version: 66.04
glider: 512
mission: 1
dive: 901
start: 3 8 111 13 57 57
data:
$ID,512
$MISSION,1
$DIVE,901
$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,-25382.082
$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,39
$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
$GPS1,133006,2250.208,-15754.822,35,1.3,36,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-76.8
$GPS2,135701,2250.148,-15754.751,21,1.2,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.026,-0.255
$KALMAN_X,-374495.7,580.6,586.3,401312.6,-2031.4
$KALMAN_Y,-653968.8,662.7,-157.6,782873.1,558.4
$MHEAD_RNG_PITCHd_Wd,175.7,7816,-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,-52.75,0.000,2,0.000,0.000,45,2665,3014
$GC,77,-0.85,-146.0,3.7,-5.4,7,110,11.27,2.20,-11.45,0.000,4,0.236,0.041,2607,1213,3639
$GC,212,-0.85,-146.0,38.6,-15.2,24,216,0.00,2.30,0.00,0.000,6,0.000,0.060,2598,2613,3640
$GC,476,-0.85,-146.0,98.2,-23.2,48,480,0.00,2.10,0.00,0.000,4,0.000,0.064,2587,3907,3640
$GC,572,-0.85,-146.0,117.0,-15.8,56,580,0.00,1.90,0.00,0.000,6,0.000,0.025,2595,2630,3641
$GC,836,-0.85,-146.0,163.7,-18.8,81,839,0.00,2.05,0.00,0.000,4,0.000,0.025,2605,1221,3641
$GC,872,-0.85,-146.0,170.1,-16.7,84,876,0.00,2.33,0.00,0.000,6,0.000,0.057,2596,2647,3641
$GC,1153,-0.85,-146.0,213.9,-15.2,104,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2647,3641
$GC,1396,-0.85,-146.0,254.9,-16.6,110,1400,0.00,2.05,0.00,0.000,4,0.000,0.069,2586,3903,3641
$GC,1430,-0.85,-146.0,260.5,-15.1,110,1434,0.00,1.85,0.00,0.000,6,0.000,0.023,2593,2629,3641
$GC,1688,-0.85,-146.0,294.7,-12.9,117,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2621,3641
$GC,1932,-0.85,-146.0,326.7,-12.9,123,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2621,3640
$GC,2177,-0.85,-146.0,351.8,-10.1,129,2181,0.00,2.15,0.00,0.000,4,0.000,0.069,2585,3903,3639
$GC,2207,-0.85,-146.0,355.1,-10.7,129,2211,0.00,1.88,0.00,0.000,6,0.000,0.025,2593,2642,3638
$GC,2471,-0.85,-146.0,382.4,-10.7,136,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2635,3637
$GC,2714,-0.85,-146.0,411.3,-12.1,142,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2635,3635
$GC,2958,-0.85,-146.0,440.7,-12.0,148,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2635,3633
$GC,3203,-0.85,-146.0,464.0,-8.9,154,3207,0.00,2.08,0.00,0.000,4,0.000,0.029,2603,1241,3630
$GC,3222,-0.85,-146.0,466.0,-8.7,154,3226,0.00,2.30,0.00,0.000,6,0.000,0.058,2594,2652,3630
$GC,3494,-0.85,-146.0,490.7,-9.7,161,3497,0.00,2.10,0.00,0.000,4,0.000,0.076,2584,3894,3628
$GC,3531,-0.85,-146.0,494.8,-10.4,161,3534,0.00,1.85,0.00,0.000,6,0.000,0.027,2591,2638,3627
$GC,3790,-0.85,-146.0,521.9,-10.6,168,3793,0.00,2.08,0.00,0.000,4,0.000,0.030,2601,1242,3625
$GC,3819,-0.85,-146.0,525.3,-10.4,168,3823,0.00,2.28,0.00,0.000,6,0.000,0.054,2593,2644,3625
$GC,4083,-0.85,-146.0,550.8,-9.7,175,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2644,3623
$GC,4327,-0.85,-146.0,573.6,-9.4,181,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2643,3621
$GC,4570,-0.85,-146.0,594.2,-8.2,187,4574,0.00,2.12,0.00,0.000,4,0.000,0.031,2601,1239,3619
$GC,4612,-0.85,-146.0,597.5,-7.6,187,4618,0.00,2.28,0.00,0.000,6,0.000,0.053,2591,2641,3619
