version: 66.04
glider: 512
mission: 1
dive: 888
start: 3 7 111 3 14 44
data:
$ID,512
$MISSION,1
$DIVE,888
$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,-25104.658
$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,48
$R_STBD_OVSHOOT,36
$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
$GPS1,030646,2253.433,-15802.461,12,5.9,32,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.8
$GPS2,031352,2253.393,-15802.503,15,6.4,34,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.249,0.061
$KALMAN_X,-359912.5,718.5,104.8,373731.4,-2671.4
$KALMAN_Y,-647398.2,522.0,-30.7,782328.9,-3410.2
$MHEAD_RNG_PITCHd_Wd,66.1,11950,-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,-146.0,0.0,0.0,0,76,0.00,0.00,-52.80,0.000,2,0.000,0.000,41,2666,3010
$GC,81,-0.85,-146.0,3.3,-4.4,7,114,11.38,2.00,-11.90,0.000,4,0.240,0.071,2586,3866,3638
$GC,136,-0.85,-146.0,22.5,-39.1,14,144,0.00,1.85,0.00,0.000,6,0.000,0.024,2594,2630,3639
$GC,403,-0.85,-146.0,97.5,-25.6,40,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2623,3640
$GC,667,-0.85,-146.0,155.9,-19.6,65,671,0.00,2.03,0.00,0.000,4,0.000,0.025,2605,1226,3641
$GC,738,-0.85,-146.0,166.3,-12.8,71,742,0.00,2.30,0.00,0.000,6,0.000,0.064,2595,2625,3641
$GC,999,-0.85,-146.0,207.8,-15.5,92,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2625,3642
$GC,1244,-0.85,-146.0,245.9,-15.3,98,1248,0.00,2.05,0.00,0.000,4,0.000,0.025,2603,1228,3642
$GC,1292,-0.85,-146.0,252.2,-10.7,99,1296,0.00,2.33,0.00,0.000,6,0.000,0.061,2593,2641,3643
$GC,1580,-0.85,-146.0,287.3,-12.8,106,1583,0.00,2.08,0.00,0.000,4,0.000,0.070,2583,3900,3643
$GC,1616,-0.85,-146.0,292.2,-12.8,106,1620,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2623,3643
$GC,1875,-0.85,-146.0,325.1,-13.1,113,1879,0.00,2.00,0.00,0.000,4,0.000,0.025,2601,1241,3643
$GC,1900,-0.85,-146.0,328.6,-13.2,113,1904,0.00,2.30,0.00,0.000,6,0.000,0.058,2592,2651,3643
$GC,2163,-0.85,-146.0,359.6,-11.8,120,2166,0.00,2.05,0.00,0.000,4,0.000,0.068,2582,3894,3641
$GC,2186,-0.85,-146.0,362.5,-11.5,120,2190,0.00,1.83,0.00,0.000,6,0.000,0.023,2589,2628,3641
$GC,2455,-0.85,-146.0,392.1,-11.2,127,2459,0.00,2.03,0.00,0.000,4,0.000,0.025,2600,1237,3640
$GC,2491,-0.85,-146.0,395.8,-9.6,127,2495,0.00,2.28,0.00,0.000,6,0.000,0.054,2590,2642,3640
$GC,2743,-0.85,-146.0,422.2,-10.8,133,2747,0.00,2.08,0.00,0.000,4,0.000,0.069,2580,3899,3638
$GC,2783,-0.85,-146.0,426.6,-9.9,133,2790,0.00,1.83,0.00,0.000,6,0.000,0.025,2588,2647,3637
$GC,3036,-0.85,-146.0,450.4,-9.5,140,3040,0.00,2.08,0.00,0.000,4,0.000,0.027,2598,1233,3636
$GC,3066,-0.85,-146.0,453.3,-9.5,140,3070,0.00,2.30,0.00,0.000,6,0.000,0.057,2590,2639,3636
$GC,3329,-0.85,-146.0,478.5,-10.2,147,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2639,3635
$GC,3573,-0.85,-146.0,504.9,-11.0,153,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2639,3632
$GC,3816,-0.85,-146.0,531.7,-11.0,159,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2639,3631
$GC,4061,-0.85,-146.0,556.0,-9.6,165,4065,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1235,3628
$GC,4096,-0.85,-146.0,559.2,-9.2,165,4100,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2648,3628
$GC,4349,-0.85,-146.0,581.2,-8.9,171,4353,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1239,3626
