version: 66.04
glider: 512
mission: 2
dive: 9
start: 8 13 111 4 58 16
data:
$ID,512
$MISSION,2
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,270
$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,52072
$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,420
$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,-32665.373
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2890
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,044049,2142.423,-15809.216,12,1.4,29,9.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-76.8
$GPS2,045726,2142.341,-15809.338,19,1.9,19,9.9
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,FIRST
$TGT_LATLONG,2145.500,-15813.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.144,0.217
$KALMAN_X,5777.2,402.1,-476.8,-5732.7,366.5
$KALMAN_Y,12.1,482.1,-602.1,2248.9,-1006.0
$MHEAD_RNG_PITCHd_Wd,316.5,8597,-17.5,-10.025
$D_GRID,400
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-83.07,0.000,2,0.000,0.000,45,2733,3374
$GC,110,-0.76,-146.0,4.2,-8.5,11,126,8.65,1.67,-1.83,0.000,4,0.199,0.048,2422,3888,3486
$GC,208,-0.76,-146.0,32.0,-3.2,23,212,0.00,1.73,0.00,0.000,6,0.000,0.023,2430,2678,3487
$GC,479,-0.76,-146.0,56.6,-9.4,48,483,0.00,1.92,0.00,0.000,4,0.000,0.025,2435,1321,3487
$GC,572,-0.76,-146.0,64.9,-9.2,56,576,0.00,2.03,0.00,0.000,6,0.000,0.036,2435,2684,3487
$GC,844,-0.76,-146.0,89.9,-9.5,81,847,0.00,1.83,0.00,0.000,4,0.000,0.047,2432,3899,3488
$GC,916,-0.76,-146.0,96.4,-9.0,87,919,0.00,1.67,0.00,0.000,6,0.000,0.024,2438,2700,3488
$GC,1186,-0.76,-146.0,116.4,-7.3,112,1190,0.00,1.95,0.00,0.000,4,0.000,0.025,2446,1325,3489
$GC,1234,-0.76,-146.0,119.7,-7.3,116,1238,0.00,2.05,0.00,0.000,6,0.000,0.036,2446,2703,3489
$GC,1507,-0.76,-146.0,137.6,-8.0,141,1510,0.00,1.98,0.00,0.000,4,0.000,0.025,2446,1310,3489
$GC,1534,-0.76,-146.0,139.7,-7.6,143,1538,0.00,2.05,0.00,0.000,6,0.000,0.037,2446,2700,3489
$GC,1806,-0.76,-146.0,159.7,-6.9,168,1809,0.00,1.77,0.00,0.000,4,0.000,0.046,2445,3890,3489
$GC,1870,-0.76,-146.0,164.7,-9.3,173,1877,0.00,1.70,0.00,0.000,6,0.000,0.024,2446,2690,3489
$GC,2134,-0.76,-146.0,184.5,-7.1,198,2138,0.00,1.92,0.00,0.000,4,0.000,0.025,2446,1327,3489
$GC,2184,-0.76,-146.0,188.2,-7.8,202,2188,0.00,2.03,0.00,0.000,6,0.000,0.035,2446,2703,3489
$GC,2481,-0.76,-146.0,207.4,-6.1,221,2485,0.00,1.77,0.00,0.000,4,0.000,0.048,2446,3888,3489
$GC,2539,-0.76,-146.0,211.5,-8.4,222,2543,0.00,1.65,0.00,0.000,6,0.000,0.023,2446,2699,3488
$GC,2820,-0.76,-146.0,232.2,-8.1,229,2824,0.00,1.85,0.00,0.000,4,0.000,0.047,2446,3887,3488
$GC,2879,-0.76,-146.0,237.6,-10.1,230,2883,0.00,1.67,0.00,0.000,6,0.000,0.023,2452,2701,3488
$GC,3160,-0.76,-146.0,259.7,-7.4,237,3164,0.00,1.98,0.00,0.000,4,0.000,0.025,2452,1300,3487
$GC,3190,-0.76,-146.0,261.5,-5.8,237,3194,0.00,2.10,0.00,0.000,6,0.000,0.037,2452,2709,3487
$GC,3454,-0.76,-146.0,277.5,-6.2,244,3458,0.00,2.03,0.00,0.000,4,0.000,0.026,2452,1299,3485
$GC,3473,-0.76,-146.0,278.9,-6.5,244,3477,0.00,2.08,0.00,0.000,6,0.000,0.038,2452,2702,3486
$GC,3750,-0.76,-146.0,296.1,-6.5,251,3753,0.00,1.80,0.00,0.000,4,0.000,0.049,2452,3903,3484
$GC,3768,-0.76,-146.0,297.3,-6.1,251,3772,0.00,1.73,0.00,0.000,6,0.000,0.025,2452,2699,3484
$GC,4046,-0.76,-146.0,312.5,-5.2,258,4049,0.00,1.98,0.00,0.000,4,0.000,0.026,2461,1316,3483
