version: 66.04
glider: 512
mission: 1
dive: 879
start: 3 6 111 2 55 53
data:
$ID,512
$MISSION,1
$DIVE,879
$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,-24877.529
$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,50
$R_STBD_OVSHOOT,47
$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
$GPS1,024125,2252.166,-15804.395,41,1.2,41,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.0
$GPS2,025501,2252.031,-15804.522,17,1.8,23,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.139,0.215
$KALMAN_X,-347257.3,568.8,227.4,357639.4,-3626.0
$KALMAN_Y,-632708.4,337.6,-70.9,765332.9,-3019.2
$MHEAD_RNG_PITCHd_Wd,22.8,15632,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.17,0.000,2,0.000,0.000,42,2680,2772
$GC,73,-0.85,-146.0,3.1,-4.4,6,106,11.55,0.00,-18.08,0.000,6,0.245,0.000,2592,2680,3638
$GC,373,-0.85,-146.0,84.2,-25.8,40,377,0.00,2.15,0.00,0.000,4,0.000,0.027,2603,1232,3640
$GC,414,-0.85,-146.0,94.0,-19.7,43,421,0.00,2.35,0.00,0.000,6,0.000,0.071,2593,2608,3640
$GC,678,-0.85,-146.0,143.7,-18.7,68,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2609,3641
$GC,943,-0.85,-146.0,188.6,-16.9,93,947,0.00,2.15,0.00,0.000,4,0.000,0.072,2583,3902,3642
$GC,981,-0.85,-146.0,195.2,-16.6,96,985,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2634,3642
$GC,1259,-0.85,-146.0,240.2,-16.5,105,1263,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1223,3642
$GC,1283,-0.85,-146.0,243.9,-14.7,105,1287,0.00,2.30,0.00,0.000,6,0.000,0.056,2591,2641,3643
$GC,1552,-0.85,-146.0,278.7,-12.7,112,1555,0.00,2.08,0.00,0.000,4,0.000,0.067,2581,3907,3643
$GC,1593,-0.85,-146.0,283.9,-11.7,112,1599,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2623,3643
$GC,1846,-0.85,-146.0,313.2,-11.9,119,1850,0.00,2.03,0.00,0.000,4,0.000,0.026,2598,1233,3642
$GC,1910,-0.85,-146.0,320.1,-9.4,120,1914,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2649,3642
$GC,2178,-0.85,-146.0,352.4,-12.6,127,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2651,3642
$GC,2422,-0.85,-146.0,381.9,-12.0,133,2425,0.00,2.10,0.00,0.000,4,0.000,0.027,2598,1238,3640
$GC,2457,-0.85,-146.0,386.0,-11.2,133,2461,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2644,3639
$GC,2710,-0.85,-146.0,412.2,-10.5,139,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2644,3638
$GC,2952,-0.85,-146.0,439.0,-11.1,145,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2644,3636
$GC,3198,-0.85,-146.0,466.0,-11.1,151,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3635
$GC,3440,-0.85,-146.0,490.5,-9.9,157,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3633
$GC,3685,-0.85,-146.0,512.9,-9.1,163,3689,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1238,3631
$GC,3715,-0.85,-146.0,515.7,-8.8,163,3719,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2638,3631
$GC,3979,-0.85,-146.0,538.1,-8.7,170,3983,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3895,3629
$GC,4014,-0.85,-146.0,541.6,-9.3,170,4017,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2629,3628
$GC,4272,-0.85,-146.0,564.6,-9.1,177,4276,0.00,2.05,0.00,0.000,4,0.000,0.029,2597,1235,3626
$GC,4307,-0.85,-146.0,568.0,-8.9,177,4311,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2646,3626
