version: 66.04
glider: 512
mission: 1
dive: 883
start: 3 6 111 13 48 41
data:
$ID,512
$MISSION,1
$DIVE,883
$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,-24985.932
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,134125,2252.865,-15803.834,39,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.9
$GPS2,134749,2252.833,-15803.892,16,1.3,33,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.247,0.068
$KALMAN_X,-352333.9,169.1,47.9,364374.9,-3070.1
$KALMAN_Y,-640453.6,359.8,20.5,774459.5,-3556.0
$MHEAD_RNG_PITCHd_Wd,64.6,14371,-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,-52.58,0.000,2,0.000,0.000,42,2658,3006
$GC,77,-0.85,-146.0,3.8,-5.9,7,110,11.80,2.17,-11.45,0.000,4,0.252,0.040,2606,1214,3639
$GC,157,-0.85,-146.0,28.7,-21.9,19,165,0.00,2.40,0.00,0.000,6,0.000,0.068,2597,2625,3641
$GC,421,-0.85,-146.0,90.0,-23.8,44,425,0.00,2.10,0.00,0.000,4,0.000,0.071,2587,3893,3641
$GC,494,-0.85,-146.0,106.9,-16.3,50,502,0.00,1.88,0.00,0.000,6,0.000,0.025,2595,2637,3641
$GC,760,-0.85,-146.0,152.5,-16.7,75,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2630,3643
$GC,1026,-0.85,-146.0,196.1,-15.3,100,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2630,3644
$GC,1299,-0.85,-146.0,234.2,-13.4,109,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2629,3645
$GC,1542,-0.85,-146.0,264.3,-12.0,115,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2629,3645
$GC,1788,-0.85,-146.0,293.5,-12.0,121,1792,0.00,2.08,0.00,0.000,4,0.000,0.027,2605,1224,3645
$GC,1829,-0.85,-146.0,298.4,-10.3,121,1835,0.00,2.30,0.00,0.000,6,0.000,0.054,2595,2648,3645
$GC,2080,-0.85,-146.0,327.3,-11.8,128,2084,0.00,2.05,0.00,0.000,4,0.000,0.064,2586,3904,3645
$GC,2128,-0.85,-146.0,332.9,-11.1,129,2131,0.00,1.88,0.00,0.000,6,0.000,0.025,2593,2618,3645
$GC,2422,-0.85,-146.0,365.0,-10.9,136,2426,0.00,2.03,0.00,0.000,4,0.000,0.028,2603,1242,3644
$GC,2474,-0.85,-146.0,370.5,-7.6,137,2478,0.00,2.28,0.00,0.000,6,0.000,0.055,2594,2638,3644
$GC,2754,-0.85,-146.0,397.5,-10.0,144,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2639,3642
$GC,2998,-0.85,-146.0,422.4,-10.3,150,3002,0.00,2.08,0.00,0.000,4,0.000,0.028,2603,1243,3640
$GC,3040,-0.85,-146.0,426.6,-9.1,150,3047,0.00,2.28,0.00,0.000,6,0.000,0.055,2593,2635,3640
$GC,3292,-0.85,-146.0,451.2,-9.9,157,3295,0.00,2.08,0.00,0.000,4,0.000,0.067,2583,3889,3638
$GC,3326,-0.85,-146.0,454.9,-10.0,157,3330,0.00,1.85,0.00,0.000,6,0.000,0.027,2591,2635,3637
$GC,3584,-0.85,-146.0,481.2,-10.4,164,3588,0.00,2.08,0.00,0.000,4,0.000,0.028,2601,1232,3636
$GC,3637,-0.85,-146.0,486.5,-9.1,165,3641,0.00,2.30,0.00,0.000,6,0.000,0.053,2592,2649,3636
$GC,3918,-0.85,-146.0,516.0,-10.6,172,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2649,3634
$GC,4160,-0.85,-146.0,540.3,-9.9,178,4164,0.00,2.12,0.00,0.000,4,0.000,0.029,2600,1231,3632
$GC,4190,-0.85,-146.0,543.1,-9.5,178,4195,0.00,2.30,0.00,0.000,6,0.000,0.053,2591,2645,3632
$GC,4448,-0.85,-146.0,566.4,-9.1,185,4452,0.00,2.05,0.00,0.000,4,0.000,0.066,2581,3894,3630
$GC,4500,-0.85,-146.0,571.0,-7.8,186,4504,0.00,1.88,0.00,0.000,6,0.000,0.026,2588,2644,3629
$GC,4787,-0.85,-146.0,596.1,-9.0,193,4791,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1244,3627
