version: 66.04
glider: 512
mission: 1
dive: 887
start: 3 7 111 0 31 7
data:
$ID,512
$MISSION,1
$DIVE,887
$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,-25068.26
$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,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
$GPS1,002406,2253.012,-15801.909,34,1.7,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.0
$GPS2,003014,2252.986,-15801.945,13,1.7,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.003,0.256
$KALMAN_X,-359187.9,566.0,250.0,373976.8,-3740.8
$KALMAN_Y,-645518.8,777.8,186.3,779213.2,-3527.0
$MHEAD_RNG_PITCHd_Wd,349.3,11038,-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,-45.20,0.000,2,0.000,0.000,50,2661,2762
$GC,70,-0.85,-146.0,3.0,-3.8,6,110,11.38,2.08,-18.62,0.000,4,0.242,0.089,2586,3866,3640
$GC,220,-0.85,-146.0,37.0,-18.8,28,229,0.00,1.85,0.00,0.000,6,0.000,0.025,2593,2638,3641
$GC,485,-0.85,-146.0,98.9,-24.0,53,489,0.00,2.08,0.00,0.000,4,0.000,0.027,2603,1223,3641
$GC,544,-0.85,-146.0,111.5,-15.8,58,549,0.00,2.33,0.00,0.000,6,0.000,0.067,2594,2623,3642
$GC,810,-0.85,-146.0,160.8,-18.1,82,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2623,3643
$GC,1082,-0.85,-146.0,207.5,-16.4,105,1086,0.00,2.12,0.00,0.000,4,0.000,0.070,2584,3905,3644
$GC,1116,-0.85,-146.0,213.6,-16.6,105,1120,0.00,1.88,0.00,0.000,6,0.000,0.024,2591,2618,3644
$GC,1374,-0.85,-146.0,250.9,-14.6,112,1378,0.00,2.03,0.00,0.000,4,0.000,0.026,2602,1230,3645
$GC,1426,-0.85,-146.0,257.8,-11.0,113,1430,0.00,2.35,0.00,0.000,6,0.000,0.062,2592,2655,3645
$GC,1705,-0.85,-146.0,294.8,-13.5,120,1709,0.00,2.08,0.00,0.000,4,0.000,0.073,2582,3892,3645
$GC,1769,-0.85,-146.0,302.6,-11.3,121,1772,0.00,1.83,0.00,0.000,6,0.000,0.023,2590,2637,3645
$GC,2044,-0.85,-146.0,334.4,-11.7,128,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2630,3645
$GC,2287,-0.85,-146.0,362.3,-11.4,134,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2628,3644
$GC,2530,-0.85,-146.0,390.1,-11.1,140,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2629,3643
$GC,2775,-0.85,-146.0,414.8,-10.1,146,2779,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,1243,3641
$GC,2828,-0.85,-146.0,420.0,-8.2,147,2832,0.00,2.28,0.00,0.000,6,0.000,0.054,2591,2645,3641
$GC,3107,-0.85,-146.0,448.7,-10.5,154,3111,0.00,2.05,0.00,0.000,4,0.000,0.066,2581,3894,3638
$GC,3155,-0.85,-146.0,453.7,-9.7,155,3158,0.00,1.85,0.00,0.000,6,0.000,0.026,2588,2633,3638
$GC,3446,-0.85,-146.0,483.9,-10.2,162,3450,0.00,2.05,0.00,0.000,4,0.000,0.028,2599,1235,3637
$GC,3487,-0.85,-146.0,487.8,-8.0,162,3493,0.00,2.28,0.00,0.000,6,0.000,0.052,2589,2642,3636
$GC,3739,-0.85,-146.0,510.2,-9.1,169,3743,0.00,2.05,0.00,0.000,4,0.000,0.065,2580,3890,3635
$GC,3781,-0.85,-146.0,514.2,-8.8,169,3787,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2637,3634
$GC,4035,-0.85,-146.0,537.9,-9.7,176,4038,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1235,3632
$GC,4076,-0.85,-146.0,541.8,-7.6,176,4082,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2646,3632
$GC,4328,-0.85,-146.0,564.1,-9.0,183,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2646,3630
$GC,4571,-0.85,-146.0,585.1,-8.6,189,4575,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1243,3628
$GC,4602,-0.85,-146.0,587.6,-8.0,189,4606,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2642,3628
