version: 66.04
glider: 512
mission: 1
dive: 950
start: 3 13 111 8 10 13
data:
$ID,512
$MISSION,1
$DIVE,950
$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,-26438.455
$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,80
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,080107,2254.936,-15801.986,27,1.4,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.8
$GPS2,080920,2254.971,-15802.028,11,1.5,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.173,0.189
$KALMAN_X,-374571.0,1166.9,-349.2,389231.0,-2873.6
$KALMAN_Y,-664876.7,27.3,513.0,802672.0,-2184.0
$MHEAD_RNG_PITCHd_Wd,32.5,11466,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,77,0.00,0.00,-52.72,0.000,2,0.000,0.000,40,2591,2948
$GC,83,-0.85,-146.0,3.6,-5.9,7,115,11.25,2.22,-12.30,0.000,4,0.238,0.078,2581,3892,3598
$GC,176,-0.85,-146.0,33.2,-26.2,21,184,0.00,1.83,0.00,0.000,6,0.000,0.023,2589,2675,3599
$GC,440,-0.85,-146.0,100.7,-25.0,46,444,0.00,2.12,0.00,0.000,4,0.000,0.025,2599,1228,3601
$GC,480,-0.85,-146.0,108.8,-20.7,49,484,0.00,2.35,0.00,0.000,6,0.000,0.064,2590,2634,3600
$GC,746,-0.85,-146.0,164.6,-19.9,73,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2634,3601
$GC,1026,-0.85,-146.0,216.6,-18.3,94,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2634,3603
$GC,1270,-0.85,-146.0,258.7,-17.0,100,1274,0.00,2.10,0.00,0.000,4,0.000,0.068,2580,3899,3603
$GC,1312,-0.85,-146.0,265.7,-16.4,100,1318,0.00,1.88,0.00,0.000,6,0.000,0.023,2587,2635,3603
$GC,1564,-0.85,-146.0,300.0,-13.6,107,1568,0.00,2.05,0.00,0.000,4,0.000,0.025,2598,1236,3604
$GC,1599,-0.85,-146.0,304.3,-11.0,107,1603,0.00,2.33,0.00,0.000,6,0.000,0.058,2589,2637,3604
$GC,1856,-0.85,-146.0,334.7,-12.3,114,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2637,3604
$GC,2100,-0.85,-146.0,365.8,-12.8,120,2104,0.00,2.10,0.00,0.000,4,0.000,0.068,2580,3902,3603
$GC,2141,-0.85,-146.0,371.1,-11.5,120,2148,0.00,1.88,0.00,0.000,6,0.000,0.024,2587,2640,3602
$GC,2393,-0.85,-146.0,400.2,-11.8,127,2397,0.00,2.08,0.00,0.000,4,0.000,0.026,2597,1225,3600
$GC,2423,-0.85,-146.0,403.6,-10.9,127,2427,0.00,2.35,0.00,0.000,6,0.000,0.055,2590,2660,3601
$GC,2681,-0.85,-146.0,430.7,-10.8,134,2684,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3895,3599
$GC,2733,-0.85,-146.0,436.7,-10.4,135,2737,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2635,3598
$GC,3021,-0.85,-146.0,465.4,-9.9,142,3024,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1243,3597
$GC,3051,-0.85,-146.0,468.5,-9.6,142,3055,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2643,3596
$GC,3315,-0.85,-146.0,493.2,-9.5,149,3319,0.00,2.12,0.00,0.000,4,0.000,0.071,2580,3906,3594
$GC,3372,-0.85,-146.0,499.2,-9.8,150,3376,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2640,3593
$GC,3653,-0.85,-146.0,527.5,-10.3,157,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3592
$GC,3897,-0.85,-146.0,552.2,-10.0,163,3901,0.00,2.17,0.00,0.000,4,0.000,0.071,2579,3905,3590
$GC,3932,-0.85,-146.0,555.9,-10.2,163,3936,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2639,3589
$GC,4190,-0.85,-146.0,578.4,-8.8,170,4194,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1225,3588
$GC,4226,-0.85,-146.0,581.6,-7.9,170,4230,0.00,2.33,0.00,0.000,6,0.000,0.056,2589,2644,3588