$GC,4828,-0.85,-146.0,599.8,-7.8,193,4834,0.00,2.30,0.00,0.000,6,0.000,0.059,2590,2639,3627
$STATE,4872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4872,begin apogee
$GC,4883,-0.32,0.0,603.6,7.9,195,5010,0.62,0.00,123.72,1.082,6,0.150,0.000,2770,2486,3040
$STATE,5011,end apogee,CONTROL_FINISHED_OK
$STATE,5011,begin climb
$GC,5015,0.85,146.0,609.1,0.0,198,5153,1.10,2.28,130.43,1.058,4,0.074,0.029,3162,1023,2443
$GC,5324,0.85,146.0,582.4,20.7,205,5328,0.00,2.30,0.00,0.000,6,0.000,0.048,3162,2457,2435
$GC,5609,0.85,146.0,524.9,20.4,212,5613,0.00,2.15,0.00,0.000,4,0.000,0.030,3172,1023,2432
$GC,5650,0.85,146.0,516.3,20.2,212,5656,0.00,2.30,0.00,0.000,6,0.000,0.047,3163,2467,2432
$GC,5904,0.85,146.0,467.8,19.5,219,5907,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1028,2430
$GC,6017,0.85,146.0,446.6,18.1,221,6021,0.00,2.28,0.00,0.000,6,0.000,0.047,3163,2459,2429
$GC,6280,0.85,146.0,398.5,18.2,228,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2459,2427
$GC,6524,0.85,146.0,356.3,16.8,234,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2459,2426
$GC,6768,0.85,146.0,320.7,14.3,240,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2459,2425
$GC,7012,0.85,146.0,293.0,11.4,246,7016,0.00,2.30,0.00,0.000,4,0.000,0.056,3162,3876,2425
$GC,7048,0.85,146.0,288.1,13.4,246,7054,0.00,2.17,0.00,0.000,6,0.000,0.028,3171,2435,2424
$GC,7300,0.85,146.0,258.0,11.6,253,7303,0.00,2.08,0.00,0.000,4,0.000,0.030,3182,1035,2424
$GC,7490,0.85,146.0,238.2,10.1,257,7494,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2474,2424
$GC,7776,0.89,177.1,212.3,8.2,264,7806,0.00,2.28,24.80,0.782,4,0.000,0.054,3175,3870,2316
$GC,7892,0.89,177.1,196.6,17.1,266,7896,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2454,2314
$GC,8162,0.89,177.1,155.0,14.5,291,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2448,2312
$GC,8426,0.89,177.1,116.4,12.8,316,8430,0.00,2.30,0.00,0.000,4,0.000,0.051,3176,3874,2312
$GC,8682,0.89,177.1,85.9,11.4,338,8690,0.00,2.15,0.00,0.000,6,0.000,0.025,3185,2445,2312
$GC,8948,0.96,232.1,62.8,7.2,363,9000,0.00,2.38,47.30,0.647,4,0.000,0.050,3176,3874,2093
$GC,9119,0.96,232.1,34.6,23.8,377,9123,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2468,2090
$STATE,9261,end climb,SURFACE_DEPTH_REACHED
$STATE,9261,begin surface coast
$FINISH,0.5,1.023748
$STATE,9277,end surface coast,CONTROL_FINISHED_OK
$STATE,9277,begin surface
$SM_CCo,9302,59.83,0.598,0,0,1612,350.04
$SM_GC,1.53,0.00,0.00,59.83,0.000,0.000,0.598,51,2665,1612,-8.84,0.71,350.04
$IRIDIUM_FIX,2244.02,-15801.49,300500,111116
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.5,116.070
$10V_AH,10.6,68.376
$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,22.400,82.625,326.250,59.825,0.000,24.228,33.421,148.158,0.000,0.000,0.000,33.835,836.082,6387.935,433.802,1510.055,582.032,33.363,1075.008,0.000,1485.348,0.000,0.542,0.000
$DEVICE_MAMPS,252.343,70.564,1082.237,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,272.717,613.843,632.264,135.537,559.588,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31919,404
$CAP_FILE_SIZE,74828,0
$CFSIZE,260165632,226373632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,060311,162607,2252.571,-15803.377,36,0.9,37,10.1