version: 66.04
glider: 512
mission: 1
dive: 859
start: 3 3 111 20 3 3
data:
$ID,512
$MISSION,1
$DIVE,859
$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,-24504.986
$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,62
$R_STBD_OVSHOOT,39
$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
$GPS1,194646,2249.832,-15757.073,10,6.6,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.6
$GPS2,200207,2249.891,-15757.098,33,1.4,33,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.229,-0.115
$KALMAN_X,-331637.0,697.6,661.0,354222.6,-3569.2
$KALMAN_Y,-601048.0,1374.9,584.1,728016.8,-1758.2
$MHEAD_RNG_PITCHd_Wd,106.6,5487,-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,-52.85,0.000,2,0.000,0.000,50,2672,2984
$GC,78,-0.85,-146.0,3.0,-4.2,7,110,11.80,1.98,-12.73,0.000,4,0.251,0.069,2585,3862,3637
$GC,147,-0.85,-146.0,25.2,-31.4,17,155,0.00,1.83,0.00,0.000,6,0.000,0.025,2591,2653,3638
$GC,422,-0.85,-146.0,91.1,-20.9,43,426,0.00,2.10,0.00,0.000,4,0.000,0.028,2601,1221,3639
$GC,449,-0.85,-146.0,96.7,-19.9,45,453,0.00,2.28,0.00,0.000,6,0.000,0.061,2592,2623,3639
$GC,718,-0.85,-146.0,146.6,-17.2,70,722,0.00,2.05,0.00,0.000,4,0.000,0.027,2600,1225,3640
$GC,778,-0.85,-146.0,155.7,-12.6,75,783,0.00,2.33,0.00,0.000,6,0.000,0.063,2590,2638,3640
$GC,1045,-0.85,-146.0,196.3,-15.0,99,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2638,3641
$GC,1318,-0.85,-146.0,235.3,-14.2,108,1322,0.00,2.08,0.00,0.000,4,0.000,0.026,2599,1225,3640
$GC,1342,-0.85,-146.0,239.2,-15.8,108,1346,0.00,2.30,0.00,0.000,6,0.000,0.059,2589,2641,3640
$GC,1610,-0.85,-146.0,277.2,-14.8,115,1614,0.00,2.08,0.00,0.000,4,0.000,0.069,2579,3907,3640
$GC,1674,-0.85,-146.0,286.1,-12.2,116,1678,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2617,3640
$GC,1948,-0.85,-146.0,321.9,-13.2,123,1952,0.00,2.00,0.00,0.000,4,0.000,0.026,2597,1239,3640
$GC,1983,-0.85,-146.0,326.2,-10.5,123,1987,0.00,2.28,0.00,0.000,6,0.000,0.057,2590,2638,3640
$GC,2235,-0.85,-146.0,354.7,-11.4,129,2238,0.00,2.08,0.00,0.000,4,0.000,0.067,2579,3905,3639
$GC,2298,-0.85,-146.0,361.5,-9.8,130,2302,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2633,3639
$GC,2572,-0.85,-146.0,389.3,-10.0,137,2576,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1232,3636
$GC,2608,-0.85,-146.0,392.7,-8.5,137,2612,0.00,2.28,0.00,0.000,6,0.000,0.055,2589,2646,3637
$GC,2865,-0.85,-146.0,416.9,-9.7,144,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3635
$GC,3109,-0.85,-146.0,441.5,-10.0,150,3112,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1224,3634
$GC,3157,-0.85,-146.0,445.7,-7.8,151,3162,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2648,3634
$GC,3445,-0.85,-146.0,475.0,-10.8,158,3448,0.00,2.03,0.00,0.000,4,0.000,0.066,2579,3896,3631
$GC,3474,-0.85,-146.0,478.7,-11.9,158,3478,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2639,3630
$GC,3737,-0.85,-146.0,507.3,-11.0,165,3741,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1228,3629
$GC,3791,-0.85,-146.0,512.9,-9.0,166,3795,0.00,2.30,0.00,0.000,6,0.000,0.057,2590,2639,3628
$GC,4070,-0.85,-146.0,542.4,-10.6,173,4074,0.00,2.08,0.00,0.000,4,0.000,0.068,2580,3895,3626
$GC,4100,-0.85,-146.0,545.8,-11.7,173,4104,0.00,1.85,0.00,0.000,6,0.000,0.028,2587,2639,3625
$GC,4363,-0.85,-146.0,573.1,-10.3,180,4367,0.00,2.05,0.00,0.000,4,0.000,0.030,2587,1242,3624