$GC,4391,-0.85,-146.0,584.7,-7.4,171,4397,0.00,2.30,0.00,0.000,6,0.000,0.059,2589,2639,3626
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4608,-0.32,0.0,602.9,8.8,177,4734,0.62,0.00,122.68,1.065,6,0.149,0.000,2770,2480,3040
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4739,0.85,146.0,608.3,0.0,180,4886,1.12,2.40,132.00,1.044,4,0.080,0.055,3150,3873,2442
$GC,5149,0.85,146.0,551.1,25.9,189,5153,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2442,2434
$GC,5430,0.85,146.0,490.9,20.7,196,5434,0.00,2.30,0.00,0.000,4,0.000,0.050,3150,3873,2431
$GC,5549,0.85,146.0,465.5,20.1,198,5553,0.00,2.12,0.00,0.000,6,0.000,0.026,3159,2459,2430
$GC,5807,0.85,146.0,417.5,18.0,205,5811,0.00,2.28,0.00,0.000,4,0.000,0.051,3151,3879,2427
$GC,5841,0.85,146.0,411.4,17.2,205,5848,0.00,2.17,0.00,0.000,6,0.000,0.028,3160,2454,2427
$GC,6094,0.85,146.0,370.7,16.0,212,6097,0.00,2.10,0.00,0.000,4,0.000,0.029,3170,1040,2426
$GC,6224,0.85,146.0,350.7,13.8,214,6230,0.00,2.22,0.00,0.000,6,0.000,0.042,3163,2461,2426
$GC,6479,0.85,146.0,314.7,14.5,221,6482,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1033,2424
$GC,6521,0.85,146.0,309.1,13.0,221,6528,0.00,2.25,0.00,0.000,6,0.000,0.041,3163,2470,2424
$GC,6775,0.85,146.0,275.5,12.8,228,6778,0.00,2.25,0.00,0.000,4,0.000,0.053,3163,3871,2424
$GC,6928,0.86,146.8,255.0,9.6,231,6932,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2445,2423
$GC,7203,0.93,210.3,236.7,6.8,238,7268,0.00,2.12,55.10,0.811,4,0.000,0.028,3182,1048,2182
$GC,7376,0.93,210.3,210.1,22.0,241,7382,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2464,2176
$GC,7638,0.93,210.3,149.9,21.7,263,7641,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1053,2174
$GC,7711,0.93,210.3,135.3,21.4,269,7715,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2467,2173
$GC,7977,0.93,210.3,84.2,17.0,293,7980,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1048,2172
$GC,8004,0.93,210.3,79.5,17.3,295,8008,0.00,2.20,0.00,0.000,6,0.000,0.040,3176,2465,2172
$GC,8274,0.93,210.3,35.5,13.2,320,8278,0.00,2.10,0.00,0.000,4,0.000,0.026,3185,1036,2172
$GC,8292,0.93,210.3,33.4,12.8,321,8296,0.00,2.25,0.00,0.000,6,0.000,0.039,3176,2473,2172
$STATE,8492,end climb,SURFACE_DEPTH_REACHED
$STATE,8492,begin surface coast
$FINISH,0.4,1.023889
$STATE,8509,end surface coast,CONTROL_FINISHED_OK
$STATE,8509,begin surface
$SM_CCo,8535,73.97,0.594,0,0,1612,350.04
$SM_GC,1.18,0.00,0.00,73.97,0.000,0.000,0.594,45,2646,1612,-8.86,0.20,350.04
$IRIDIUM_FIX,2244.02,-15803.66,310500,000017
$TT8_MAMPS,0.023777
$HUMID,1883
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.6,116.633
$10V_AH,10.6,68.799
$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,22.100,90.350,309.775,73.975,0.000,29.799,34.514,183.801,0.000,0.000,0.000,35.767,775.748,5829.297,444.623,1377.243,609.448,33.365,1035.248,0.000,1344.204,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,71.331,1065.363,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,241.969,530.686,545.681,122.470,504.085,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28802,358
$CAP_FILE_SIZE,73217,0
$CFSIZE,260165632,226172928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,1
$GPS,070311,053937,2253.396,-15801.751,36,1.1,37,10.1