$GC,4064,-0.76,-146.0,313.8,-5.9,258,4068,0.00,2.08,0.00,0.000,6,0.000,0.038,2461,2704,3482
$GC,4339,-0.76,-146.0,330.4,-6.3,265,4343,0.00,1.80,0.00,0.000,4,0.000,0.051,2461,3894,3480
$GC,4404,-0.76,-146.0,334.4,-6.2,266,4407,0.00,1.67,0.00,0.000,6,0.000,0.024,2471,2705,3479
$GC,4679,-0.76,-146.0,350.7,-5.8,273,4682,0.00,1.83,0.00,0.000,4,0.000,0.051,2471,3888,3477
$GC,4742,-0.76,-146.0,354.9,-5.4,274,4746,0.00,1.67,0.00,0.000,6,0.000,0.025,2478,2703,3477
$GC,5019,-0.76,-146.0,370.0,-5.7,281,5024,0.12,2.00,-0.05,0.000,4,0.125,0.042,2447,1312,3493
$GC,5038,-0.76,-146.0,371.3,-5.9,281,5042,0.00,2.10,0.00,0.000,6,0.000,0.040,2447,2709,3493
$GC,5314,-0.76,-146.0,389.9,-7.1,288,5318,0.00,1.80,0.00,0.000,4,0.000,0.052,2448,3898,3491
$GC,5350,-0.76,-146.0,392.6,-7.3,288,5354,0.00,1.73,0.00,0.000,6,0.000,0.026,2452,2707,3491
$STATE,5481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5481,begin apogee
$GC,5493,-0.27,0.0,401.9,6.6,292,5614,0.40,0.00,118.75,0.922,6,0.044,0.000,2626,2621,2889
$STATE,5615,end apogee,CONTROL_FINISHED_OK
$STATE,5615,begin climb
$GC,5620,0.76,146.0,413.6,0.0,295,5752,0.82,2.20,123.32,0.890,4,0.043,0.027,2960,1220,2293
$GC,5986,0.76,146.0,344.8,25.2,303,5990,0.00,2.12,0.00,0.000,6,0.000,0.035,2957,2626,2283
$GC,6261,0.76,146.0,273.3,25.8,310,6264,0.00,1.92,0.00,0.000,4,0.000,0.044,2957,3898,2281
$GC,6347,0.76,146.0,254.0,22.0,311,6353,0.00,1.85,0.00,0.000,6,0.000,0.027,2965,2625,2280
$GC,6599,0.76,146.0,205.8,18.6,318,6603,0.00,2.03,0.00,0.000,4,0.000,0.028,2976,1208,2279
$GC,6651,0.76,146.0,196.4,18.1,319,6659,0.10,2.15,0.00,0.000,6,0.232,0.035,2945,2633,2278
$GC,6921,0.76,146.0,154.6,16.2,344,6924,0.00,1.90,0.00,0.000,4,0.000,0.044,2944,3899,2277
$GC,6936,0.76,146.0,151.2,16.5,345,6940,0.00,1.85,0.00,0.000,6,0.000,0.028,2952,2629,2277
$GC,7206,0.76,146.0,111.2,11.9,370,7209,0.00,1.90,0.00,0.000,4,0.000,0.039,2944,3901,2276
$GC,7321,0.76,146.0,98.1,11.8,380,7324,0.00,1.85,0.00,0.000,6,0.000,0.026,2952,2608,2276
$GC,7592,0.84,207.2,81.4,7.2,405,7650,0.00,2.05,46.90,0.663,4,0.000,0.040,2953,3902,2044
$GC,7894,0.84,207.2,7.9,26.5,439,7902,0.00,1.88,0.00,0.000,6,0.000,0.025,2961,2624,2039
$STATE,7913,end climb,SURFACE_DEPTH_REACHED
$STATE,7913,begin surface coast
$FINISH,0.0,1.023187
$STATE,7926,end surface coast,CONTROL_FINISHED_OK
$STATE,7926,begin surface
$SM_CCo,7952,91.50,0.578,0,0,1176,420.19
$SM_GC,1.00,0.00,0.00,91.50,0.000,0.000,0.578,45,2708,1176,-8.27,0.23,420.19
$IRIDIUM_FIX,2134.17,-15808.47,061100,040400
$TT8_MAMPS,0.023777
$HUMID,2156
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,9
$24V_AH,24.6,1.412
$10V_AH,10.9,1.469
$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,17.625,87.475,288.975,91.500,0.000,78.702,163.374,470.414,2.250,0.000,0.000,19.308,902.798,4930.520,428.212,1675.926,1106.271,33.325,1074.187,0.000,1667.225,0.000,0.545,0.000
$DEVICE_MAMPS,232.401,87.438,921.934,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,298.876,816.254,836.554,159.677,732.630,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38403,444
$CAP_FILE_SIZE,83198,0
$CFSIZE,260165632,217092096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,130811,071337,2142.431,-15809.480,28,1.5,29,9.9