version: 66.04
glider: 512
mission: 1
dive: 905
start: 3 9 111 1 2 30
data:
$ID,512
$MISSION,1
$DIVE,905
$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,-25467.543
$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,61
$R_STBD_OVSHOOT,51
$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
$GPS1,005106,2246.503,-15757.196,20,1.2,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.7
$GPS2,010137,2246.464,-15757.272,11,1.2,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.224,-0.124
$KALMAN_X,-372594.4,259.7,654.8,395330.1,-441.5
$KALMAN_Y,-648878.3,-667.1,-226.6,772378.2,1875.3
$MHEAD_RNG_PITCHd_Wd,230.9,9830,-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,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.85,0.000,2,0.000,0.000,43,2692,3003
$GC,78,-0.85,-146.0,3.1,-4.5,7,110,11.32,2.20,-12.40,0.000,4,0.239,0.039,2609,1245,3638
$GC,237,-0.85,-146.0,38.6,-15.6,28,241,0.00,2.25,0.00,0.000,6,0.000,0.064,2600,2610,3640
$GC,502,-0.85,-146.0,102.2,-23.6,52,505,0.00,2.12,0.00,0.000,4,0.000,0.065,2589,3905,3640
$GC,596,-0.85,-146.0,120.3,-14.4,60,605,0.00,1.88,0.00,0.000,6,0.000,0.024,2596,2643,3640
$GC,862,-0.85,-146.0,168.1,-17.5,85,865,0.00,2.05,0.00,0.000,4,0.000,0.026,2606,1241,3641
$GC,934,-0.85,-146.0,178.9,-12.2,91,938,0.00,2.28,0.00,0.000,6,0.000,0.059,2597,2642,3641
$GC,1193,-0.85,-146.0,223.0,-17.7,106,1196,0.00,2.05,0.00,0.000,4,0.000,0.066,2586,3894,3642
$GC,1261,-0.85,-146.0,234.6,-14.1,107,1265,0.00,1.83,0.00,0.000,6,0.000,0.023,2593,2636,3642
$GC,1531,-0.85,-146.0,270.8,-12.9,114,1535,0.00,2.05,0.00,0.000,4,0.000,0.025,2604,1227,3642
$GC,1566,-0.85,-146.0,275.4,-10.7,114,1570,0.00,2.30,0.00,0.000,6,0.000,0.058,2594,2641,3642
$GC,1818,-0.85,-146.0,306.5,-13.0,120,1821,0.00,2.05,0.00,0.000,4,0.000,0.064,2584,3896,3642
$GC,1866,-0.85,-146.0,312.8,-12.4,121,1870,0.00,1.83,0.00,0.000,6,0.000,0.023,2591,2633,3642
$GC,2159,-0.85,-146.0,347.4,-11.2,128,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2625,3641
$GC,2401,-0.85,-146.0,372.9,-10.4,134,2405,0.00,2.10,0.00,0.000,4,0.000,0.063,2584,3897,3639
$GC,2449,-0.85,-146.0,377.7,-8.9,135,2452,0.00,1.83,0.00,0.000,6,0.000,0.024,2591,2638,3639
$GC,2741,-0.85,-146.0,407.9,-10.5,142,2744,0.00,2.05,0.00,0.000,4,0.000,0.027,2601,1244,3637
$GC,2759,-0.85,-146.0,410.0,-10.4,142,2763,0.00,2.25,0.00,0.000,6,0.000,0.053,2592,2645,3637
$GC,3035,-0.85,-146.0,435.5,-9.2,149,3039,0.00,2.08,0.00,0.000,4,0.000,0.067,2582,3901,3636
$GC,3072,-0.85,-146.0,439.0,-8.9,149,3076,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2638,3635
$GC,3332,-0.85,-146.0,462.2,-9.3,156,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2631,3634
$GC,3573,-0.85,-146.0,486.4,-9.9,162,3577,0.00,2.10,0.00,0.000,4,0.000,0.064,2582,3894,3632
$GC,3614,-0.85,-146.0,490.6,-10.0,162,3620,0.00,1.85,0.00,0.000,6,0.000,0.026,2589,2635,3631
$GC,3866,-0.85,-146.0,513.2,-8.9,169,3870,0.00,2.12,0.00,0.000,4,0.000,0.067,2581,3892,3629
$GC,3902,-0.85,-146.0,516.6,-9.4,169,3906,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2636,3629
$GC,4161,-0.85,-146.0,539.9,-9.1,176,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2631,3627
$GC,4406,-0.85,-146.0,563.1,-9.5,182,4409,0.00,2.08,0.00,0.000,4,0.000,0.030,2599,1242,3626
$GC,4424,-0.85,-146.0,565.3,-9.6,182,4428,0.00,2.25,0.00,0.000,6,0.000,0.053,2590,2639,3626
