version: 66.04
glider: 512
mission: 1
dive: 885
start: 3 6 111 19 18 14
data:
$ID,512
$MISSION,1
$DIVE,885
$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,-25038.582
$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,26
$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
$GPS1,191040,2253.631,-15803.574,10,4.4,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.4
$GPS2,191723,2253.649,-15803.621,14,6.4,33,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.251,0.052
$KALMAN_X,-355849.2,264.4,326.3,367982.1,-2851.0
$KALMAN_Y,-643630.8,854.9,539.6,778125.6,-3739.6
$MHEAD_RNG_PITCHd_Wd,68.2,13858,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.70,0.000,2,0.000,0.000,48,2663,3003
$GC,78,-0.85,-146.0,3.4,-5.4,7,110,11.48,2.17,-12.00,0.000,4,0.245,0.040,2603,1238,3635
$GC,147,-0.85,-146.0,25.2,-27.3,17,155,0.00,2.33,0.00,0.000,6,0.000,0.064,2593,2625,3637
$GC,420,-0.85,-146.0,90.6,-23.5,44,424,0.00,2.10,0.00,0.000,4,0.000,0.068,2583,3898,3637
$GC,512,-0.85,-146.0,107.7,-13.6,52,516,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2627,3638
$GC,783,-0.85,-146.0,158.3,-18.3,77,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2621,3639
$GC,1076,-0.85,-146.0,207.1,-15.3,102,1079,0.00,2.03,0.00,0.000,4,0.000,0.027,2601,1241,3640
$GC,1133,-0.85,-146.0,214.7,-11.1,103,1137,0.00,2.30,0.00,0.000,6,0.000,0.059,2592,2646,3640
$GC,1407,-0.85,-146.0,252.4,-14.1,110,1411,0.00,2.05,0.00,0.000,4,0.000,0.067,2581,3898,3640
$GC,1461,-0.85,-146.0,259.4,-12.1,111,1464,0.00,1.85,0.00,0.000,6,0.000,0.023,2589,2624,3641
$GC,1746,-0.85,-146.0,295.6,-12.5,118,1750,0.00,2.03,0.00,0.000,4,0.000,0.026,2599,1236,3641
$GC,1798,-0.85,-146.0,301.6,-10.0,119,1802,0.00,2.28,0.00,0.000,6,0.000,0.053,2590,2646,3641
$GC,2079,-0.85,-146.0,337.0,-13.3,126,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2646,3641
$GC,2321,-0.85,-146.0,364.8,-11.1,132,2325,0.00,2.08,0.00,0.000,4,0.000,0.027,2598,1239,3640
$GC,2361,-0.85,-146.0,368.8,-9.1,132,2368,0.00,2.28,0.00,0.000,6,0.000,0.056,2589,2648,3640
$GC,2614,-0.85,-146.0,392.8,-9.7,139,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3638
$GC,2857,-0.85,-146.0,417.9,-10.5,145,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3637
$GC,3102,-0.85,-146.0,445.9,-11.5,151,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3636
$GC,3344,-0.85,-146.0,472.5,-10.8,157,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3635
$GC,3588,-0.85,-146.0,497.1,-10.0,163,3592,0.00,2.10,0.00,0.000,4,0.000,0.029,2597,1238,3632
$GC,3618,-0.85,-146.0,500.0,-9.9,163,3622,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2644,3632
$GC,3875,-0.85,-146.0,524.7,-9.9,170,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2643,3630
$GC,4120,-0.85,-146.0,548.6,-9.8,176,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2643,3628
$GC,4364,-0.85,-146.0,571.9,-9.4,182,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2643,3626
$GC,4607,-0.85,-146.0,594.8,-9.4,188,4611,0.00,2.12,0.00,0.000,4,0.000,0.031,2597,1228,3625
$GC,4642,-0.85,-146.0,598.2,-9.2,188,4647,0.00,2.35,0.00,0.000,6,0.000,0.063,2589,2638,3625