$GC,4412,-0.85,-146.0,577.7,-9.3,181,4417,0.00,2.28,0.00,0.000,6,0.000,0.058,2578,2642,3623
$STATE,4653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4653,begin apogee
$GC,4664,-0.32,0.0,601.2,9.4,187,4789,0.68,0.00,122.28,1.059,6,0.152,0.000,2771,2509,3040
$STATE,4790,end apogee,CONTROL_FINISHED_OK
$STATE,4790,begin climb
$GC,4795,0.85,146.0,606.1,0.0,190,4933,1.10,2.33,130.77,1.046,4,0.081,0.058,3150,3891,2443
$GC,5001,0.85,146.0,596.2,22.8,194,5007,0.00,2.17,0.00,0.000,6,0.000,0.027,3159,2452,2437
$GC,5255,0.85,146.0,540.3,21.7,201,5259,0.00,2.05,0.00,0.000,4,0.000,0.029,3169,1072,2433
$GC,5341,0.85,146.0,521.9,20.0,202,5347,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2478,2432
$GC,5592,0.85,146.0,473.4,19.3,209,5596,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1070,2429
$GC,5611,0.85,146.0,469.9,18.8,209,5615,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2489,2429
$GC,5886,0.85,146.0,419.2,17.8,216,5889,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1069,2428
$GC,5999,0.85,146.0,399.2,16.0,218,6003,0.00,2.22,0.00,0.000,6,0.000,0.045,3163,2481,2427
$GC,6262,0.85,146.0,356.1,16.1,225,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2481,2425
$GC,6506,0.85,146.0,321.4,14.1,231,6510,0.00,2.28,0.00,0.000,4,0.000,0.056,3162,3897,2424
$GC,6670,0.85,146.0,292.9,16.6,234,6674,0.00,2.12,0.00,0.000,6,0.000,0.028,3171,2474,2424
$GC,6935,0.85,146.0,261.2,10.6,241,6939,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3895,2423
$GC,6953,0.87,158.4,259.4,9.1,241,6968,0.00,2.12,8.23,0.745,6,0.000,0.025,3172,2452,2396
$GC,7226,0.87,158.4,228.7,11.4,248,7230,0.00,2.35,0.00,0.000,4,0.000,0.054,3163,3902,2393
$GC,7486,0.87,158.4,196.7,12.2,253,7492,0.00,2.10,0.00,0.000,6,0.000,0.028,3172,2490,2392
$GC,7750,0.87,158.4,168.4,10.9,278,7754,0.00,2.25,0.00,0.000,4,0.000,0.048,3163,3900,2392
$GC,8013,0.87,158.4,141.4,11.0,301,8016,0.00,2.10,0.00,0.000,6,0.000,0.025,3172,2471,2392
$GC,8282,0.97,241.2,121.8,5.9,326,8360,0.00,2.12,72.07,0.706,4,0.000,0.027,3182,1065,2056
$GC,8464,0.97,241.2,91.5,21.7,341,8468,0.00,2.22,0.00,0.000,6,0.000,0.041,3175,2478,2050
$GC,8729,0.97,241.2,37.4,19.9,365,8733,0.00,2.28,0.00,0.000,4,0.000,0.054,3175,3899,2048
$GC,8764,0.97,241.2,29.3,22.2,367,8772,0.00,2.12,0.00,0.000,6,0.000,0.025,3184,2483,2047
$STATE,8883,end climb,SURFACE_DEPTH_REACHED
$STATE,8883,begin surface coast
$FINISH,0.4,1.023757
$STATE,8899,end surface coast,CONTROL_FINISHED_OK
$STATE,8900,begin surface
$SM_CCo,8925,50.80,0.592,0,0,1613,350.04
$SM_GC,1.71,0.00,0.00,50.80,0.000,0.000,0.592,46,2665,1613,-8.86,0.71,350.04
$IRIDIUM_FIX,2241.69,-15759.32,270500,191908
$TT8_MAMPS,0.023777
$HUMID,1908
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.6,113.155
$10V_AH,10.6,66.205
$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,22.500,98.600,333.350,50.800,0.000,58.130,72.900,546.199,0.250,0.000,0.000,33.092,837.567,6065.695,421.776,1520.755,1057.056,33.369,1077.932,0.000,1490.884,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,69.030,1059.227,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.202,604.891,623.886,126.794,521.042,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31933,391
$CAP_FILE_SIZE,82488,0
$CFSIZE,260165632,227360768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,030311,223406,2248.617,-15756.360,40,1.1,41,10.1