$STATE,4656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4656,begin apogee
$GC,4667,-0.32,0.0,601.0,7.5,189,4791,0.62,0.00,120.85,1.058,6,0.144,0.000,2774,2485,3040
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4792,begin climb
$GC,4797,0.85,146.0,606.5,0.0,192,4943,1.10,2.30,131.25,1.035,4,0.075,0.028,3165,1023,2442
$GC,5028,0.85,146.0,598.2,20.3,197,5032,0.00,2.30,0.00,0.000,6,0.000,0.047,3162,2459,2437
$GC,5296,0.85,146.0,542.2,20.7,204,5300,0.00,2.12,0.00,0.000,4,0.000,0.030,3171,1032,2432
$GC,5443,0.85,146.0,512.2,20.0,207,5447,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2465,2432
$GC,5717,0.85,146.0,455.4,20.3,214,5721,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1025,2429
$GC,5775,0.85,146.0,443.3,18.9,215,5779,0.00,2.28,0.00,0.000,6,0.000,0.043,3162,2460,2429
$GC,6055,0.85,146.0,394.9,16.3,222,6058,0.00,2.12,0.00,0.000,4,0.000,0.030,3171,1027,2427
$GC,6130,0.85,146.0,382.4,16.6,223,6134,0.00,2.30,0.00,0.000,6,0.000,0.048,3162,2460,2427
$GC,6392,0.85,146.0,340.6,16.1,230,6396,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1035,2425
$GC,6583,0.85,146.0,316.1,12.4,234,6587,0.00,2.25,0.00,0.000,6,0.000,0.042,3163,2467,2425
$GC,6865,0.85,146.0,282.0,12.3,241,6869,0.00,2.28,0.00,0.000,4,0.000,0.054,3162,3879,2423
$GC,7091,0.85,146.0,253.7,9.8,246,7095,0.00,2.17,0.00,0.000,6,0.000,0.027,3172,2429,2422
$GC,7377,0.93,207.9,232.1,6.9,253,7442,0.00,2.42,52.92,0.795,4,0.000,0.054,3162,3865,2191
$GC,7518,0.93,207.9,207.4,23.1,256,7521,0.00,2.12,0.00,0.000,6,0.000,0.025,3171,2460,2188
$GC,7789,0.93,207.9,151.6,17.5,279,7793,0.00,2.10,0.00,0.000,4,0.000,0.028,3183,1042,2184
$GC,7816,0.93,207.9,146.8,18.7,281,7820,0.00,2.25,0.00,0.000,6,0.000,0.046,3176,2455,2184
$GC,8082,0.93,207.9,99.4,18.0,305,8085,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1042,2183
$GC,8122,0.93,207.9,92.5,15.2,308,8131,0.00,2.28,0.00,0.000,6,0.000,0.045,3176,2457,2183
$GC,8388,0.93,207.9,52.7,14.4,333,8392,0.00,2.30,0.00,0.000,4,0.000,0.054,3176,3880,2183
$GC,8400,0.93,207.9,50.6,13.3,333,8408,0.00,2.15,0.00,0.000,6,0.000,0.025,3186,2448,2183
$GC,8669,0.93,207.9,8.8,16.1,369,8678,0.00,2.33,0.00,0.000,4,0.000,0.051,3176,3872,2183
$STATE,8705,end climb,SURFACE_DEPTH_REACHED
$STATE,8705,begin surface coast
$FINISH,0.3,1.023751
$STATE,8723,end surface coast,CONTROL_FINISHED_OK
$STATE,8723,begin surface
$SM_CCo,8751,78.82,0.611,0,0,1612,350.04
$SM_GC,1.13,0.00,0.00,78.82,0.000,0.000,0.611,51,2619,1612,-8.84,-0.59,350.04
$IRIDIUM_FIX,2241.69,-15757.16,010600,131339
$TT8_MAMPS,0.023777
$HUMID,1899
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.6,118.173
$10V_AH,10.6,69.933
$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,22.075,86.725,305.025,78.825,0.000,142.712,210.313,814.164,0.250,0.000,0.000,32.902,805.091,6192.350,439.446,1428.096,1586.564,33.373,1046.365,0.000,1411.857,0.000,0.544,0.000
$DEVICE_MAMPS,236.236,75.933,1057.693,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.147,571.129,591.833,132.298,538.726,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31968,378
$CAP_FILE_SIZE,86873,0
$CFSIZE,260165632,225624064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,080311,162637,2248.874,-15755.127,41,1.4,41,10.1