version: 66.04
glider: 512
mission: 1
dive: 900
start: 3 8 111 10 55 28
data:
$ID,512
$MISSION,1
$DIVE,900
$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,-25348.551
$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,46
$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
$GPS1,104747,2251.406,-15755.157,12,3.1,32,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.6
$GPS2,105436,2251.439,-15755.136,20,1.4,30,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.043,-0.253
$KALMAN_X,-374614.2,423.1,520.5,400994.0,-2720.7
$KALMAN_Y,-655669.9,743.2,578.7,786141.8,-779.7
$MHEAD_RNG_PITCHd_Wd,160.4,9397,-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,-52.70,0.000,2,0.000,0.000,47,2681,3002
$GC,77,-0.85,-146.0,3.8,-5.8,7,110,11.35,2.22,-11.75,0.000,4,0.241,0.042,2604,1226,3638
$GC,203,-0.85,-146.0,37.9,-17.6,24,211,0.00,2.40,0.00,0.000,6,0.000,0.076,2594,2613,3640
$GC,468,-0.85,-146.0,104.0,-24.3,49,472,0.00,2.17,0.00,0.000,4,0.000,0.077,2584,3905,3640
$GC,531,-0.85,-146.0,119.0,-18.5,54,539,0.00,1.90,0.00,0.000,6,0.000,0.025,2592,2638,3641
$GC,797,-0.85,-146.0,169.3,-19.9,79,800,0.00,2.08,0.00,0.000,4,0.000,0.031,2602,1238,3642
$GC,836,-0.85,-146.0,177.2,-16.2,82,843,0.00,2.38,0.00,0.000,6,0.000,0.067,2593,2643,3642
$GC,1115,-0.85,-146.0,218.2,-13.7,100,1119,0.00,2.10,0.00,0.000,4,0.000,0.030,2601,1238,3643
$GC,1156,-0.85,-146.0,223.8,-11.6,100,1163,0.00,2.38,0.00,0.000,6,0.000,0.068,2592,2643,3643
$GC,1408,-0.85,-146.0,260.4,-15.2,107,1412,0.00,2.12,0.00,0.000,4,0.000,0.078,2582,3902,3643
$GC,1487,-0.85,-146.0,270.1,-9.7,108,1491,0.00,1.88,0.00,0.000,6,0.000,0.024,2589,2625,3643
$GC,1745,-0.85,-146.0,301.4,-12.6,115,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2618,3644
$GC,1990,-0.85,-146.0,331.5,-11.6,121,1994,0.00,2.08,0.00,0.000,4,0.000,0.031,2599,1232,3643
$GC,2003,-0.85,-146.0,333.1,-10.9,121,2007,0.00,2.33,0.00,0.000,6,0.000,0.063,2590,2647,3643
$GC,2277,-0.85,-146.0,363.8,-11.6,128,2280,0.00,2.10,0.00,0.000,4,0.000,0.077,2581,3890,3642
$GC,2317,-0.85,-146.0,368.7,-10.9,128,2323,0.00,1.85,0.00,0.000,6,0.000,0.025,2588,2628,3642
$GC,2570,-0.85,-146.0,394.8,-10.3,135,2573,0.00,2.08,0.00,0.000,4,0.000,0.032,2598,1242,3640
$GC,2599,-0.85,-146.0,397.7,-9.5,135,2604,0.00,2.33,0.00,0.000,6,0.000,0.065,2589,2639,3640
$GC,2857,-0.85,-146.0,421.9,-9.7,142,2860,0.00,2.10,0.00,0.000,4,0.000,0.074,2580,3894,3638
$GC,2892,-0.85,-146.0,425.7,-10.3,142,2895,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2640,3637
$GC,3150,-0.85,-146.0,454.5,-11.9,149,3154,0.00,2.10,0.00,0.000,4,0.000,0.033,2597,1240,3636
$GC,3185,-0.85,-146.0,458.8,-11.0,149,3189,0.00,2.35,0.00,0.000,6,0.000,0.066,2589,2646,3636
$GC,3437,-0.85,-146.0,485.9,-10.8,155,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2647,3634
$GC,3682,-0.85,-146.0,508.2,-8.9,161,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3632
$GC,3925,-0.85,-146.0,531.0,-9.5,167,3929,0.00,2.15,0.00,0.000,4,0.000,0.034,2597,1231,3631
$GC,3955,-0.85,-146.0,534.1,-9.5,167,3959,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2646,3630
$GC,4217,-0.85,-146.0,560.8,-10.6,174,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3628
$GC,4461,-0.85,-146.0,586.0,-10.2,180,4465,0.00,2.12,0.00,0.000,4,0.000,0.034,2595,1245,3626