$STATE,4686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4686,begin apogee
$GC,4697,-0.32,0.0,602.1,8.1,189,4823,0.62,0.00,122.60,1.059,6,0.147,0.000,2770,2481,3040
$STATE,4824,end apogee,CONTROL_FINISHED_OK
$STATE,4824,begin climb
$GC,4828,0.85,146.0,607.6,0.0,192,4966,1.10,2.28,130.30,1.045,4,0.071,0.028,3165,1023,2443
$GC,5152,0.85,146.0,573.8,20.9,199,5156,0.00,2.30,0.00,0.000,6,0.000,0.048,3162,2459,2435
$GC,5417,0.85,146.0,519.5,20.6,206,5421,0.00,2.30,0.00,0.000,4,0.000,0.057,3162,3876,2431
$GC,5430,0.85,146.0,516.6,20.1,206,5435,0.00,2.17,0.00,0.000,6,0.000,0.028,3171,2442,2430
$GC,5699,0.85,146.0,463.9,18.9,213,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2436,2429
$GC,5943,0.85,146.0,418.6,18.6,219,5947,0.00,2.33,0.00,0.000,4,0.000,0.052,3162,3880,2427
$GC,6079,0.85,146.0,392.0,18.7,222,6083,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2455,2426
$GC,6364,0.85,146.0,346.2,15.4,229,6369,0.00,2.30,0.00,0.000,4,0.000,0.051,3163,3879,2425
$GC,6428,0.85,146.0,336.3,16.1,230,6432,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2454,2425
$GC,6697,0.85,146.0,299.6,13.5,237,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2448,2424
$GC,6940,0.85,146.0,268.1,11.3,243,6944,0.00,2.10,0.00,0.000,4,0.000,0.030,3182,1038,2423
$GC,7059,0.86,153.5,257.0,9.3,245,7068,0.00,2.25,4.05,0.558,6,0.000,0.046,3176,2460,2414
$GC,7322,0.91,192.6,236.6,7.9,252,7363,0.00,2.33,36.33,0.816,4,0.000,0.054,3176,3882,2253
$GC,7409,0.91,192.6,223.9,18.1,254,7413,0.00,2.15,0.00,0.000,6,0.000,0.027,3185,2455,2251
$GC,7676,0.91,192.6,173.6,18.2,268,7680,0.00,2.08,0.00,0.000,4,0.000,0.029,3196,1049,2248
$GC,7750,0.91,192.6,160.1,18.8,274,7755,0.00,2.25,0.00,0.000,6,0.000,0.049,3192,2456,2247
$GC,8014,0.91,192.6,111.1,16.2,298,8018,0.00,2.33,0.00,0.000,4,0.000,0.059,3191,3876,2246
$GC,8111,0.91,192.6,94.6,17.9,306,8115,0.00,2.12,0.00,0.000,6,0.000,0.025,3200,2460,2246
$GC,8383,0.91,192.6,56.0,12.5,331,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2455,2246
$GC,8648,0.91,192.6,24.0,13.1,360,8657,0.00,2.33,0.00,0.000,4,0.000,0.054,3201,3875,2246
$STATE,8784,end climb,SURFACE_DEPTH_REACHED
$STATE,8784,begin surface coast
$FINISH,0.6,1.023726
$STATE,8806,end surface coast,CONTROL_FINISHED_OK
$STATE,8806,begin surface
$SM_CCo,8834,85.75,0.595,0,0,1612,350.04
$SM_GC,1.32,0.00,0.00,85.75,0.000,0.000,0.595,49,2600,1612,-8.85,-1.13,350.04
$IRIDIUM_FIX,2246.36,-15803.66,300500,161623
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,116.294
$10V_AH,10.6,68.545
$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,22.350,74.200,293.275,85.750,0.000,28.676,42.715,151.192,0.250,0.000,0.000,33.956,796.829,6119.860,438.817,1394.083,574.284,33.360,998.865,0.000,1371.652,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,68.263,1059.227,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,262.701,589.158,607.776,139.292,570.010,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32057,388
$CAP_FILE_SIZE,69215,0
$CFSIZE,260165632,226299904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,060311,214824,2253.397,-15802.776,26,1.6,44,10.1