$STATE,4440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4440,begin apogee
$GC,4452,-0.32,0.0,601.4,9.6,176,4578,0.62,0.00,122.57,1.065,6,0.147,0.000,2769,2490,3000
$STATE,4579,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4584,0.85,146.0,607.9,0.0,179,4727,1.12,2.30,131.35,1.034,4,0.071,0.031,3168,1030,2404
$GC,4830,0.85,146.0,590.9,22.1,185,4834,0.00,2.33,0.00,0.000,6,0.000,0.049,3163,2469,2397
$GC,5100,0.85,146.0,526.0,24.0,192,5103,0.00,2.17,0.00,0.000,4,0.000,0.028,3172,1023,2392
$GC,5113,0.85,146.0,522.4,23.8,192,5117,0.00,2.33,0.00,0.000,6,0.000,0.048,3172,2469,2393
$GC,5388,0.85,146.0,460.2,22.6,199,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2469,2390
$GC,5631,0.85,146.0,412.7,19.0,205,5634,0.00,2.15,0.00,0.000,4,0.000,0.027,3181,1029,2389
$GC,5643,0.85,146.0,410.1,18.5,205,5647,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2465,2389
$GC,5924,0.85,146.0,359.1,18.0,212,5927,0.00,2.15,0.00,0.000,4,0.000,0.028,3184,1031,2386
$GC,6072,0.85,146.0,333.8,16.2,215,6076,0.00,2.30,0.00,0.000,6,0.000,0.043,3176,2472,2386
$GC,6347,0.85,146.0,290.4,16.0,222,6350,0.00,2.17,0.00,0.000,4,0.000,0.028,3185,1026,2385
$GC,6607,0.85,146.0,260.8,12.2,227,6611,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2456,2385
$GC,6859,0.85,146.0,231.9,11.8,233,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2456,2383
$GC,7105,0.85,146.0,205.0,10.7,239,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2456,2383
$GC,7355,0.85,146.0,180.9,10.2,257,7359,0.00,2.33,0.00,0.000,4,0.000,0.057,3176,3872,2382
$GC,7535,0.85,146.0,161.1,9.8,272,7538,0.00,2.15,0.00,0.000,6,0.000,0.025,3185,2422,2381
$GC,7806,0.85,146.0,132.9,11.1,297,7810,0.00,2.35,0.00,0.000,4,0.000,0.048,3176,3886,2381
$GC,7871,0.87,161.3,126.6,8.9,302,7888,0.00,2.12,10.50,0.649,6,0.000,0.024,3185,2440,2343
$GC,8157,0.94,214.7,103.8,7.2,328,8211,0.00,2.08,46.95,0.676,4,0.000,0.025,3195,1066,2124
$GC,8230,0.94,214.7,95.0,16.6,334,8239,0.00,2.25,0.00,0.000,6,0.000,0.042,3189,2461,2122
$GC,8496,0.94,214.7,41.9,19.5,359,8500,0.00,2.10,0.00,0.000,4,0.000,0.026,3197,1060,2119
$GC,8525,0.94,214.7,36.4,19.4,361,8529,0.00,2.20,0.00,0.000,6,0.000,0.039,3191,2466,2119
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8699,begin surface coast
$FINISH,0.3,1.023574
$STATE,8711,end surface coast,CONTROL_FINISHED_OK
$STATE,8711,begin surface
$SM_CCo,8737,69.97,0.592,0,0,1572,350.04
$SM_GC,1.34,0.00,0.00,69.97,0.000,0.000,0.592,47,2673,1572,-8.85,0.90,350.04
$IRIDIUM_FIX,2246.36,-15803.66,060600,050514
$TT8_MAMPS,0.023777
$HUMID,1891
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.7,123.931
$10V_AH,10.6,74.070
$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,21.925,86.550,311.375,69.975,0.000,31.130,35.066,268.262,0.250,0.000,0.000,11.758,809.945,5935.105,431.829,1398.544,728.412,33.361,1028.435,0.000,1397.373,0.000,0.544,0.000
$DEVICE_MAMPS,237.770,78.234,1064.596,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,263.957,611.194,629.055,128.960,531.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32050,391
$CAP_FILE_SIZE,73225,0
$CFSIZE,260165632,223686656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,130311,103825,2255.931,-15801.252,35,1.7,36,10.1