$GC,4559,-0.85,-146.0,591.6,-9.7,183,4563,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3894,3624
$GC,4594,-0.85,-146.0,595.4,-9.7,183,4598,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2628,3624
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4655,-0.32,0.0,600.4,9.8,185,4780,0.62,0.00,122.55,1.052,6,0.150,0.000,2768,2480,3040
$STATE,4781,end apogee,CONTROL_FINISHED_OK
$STATE,4781,begin climb
$GC,4786,0.85,146.0,606.7,0.0,188,4925,1.10,2.38,130.15,1.048,4,0.072,0.054,3150,3873,2443
$GC,5189,0.85,146.0,556.0,22.9,197,5193,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2438,2434
$GC,5481,0.85,146.0,499.0,18.4,204,5485,0.00,2.08,0.00,0.000,4,0.000,0.030,3170,1037,2431
$GC,5524,0.85,146.0,491.4,17.3,204,5530,0.00,2.25,0.00,0.000,6,0.000,0.047,3162,2458,2431
$GC,5777,0.85,146.0,444.6,19.1,211,5780,0.00,2.10,0.00,0.000,4,0.000,0.030,3171,1051,2429
$GC,5891,0.85,146.0,425.2,17.0,213,5895,0.00,2.25,0.00,0.000,6,0.000,0.048,3163,2463,2428
$GC,6153,0.85,146.0,382.6,15.7,220,6157,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1050,2426
$GC,6202,0.85,146.0,374.8,17.4,221,6206,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2471,2426
$GC,6489,0.85,146.0,331.9,15.0,228,6493,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1040,2425
$GC,6749,0.85,146.0,301.2,9.7,233,6753,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2463,2425
$GC,7007,0.85,146.0,274.6,10.6,240,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2464,2424
$GC,7251,0.85,146.0,247.3,11.6,246,7255,0.00,2.25,0.00,0.000,4,0.000,0.052,3162,3870,2423
$GC,7512,0.87,155.9,220.7,9.2,251,7524,0.00,2.10,6.22,0.654,6,0.000,0.025,3172,2450,2404
$GC,7773,0.87,155.9,192.9,12.2,261,7777,0.00,2.28,0.00,0.000,4,0.000,0.049,3162,3872,2403
$GC,7829,0.87,155.9,185.2,13.4,265,7837,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2458,2402
$GC,8094,0.87,155.9,154.4,13.2,290,8098,0.00,2.28,0.00,0.000,4,0.000,0.048,3163,3879,2402
$GC,8356,0.89,172.2,126.5,8.9,313,8381,0.00,2.10,16.05,0.683,6,0.000,0.025,3172,2457,2336
$GC,8642,0.89,172.2,95.7,10.2,339,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2457,2334
$GC,8908,1.00,264.4,76.9,5.5,364,8995,0.00,0.00,78.55,0.660,6,0.000,0.000,3172,2457,1962
$STATE,9251,end climb,SURFACE_DEPTH_REACHED
$STATE,9251,begin surface coast
$FINISH,0.5,1.023703
$STATE,9263,end surface coast,CONTROL_FINISHED_OK
$STATE,9263,begin surface
$SM_CCo,9289,38.70,0.589,0,0,1613,350.04
$SM_GC,1.88,0.00,0.00,38.70,0.000,0.000,0.589,48,2654,1613,-8.85,0.40,350.04
$IRIDIUM_FIX,2246.36,-15803.66,300500,020237
$TT8_MAMPS,0.023777
$HUMID,1914
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.6,115.606
$10V_AH,10.6,68.026
$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,22.075,77.550,353.525,38.700,0.000,85.528,204.825,233.407,0.500,0.000,0.000,23.183,846.158,6429.087,419.569,1538.781,911.713,33.363,1072.460,0.000,1525.242,0.000,0.544,0.000
$DEVICE_MAMPS,244.673,72.098,1051.557,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.176,634.142,651.011,134.157,549.170,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32089,408
$CAP_FILE_SIZE,77179,0
$CFSIZE,260165632,226537472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,060311,053239,2252.419,-15804.123,11,2.1,31,10.1