
$GC,739,-0.85,-146.0,153.2,-17.8,73,742,0.00,2.08,0.00,0.000,4,0.000,0.027,2599,1225,3640
$GC,812,-0.85,-146.0,164.4,-11.7,79,819,0.00,2.35,0.00,0.000,6,0.000,0.061,2590,2637,3640
$GC,1084,-0.85,-146.0,207.1,-15.4,102,1088,0.00,2.08,0.00,0.000,4,0.000,0.025,2598,1225,3641
$GC,1113,-0.85,-146.0,211.5,-13.6,102,1117,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2656,3641
$GC,1370,-0.85,-146.0,246.5,-14.2,109,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2656,3641
$GC,1613,-0.85,-146.0,280.1,-13.8,115,1617,0.00,2.10,0.00,0.000,4,0.000,0.026,2597,1228,3641
$GC,1682,-0.85,-146.0,288.1,-9.9,116,1687,0.00,2.28,0.00,0.000,6,0.000,0.059,2589,2633,3641
$GC,1953,-0.85,-146.0,322.3,-12.8,123,1956,0.00,2.10,0.00,0.000,4,0.000,0.071,2579,3902,3641
$GC,1987,-0.85,-146.0,326.5,-11.1,123,1991,0.00,1.88,0.00,0.000,6,0.000,0.024,2587,2631,3640
$GC,2245,-0.85,-146.0,353.4,-10.7,130,2249,0.00,2.03,0.00,0.000,4,0.000,0.027,2596,1238,3640
$GC,2286,-0.85,-146.0,357.8,-9.3,130,2293,0.00,2.28,0.00,0.000,6,0.000,0.055,2587,2636,3640
$GC,2538,-0.85,-146.0,384.9,-11.0,137,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2636,3638
$GC,2781,-0.85,-146.0,410.6,-10.5,143,2785,0.00,2.08,0.00,0.000,4,0.000,0.028,2596,1229,3637
$GC,2813,-0.85,-146.0,413.7,-10.5,143,2817,0.00,2.28,0.00,0.000,6,0.000,0.054,2587,2646,3637
$GC,3070,-0.85,-146.0,439.0,-10.1,150,3074,0.00,2.05,0.00,0.000,4,0.000,0.068,2577,3899,3635
$GC,3127,-0.85,-146.0,445.0,-9.8,151,3131,0.00,1.85,0.00,0.000,6,0.000,0.025,2585,2635,3634
$GC,3407,-0.85,-146.0,472.5,-9.9,158,3410,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,1241,3632
$GC,3459,-0.85,-146.0,477.1,-7.6,159,3464,0.00,2.28,0.00,0.000,6,0.000,0.056,2577,2647,3632
$GC,3741,-0.85,-146.0,503.3,-9.4,166,3744,0.00,2.05,0.00,0.000,4,0.000,0.069,2568,3892,3630
$GC,3793,-0.85,-146.0,508.7,-9.2,167,3797,0.10,1.85,0.00,0.000,6,0.170,0.026,2598,2624,3630
$GC,4079,-0.85,-146.0,533.3,-9.0,174,4082,0.00,2.03,0.00,0.000,4,0.000,0.029,2608,1238,3627
$GC,4108,-0.85,-146.0,536.2,-9.4,174,4112,0.00,2.25,0.00,0.000,6,0.000,0.051,2599,2642,3627
$GC,4367,-0.85,-146.0,557.7,-8.3,181,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2642,3625
$GC,4610,-0.85,-146.0,576.2,-7.4,187,4614,0.00,2.10,0.00,0.000,4,0.000,0.030,2608,1245,3624
$GC,4628,-0.85,-146.0,577.6,-7.1,187,4633,0.00,2.30,0.00,0.000,6,0.000,0.058,2599,2647,3624
$GC,4897,-0.85,-146.0,596.2,-7.2,194,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2648,3622
$STATE,4975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4975,begin apogee
$GC,4985,-0.32,0.0,602.3,7.3,196,5111,0.60,0.00,122.68,1.062,6,0.143,0.000,2775,2516,3041
$STATE,5112,end apogee,CONTROL_FINISHED_OK
$STATE,5112,begin climb
$GC,5117,0.85,146.0,607.3,0.0,199,5256,1.08,2.38,131.52,1.048,4,0.071,0.066,3150,3894,2442
$GC,5465,0.85,146.0,565.4,23.5,207,5470,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2450,2435
$GC,5752,0.85,146.0,505.0,20.9,214,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2448,2431
$GC,5995,0.85,146.0,456.0,19.7,220,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2448,2429
$GC,6239,0.85,146.0,411.1,18.1,226,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2448,2428
$GC,6482,0.85,146.0,368.2,17.5,232,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2448,2427
$GC,6726,0.85,146.0,330.1,15.2,238,6730,0.00,2.08,0.00,0.000,4,0.000,0.030,3170,1063,2425
$GC,6805,0.85,146.0,319.6,13.8,239,6809,0.00,2.25,0.00,0.000,6,0.000,0.045,3163,2481,2425
$GC,7057,0.85,146.0,290.6,10.1,245,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2481,2423
$GC,7304,0.85,146.0,264.5,11.0,251,7308,0.00,2.10,0.00,0.000,4,0.000,0.031,3171,1075,2423
$GC,7564,0.90,184.1,239.4,7.9,256,7600,0.00,2.22,31.25,0.815,6,0.000,0.044,3163,2485,2288
$GC,7859,0.90,184.1,193.8,16.8,264,7862,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1059,2282
$GC,8055,0.90,184.1,163.0,15.8,281,8059,0.00,2.25,0.00,0.000,6,0.000,0.042,3162,2485,2280
$GC,8321,0.90,184.1,122.8,11.5,305,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2485,2280
$GC,8585,0.91,191.0,94.8,9.3,330,8598,0.00,0.00,5.65,0.545,6,0.000,0.000,3163,2485,2264
$GC,8856,0.91,191.0,63.9,12.1,355,8859,0.00,2.10,0.00,0.000,4,0.000,0.027,3171,1056,2263
$GC,8937,0.91,191.0,54.4,9.7,362,8941,0.00,2.22,0.00,0.000,6,0.000,0.041,3163,2483,2264
$GC,9201,0.91,191.0,28.7,10.8,387,9210,0.00,2.28,0.00,0.000,4,0.000,0.051,3162,3892,2263
$STATE,9400,end climb,SURFACE_DEPTH_REACHED
$STATE,9400,begin surface coast
$FINISH,1.8,1.023723
$STATE,9407,end surface coast,CONTROL_FINISHED_OK
$STATE,9407,begin surface
$SM_CCo,9435,91.28,0.581,0,0,1612,350.04
$SM_GC,1.19,0.00,0.00,91.28,0.000,0.000,0.581,47,2612,1612,-8.85,-0.79,350.04
$IRIDIUM_FIX,2246.36,-15758.45,270500,080846
$TT8_MAMPS,0.023777
$HUMID,1862
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.5,112.759
$10V_AH,10.6,65.939
$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,22.475,81.350,291.100,91.275,0.000,27.702,32.273,304.623,0.000,0.000,0.000,46.910,873.150,6476.986,437.848,1562.932,732.265,33.369,1056.493,0.000,1531.579,0.000,0.541,0.000
$DEVICE_MAMPS,250.042,70.564,1061.528,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,287.371,658.370,679.285,154.614,632.551,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35125,424
$CAP_FILE_SIZE,77491,0
$CFSIZE,260165632,227491840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,1
$GPS,030311,141406,2252.095,-15757.419,36,1.6,37,10.1