version: 66.04
glider: 512
mission: 1
dive: 880
start: 3 6 111 5 44 46
data:
$ID,512
$MISSION,1
$DIVE,880
$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,-24924.887
$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,59
$R_STBD_OVSHOOT,37
$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
$GPS1,053239,2252.419,-15804.123,11,2.1,31,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.8
$GPS2,054354,2252.375,-15804.236,32,0.9,42,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.089,0.240
$KALMAN_X,-347971.0,467.6,-44.7,359209.4,-2546.5
$KALMAN_Y,-634697.0,47.3,234.8,767951.1,-3199.8
$MHEAD_RNG_PITCHd_Wd,10.2,15050,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.20,0.000,2,0.000,0.000,43,2660,2780
$GC,70,-0.85,-146.0,3.0,-4.2,6,110,11.50,2.15,-17.98,0.000,4,0.244,0.040,2598,1239,3639
$GC,120,-0.85,-146.0,15.3,-25.3,12,129,0.00,2.30,0.00,0.000,6,0.000,0.059,2589,2616,3640
$GC,387,-0.85,-146.0,83.7,-25.8,42,391,0.00,2.12,0.00,0.000,4,0.000,0.071,2579,3901,3640
$GC,435,-0.85,-146.0,94.8,-21.4,46,438,0.00,1.85,0.00,0.000,6,0.000,0.024,2586,2639,3641
$GC,706,-0.85,-146.0,146.2,-19.2,71,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2632,3642
$GC,970,-0.85,-146.0,194.5,-17.3,96,974,0.00,2.10,0.00,0.000,4,0.000,0.067,2578,3902,3642
$GC,996,-0.85,-146.0,198.8,-17.2,98,1000,0.00,1.85,0.00,0.000,6,0.000,0.024,2585,2626,3642
$GC,1253,-0.85,-146.0,242.6,-17.2,105,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2619,3643
$GC,1499,-0.85,-146.0,280.3,-15.1,111,1503,0.00,2.17,0.00,0.000,4,0.000,0.074,2576,3902,3643
$GC,1546,-0.85,-146.0,287.9,-14.5,112,1550,0.00,1.85,0.00,0.000,6,0.000,0.024,2584,2632,3644
$GC,1838,-0.85,-146.0,326.9,-13.1,119,1841,0.00,2.05,0.00,0.000,4,0.000,0.026,2593,1223,3643
$GC,1907,-0.85,-146.0,334.0,-7.9,120,1911,0.00,2.30,0.00,0.000,6,0.000,0.056,2589,2644,3643
$GC,2176,-0.85,-146.0,362.2,-10.7,127,2179,0.00,2.08,0.00,0.000,4,0.000,0.068,2580,3905,3642
$GC,2244,-0.85,-146.0,369.9,-10.5,128,2248,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2636,3642
$GC,2513,-0.85,-146.0,401.4,-12.0,135,2517,0.00,2.05,0.00,0.000,4,0.000,0.026,2597,1238,3640
$GC,2583,-0.85,-146.0,408.7,-9.5,136,2587,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2645,3640
$GC,2846,-0.85,-146.0,438.2,-11.3,143,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3638
$GC,3092,-0.85,-146.0,465.4,-11.1,149,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3636
$GC,3333,-0.85,-146.0,490.1,-9.9,155,3337,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1232,3635
$GC,3387,-0.85,-146.0,494.5,-7.8,156,3392,0.00,2.28,0.00,0.000,6,0.000,0.051,2589,2643,3635
$GC,3668,-0.85,-146.0,518.9,-8.8,163,3671,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3894,3632
$GC,3693,-0.85,-146.0,521.2,-9.0,163,3697,0.00,1.85,0.00,0.000,6,0.000,0.028,2586,2639,3632
$GC,3963,-0.85,-146.0,544.9,-8.9,170,3967,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1239,3630
$GC,3993,-0.85,-146.0,547.5,-8.6,170,3997,0.00,2.28,0.00,0.000,6,0.000,0.055,2590,2637,3630
$GC,4256,-0.85,-146.0,568.7,-8.1,177,4260,0.00,2.08,0.00,0.000,4,0.000,0.069,2580,3894,3628
$GC,4304,-0.85,-146.0,572.8,-8.0,178,4308,0.00,1.85,0.00,0.000,6,0.000,0.029,2587,2643,3627