$STATE,4773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4773,begin apogee
$GC,4784,-0.32,0.0,601.5,8.0,194,4910,0.62,0.00,123.47,1.062,6,0.148,0.000,2770,2483,3040
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4916,0.85,146.0,606.3,0.0,197,5062,1.08,2.40,131.82,1.042,4,0.070,0.057,3148,3873,2443
$GC,5325,0.85,146.0,550.9,23.4,206,5329,0.00,2.15,0.00,0.000,6,0.000,0.026,3158,2435,2435
$GC,5607,0.85,146.0,495.6,19.1,213,5611,0.00,2.33,0.00,0.000,4,0.000,0.052,3150,3878,2431
$GC,5664,0.85,146.0,483.2,21.0,214,5668,0.00,2.12,0.00,0.000,6,0.000,0.027,3159,2463,2430
$GC,5939,0.85,146.0,429.0,19.3,221,5943,0.00,2.10,0.00,0.000,4,0.000,0.029,3170,1036,2429
$GC,5952,0.85,146.0,426.7,18.1,221,5956,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2456,2428
$GC,6226,0.85,146.0,377.1,18.1,228,6230,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1048,2427
$GC,6486,0.85,146.0,334.1,14.5,233,6490,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2462,2426
$GC,6738,0.85,146.0,298.3,13.7,239,6742,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1028,2425
$GC,6801,0.85,146.0,290.1,11.4,240,6805,0.00,2.28,0.00,0.000,6,0.000,0.047,3163,2460,2425
$GC,7072,0.85,146.0,262.3,10.5,247,7076,0.00,2.30,0.00,0.000,4,0.000,0.056,3162,3879,2424
$GC,7124,0.85,146.0,256.7,10.0,248,7128,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2445,2423
$GC,7404,0.85,146.0,230.4,9.7,255,7408,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1041,2423
$GC,7665,0.90,183.8,208.2,7.9,260,7701,0.00,2.25,30.58,0.787,6,0.000,0.041,3176,2477,2290
$GC,7965,0.90,183.8,159.3,17.2,282,7968,0.00,2.22,0.00,0.000,4,0.000,0.051,3176,3871,2284
$GC,8070,0.90,183.8,139.7,18.0,291,8074,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2459,2283
$GC,8340,0.90,183.8,100.4,13.3,316,8344,0.00,2.08,0.00,0.000,4,0.000,0.028,3195,1049,2283
$GC,8402,0.90,183.8,92.2,12.1,321,8409,0.00,2.25,0.00,0.000,6,0.000,0.045,3192,2455,2283
$GC,8668,0.90,183.8,59.7,12.0,346,8672,0.00,2.08,0.00,0.000,4,0.000,0.027,3200,1041,2283
$GC,8685,0.90,183.8,57.7,11.8,347,8689,0.00,2.25,0.00,0.000,6,0.000,0.045,3200,2463,2283
$GC,8951,0.94,217.5,32.2,8.1,371,8985,0.00,2.15,29.08,0.611,4,0.000,0.025,3210,1043,2152
$GC,9060,0.94,217.5,18.1,16.4,387,9069,0.00,2.28,0.00,0.000,6,0.000,0.042,3205,2465,2150
$STATE,9143,end climb,SURFACE_DEPTH_REACHED
$STATE,9143,begin surface coast
$FINISH,0.4,1.023719
$STATE,9160,end surface coast,CONTROL_FINISHED_OK
$STATE,9160,begin surface
$SM_CCo,9187,72.12,0.591,0,0,1612,350.04
$SM_GC,1.66,0.00,0.00,72.12,0.000,0.000,0.591,45,2666,1612,-8.86,0.74,350.04
$IRIDIUM_FIX,2244.02,-15804.53,300500,222241
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.6,116.518
$10V_AH,10.6,68.719
$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,22.075,94.600,314.950,72.125,0.000,24.274,33.063,147.827,0.000,0.000,0.000,13.342,864.267,6149.651,440.623,1584.978,591.902,33.370,1105.785,0.000,1574.781,0.000,0.540,0.000
$DEVICE_MAMPS,242.372,88.972,1062.295,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,273.740,625.049,643.898,148.275,604.804,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32111,405
$CAP_FILE_SIZE,78646,0
$CFSIZE,260165632,226205696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,070311,030646,2253.433,-15802.461,12,5.9,32,10.1