$GC,4502,-0.85,-146.0,590.0,-9.2,180,4509,0.00,2.38,0.00,0.000,6,0.000,0.068,2590,2636,3626
$STATE,4627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4627,begin apogee
$GC,4638,-0.32,0.0,601.4,8.7,184,4764,0.62,0.00,122.88,1.065,6,0.141,0.000,2773,2476,3040
$STATE,4765,end apogee,CONTROL_FINISHED_OK
$STATE,4765,begin climb
$GC,4770,0.85,146.0,607.0,0.0,187,4917,1.08,2.45,132.25,1.036,4,0.072,0.062,3150,3876,2442
$GC,5180,0.85,146.0,552.4,23.3,196,5184,0.00,2.15,0.00,0.000,6,0.000,0.027,3160,2445,2435
$GC,5461,0.85,146.0,494.4,20.0,203,5465,0.00,2.30,0.00,0.000,4,0.000,0.050,3151,3879,2430
$GC,5598,0.85,146.0,466.3,20.4,206,5602,0.00,2.15,0.00,0.000,6,0.000,0.028,3159,2456,2430
$GC,5883,0.85,146.0,413.9,17.6,213,5887,0.00,2.10,0.00,0.000,4,0.000,0.030,3170,1042,2428
$GC,5913,0.85,146.0,408.7,16.7,213,5917,0.00,2.25,0.00,0.000,6,0.000,0.047,3162,2463,2428
$GC,6176,0.85,146.0,364.9,17.2,220,6180,0.00,2.28,0.00,0.000,4,0.000,0.054,3162,3873,2426
$GC,6194,0.85,146.0,361.5,18.0,220,6198,0.00,2.12,0.00,0.000,6,0.000,0.026,3171,2457,2426
$GC,6471,0.85,146.0,317.2,15.4,227,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2451,2425
$GC,6712,0.85,146.0,284.7,12.3,233,6716,0.00,2.30,0.00,0.000,4,0.000,0.053,3163,3873,2424
$GC,6927,0.87,161.1,257.5,8.9,237,6943,0.00,2.12,10.98,0.781,6,0.000,0.026,3172,2444,2383
$GC,7218,0.87,161.1,229.1,10.0,245,7222,0.00,2.30,0.00,0.000,4,0.000,0.050,3163,3876,2381
$GC,7326,0.87,161.1,215.1,11.0,247,7330,0.00,2.10,0.00,0.000,6,0.000,0.026,3172,2464,2381
$GC,7588,0.87,161.1,182.6,11.0,261,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2457,2380
$GC,7854,0.90,179.1,157.2,8.8,286,7875,0.00,0.00,16.08,0.715,6,0.000,0.000,3172,2457,2313
$GC,8133,0.90,179.1,118.0,13.5,312,8136,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1059,2311
$GC,8193,0.90,179.1,111.5,11.9,317,8197,0.00,2.20,0.00,0.000,6,0.000,0.040,3176,2470,2310
$GC,8458,0.90,179.1,83.2,10.6,341,8462,0.00,2.22,0.00,0.000,4,0.000,0.049,3176,3871,2310
$GC,8617,0.90,179.1,66.5,10.6,355,8621,0.00,2.08,0.00,0.000,6,0.000,0.024,3185,2459,2310
$GC,8888,0.99,254.4,44.6,6.3,380,8965,0.00,2.35,65.30,0.625,4,0.000,0.046,3176,3875,2000
$GC,9067,0.99,254.4,14.7,24.5,400,9076,0.00,2.15,0.00,0.000,6,0.000,0.025,3184,2472,1999
$STATE,9108,end climb,SURFACE_DEPTH_REACHED
$STATE,9109,begin surface coast
$FINISH,0.4,1.023738
$STATE,9121,end surface coast,CONTROL_FINISHED_OK
$STATE,9121,begin surface
$SM_CCo,9147,48.12,0.581,0,0,1613,350.04
$SM_GC,1.88,0.00,0.00,48.12,0.000,0.000,0.581,50,2665,1613,-8.84,0.71,350.04
$IRIDIUM_FIX,2244.02,-15758.45,010600,080820
$TT8_MAMPS,0.023777
$HUMID,1899
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.6,118.009
$10V_AH,10.6,69.837
$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,22.075,91.950,347.475,48.125,0.000,26.429,33.067,176.441,0.000,0.000,0.000,30.768,847.146,6154.705,438.762,1557.109,608.662,33.368,1102.936,0.000,1527.661,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,78.234,1065.363,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.924,643.133,661.191,140.916,587.391,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35055,409
$CAP_FILE_SIZE,77174,0
$CFSIZE,260165632,225677312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,1
$GPS,080311,133006,2250.208,-15754.822,35,1.3,36,10.1