$GC,4596,-0.85,-146.0,599.0,-9.3,185,4599,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1229,3626
$STATE,4604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4617,-0.32,0.0,600.6,9.5,185,4743,0.60,0.00,122.68,1.068,6,0.144,0.000,2770,2464,3040
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4748,0.85,146.0,607.3,0.0,188,4886,1.10,2.22,130.25,1.053,4,0.078,0.029,3161,1058,2443
$GC,5103,0.85,146.0,576.4,19.3,196,5107,0.00,2.22,0.00,0.000,6,0.000,0.047,3161,2466,2435
$GC,5390,0.85,146.0,518.2,20.4,203,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2466,2431
$GC,5632,0.85,146.0,471.3,19.2,209,5636,0.00,2.10,0.00,0.000,4,0.000,0.030,3171,1058,2429
$GC,5757,0.85,146.0,447.2,18.6,211,5761,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2469,2429
$GC,6011,0.85,146.0,401.4,18.3,217,6014,0.00,2.10,0.00,0.000,4,0.000,0.030,3171,1061,2427
$GC,6220,0.85,146.0,367.8,14.5,221,6224,0.00,2.20,0.00,0.000,6,0.000,0.043,3163,2464,2426
$GC,6479,0.85,146.0,329.6,14.6,228,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2465,2425
$GC,6722,0.85,146.0,299.6,12.6,234,6726,0.00,2.25,0.00,0.000,4,0.000,0.051,3162,3872,2424
$GC,6751,0.85,146.0,295.3,14.9,234,6755,0.00,2.10,0.00,0.000,6,0.000,0.028,3171,2473,2423
$GC,7017,0.85,146.0,266.3,10.8,241,7020,0.00,2.25,0.00,0.000,4,0.000,0.051,3163,3871,2423
$GC,7046,0.85,146.0,263.4,9.6,241,7050,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2438,2422
$GC,7309,0.89,173.8,241.9,8.4,248,7344,0.00,2.38,23.77,0.758,4,0.000,0.051,3163,3873,2330
$GC,7599,0.89,173.8,197.8,15.9,254,7603,0.00,2.10,0.00,0.000,6,0.000,0.026,3172,2462,2328
$GC,7870,0.89,173.8,162.3,12.1,278,7874,0.00,2.30,0.00,0.000,4,0.000,0.050,3163,3881,2326
$GC,8135,0.89,173.8,128.1,11.8,301,8139,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2448,2326
$GC,8405,0.91,193.4,104.2,8.7,326,8430,0.00,2.10,17.90,0.662,4,0.000,0.026,3182,1055,2251
$GC,8478,0.91,193.4,97.1,10.9,332,8482,0.00,2.20,0.00,0.000,6,0.000,0.040,3175,2470,2250
$GC,8744,0.91,193.4,64.7,12.5,356,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2470,2249
$GC,9009,0.91,193.4,33.6,13.8,381,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2470,2249
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9214,begin surface coast
$FINISH,0.5,1.011048
$STATE,9232,end surface coast,CONTROL_FINISHED_OK
$STATE,9232,begin surface
$SM_CCo,9258,83.22,0.587,0,0,1612,350.04
$SM_GC,1.35,0.00,0.00,83.22,0.000,0.000,0.587,49,2648,1612,-8.85,0.23,350.04
$IRIDIUM_FIX,2244.02,-15801.49,300500,050554
$TT8_MAMPS,0.023777
$HUMID,1852
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.6,115.727
$10V_AH,10.6,68.122
$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,22.250,84.950,294.600,83.225,0.000,54.711,79.346,286.640,0.250,0.000,0.000,46.728,887.563,6250.361,422.913,1656.328,801.267,33.364,1090.425,0.000,1618.865,0.000,0.544,0.000
$DEVICE_MAMPS,243.906,74.399,1067.664,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,284.569,663.338,682.830,153.701,629.136,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35095,420
$CAP_FILE_SIZE,81209,0
$CFSIZE,260165632,226488320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,060311,082155,2252.968,-15804.224,40,1.5,41,10.1