$GC,4693,-0.85,-146.0,590.2,-9.5,189,4697,0.00,2.08,0.00,0.000,4,0.000,0.067,2580,3894,3623
$GC,4728,-0.85,-146.0,593.9,-9.8,189,4732,0.00,1.85,0.00,0.000,6,0.000,0.028,2588,2640,3622
$STATE,4819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4819,begin apogee
$GC,4830,-0.32,0.0,603.1,9.7,192,4955,0.62,0.00,122.68,1.082,6,0.144,0.000,2772,2480,3040
$STATE,4956,end apogee,CONTROL_FINISHED_OK
$STATE,4956,begin climb
$GC,4962,0.85,146.0,609.7,0.0,195,5100,1.10,2.35,130.50,1.055,4,0.071,0.055,3150,3879,2443
$GC,5201,0.85,146.0,595.8,23.3,200,5205,0.00,2.17,0.00,0.000,6,0.000,0.028,3158,2438,2436
$GC,5459,0.85,146.0,539.6,21.6,207,5462,0.00,2.08,0.00,0.000,4,0.000,0.031,3169,1045,2433
$GC,5551,0.85,146.0,519.4,21.4,209,5555,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2454,2431
$GC,5837,0.85,146.0,463.9,18.8,216,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2455,2429
$GC,6080,0.85,146.0,420.0,18.0,222,6084,0.00,2.10,0.00,0.000,4,0.000,0.031,3171,1050,2428
$GC,6276,0.85,146.0,391.8,14.1,226,6280,0.00,2.28,0.00,0.000,6,0.000,0.048,3162,2475,2427
$GC,6550,0.85,146.0,347.8,16.5,233,6554,0.00,2.28,0.00,0.000,4,0.000,0.057,3162,3873,2425
$GC,6619,0.85,146.0,336.0,17.3,234,6623,0.00,2.12,0.00,0.000,6,0.000,0.027,3171,2455,2425
$GC,6889,0.85,146.0,298.4,14.3,241,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2449,2424
$GC,7132,0.88,164.8,274.7,8.8,247,7158,0.00,2.33,16.25,0.735,4,0.000,0.051,3162,3874,2367
$GC,7256,0.88,164.8,259.5,14.4,249,7262,0.00,2.12,0.00,0.000,6,0.000,0.028,3171,2466,2365
$GC,7509,0.88,164.8,228.2,11.9,256,7512,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1044,2364
$GC,7532,0.88,164.8,225.1,12.2,256,7536,0.00,2.25,0.00,0.000,6,0.000,0.043,3175,2471,2364
$GC,7790,0.88,164.8,191.7,13.1,265,7794,0.00,2.28,0.00,0.000,4,0.000,0.053,3175,3880,2363
$GC,8031,0.88,164.8,158.3,12.6,286,8035,0.00,2.12,0.00,0.000,6,0.000,0.026,3184,2455,2363
$GC,8302,0.88,164.8,131.1,10.4,311,8306,0.00,2.08,0.00,0.000,4,0.000,0.028,3195,1043,2363
$GC,8563,0.92,196.6,109.1,8.2,334,8605,0.00,2.25,30.25,0.654,6,0.000,0.041,3189,2470,2238
$GC,8871,0.92,196.6,71.8,13.7,362,8875,0.00,2.10,0.00,0.000,4,0.000,0.026,3197,1049,2235
$GC,9105,0.92,196.6,43.0,12.6,383,9114,0.00,2.22,0.00,0.000,6,0.000,0.040,3191,2457,2234
$GC,9374,0.92,196.6,8.0,13.5,423,9383,0.00,2.12,0.00,0.000,4,0.000,0.026,3200,1051,2234
$STATE,9410,end climb,SURFACE_DEPTH_REACHED
$STATE,9410,begin surface coast
$FINISH,0.4,1.023701
$STATE,9433,end surface coast,CONTROL_FINISHED_OK
$STATE,9433,begin surface
$SM_CCo,9462,84.03,0.595,0,0,1612,350.04
$SM_GC,1.28,0.00,0.00,84.03,0.000,0.000,0.595,50,2648,1612,-8.84,0.20,350.04
$IRIDIUM_FIX,2239.35,-15757.16,010600,222259
$TT8_MAMPS,0.02301
$HUMID,1846
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,23.6,118.694
$10V_AH,10.6,70.316
$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,22.125,97.650,299.675,84.025,0.000,29.354,34.949,405.846,0.500,0.000,0.000,16.406,913.043,6289.642,440.830,1665.286,870.602,33.367,1119.244,0.000,1649.506,0.000,0.544,0.000
$DEVICE_MAMPS,238.537,67.496,1082.237,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,293.350,688.073,708.510,158.271,653.463,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35272,433
$CAP_FILE_SIZE,83639,0
$CFSIZE,260165632,225456128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,24,2,0
$GPS,090311,034258,2245.686,-15758.271,14,3.9,34,10.1