version: 66.04
glider: 512
mission: 1
dive: 890
start: 3 7 111 8 25 31
data:
$ID,512
$MISSION,1
$DIVE,890
$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,-25140.965
$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,31
$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
$GPS1,081806,2254.184,-15801.488,37,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.9
$GPS2,082438,2254.214,-15801.490,17,1.4,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.254,0.035
$KALMAN_X,-362848.6,606.6,365.5,378263.3,-3528.4
$KALMAN_Y,-649251.4,71.9,625.6,785493.6,-3201.4
$MHEAD_RNG_PITCHd_Wd,72.1,10305,-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,-45.15,0.000,2,0.000,0.000,52,2651,2767
$GC,70,-0.85,-146.0,3.2,-4.1,6,102,11.07,0.00,-18.45,0.000,6,0.235,0.000,2589,2651,3639
$GC,366,-0.85,-146.0,85.0,-25.4,41,370,0.00,2.05,0.00,0.000,4,0.000,0.069,2582,3878,3641
$GC,416,-0.85,-146.0,96.7,-23.1,45,420,0.00,1.85,0.00,0.000,6,0.000,0.028,2589,2647,3641
$GC,685,-0.85,-146.0,151.3,-18.0,70,689,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,1224,3642
$GC,734,-0.85,-146.0,158.6,-13.5,74,738,0.00,2.33,0.00,0.000,6,0.000,0.069,2591,2625,3642
$GC,1029,-0.85,-146.0,209.0,-18.4,98,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2625,3644
$GC,1271,-0.85,-146.0,250.7,-17.0,104,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2625,3644
$GC,1515,-0.85,-146.0,287.0,-14.4,110,1519,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1224,3645
$GC,1545,-0.85,-146.0,291.5,-14.3,110,1550,0.00,2.35,0.00,0.000,6,0.000,0.064,2589,2641,3645
$GC,1803,-0.85,-146.0,323.3,-12.5,117,1807,0.00,2.10,0.00,0.000,4,0.000,0.071,2580,3900,3645
$GC,1838,-0.85,-146.0,327.8,-12.8,117,1842,0.00,1.88,0.00,0.000,6,0.000,0.024,2586,2620,3645
$GC,2095,-0.85,-146.0,357.3,-11.5,124,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2613,3644
$GC,2340,-0.85,-146.0,381.3,-9.7,130,2343,0.00,2.05,0.00,0.000,4,0.000,0.032,2597,1248,3643
$GC,2381,-0.85,-146.0,385.1,-8.3,130,2388,0.00,2.33,0.00,0.000,6,0.000,0.064,2588,2637,3643
$GC,2632,-0.85,-146.0,410.9,-10.8,137,2636,0.00,2.10,0.00,0.000,4,0.000,0.030,2596,1236,3641
$GC,2697,-0.85,-146.0,417.4,-8.9,138,2701,0.00,2.35,0.00,0.000,6,0.000,0.067,2588,2645,3641
$GC,2965,-0.85,-146.0,443.9,-9.8,145,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2644,3638
$GC,3210,-0.85,-146.0,465.5,-8.7,151,3214,0.00,2.12,0.00,0.000,4,0.000,0.033,2596,1240,3637
$GC,3268,-0.85,-146.0,470.2,-6.4,152,3272,0.00,2.33,0.00,0.000,6,0.000,0.065,2588,2639,3637
$GC,3543,-0.85,-146.0,494.4,-9.3,159,3547,0.00,2.10,0.00,0.000,4,0.000,0.032,2597,1245,3635
$GC,3579,-0.85,-146.0,497.9,-8.6,159,3583,0.00,2.33,0.00,0.000,6,0.000,0.064,2589,2645,3635
$GC,3831,-0.85,-146.0,523.6,-10.6,165,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3632
$GC,4076,-0.85,-146.0,551.4,-11.5,171,4079,0.00,2.12,0.00,0.000,4,0.000,0.033,2596,1243,3630
$GC,4117,-0.85,-146.0,556.3,-10.8,171,4123,0.00,2.33,0.00,0.000,6,0.000,0.064,2589,2644,3630
$GC,4371,-0.85,-146.0,582.9,-10.6,178,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3628
$STATE,4567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4567,begin apogee
$GC,4578,-0.32,0.0,603.9,10.3,183,4705,0.62,0.00,123.30,1.067,6,0.143,0.000,2771,2465,3040
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4705,begin climb
$GC,4711,0.85,146.0,610.5,0.0,186,4848,1.08,2.42,130.18,1.052,4,0.070,0.063,3150,3873,2443
$GC,5068,0.85,146.0,563.5,26.2,194,5072,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2455,2435
$GC,5349,0.85,146.0,500.6,21.5,201,5354,0.00,2.30,0.00,0.000,4,0.000,0.051,3150,3881,2431
$GC,5381,0.85,146.0,493.6,22.0,201,5384,0.00,2.15,0.00,0.000,6,0.000,0.028,3159,2454,2431
$GC,5640,0.85,146.0,443.2,19.0,208,5643,0.00,2.10,0.00,0.000,4,0.000,0.028,3170,1032,2430
$GC,5782,0.85,146.0,418.7,15.4,211,5786,0.00,2.28,0.00,0.000,6,0.000,0.043,3163,2476,2429
$GC,6067,0.85,146.0,373.2,15.9,218,6071,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1032,2426
$GC,6264,0.85,146.0,345.1,13.4,222,6268,0.00,2.25,0.00,0.000,6,0.000,0.043,3163,2460,2426
$GC,6545,0.85,146.0,305.1,14.3,229,6549,0.00,2.28,0.00,0.000,4,0.000,0.057,3162,3866,2424
$GC,6730,0.85,146.0,280.1,12.9,233,6734,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2440,2424
$GC,7016,0.85,146.0,250.6,9.9,240,7020,0.00,2.30,0.00,0.000,4,0.000,0.050,3163,3872,2424
$GC,7275,0.86,149.2,219.7,9.5,245,7282,0.00,2.15,0.00,0.000,6,0.000,0.025,3172,2448,2423
$GC,7530,0.93,209.1,200.6,7.0,252,7587,0.00,2.35,52.12,0.787,4,0.000,0.049,3163,3875,2187
$GC,7731,0.93,209.1,166.5,20.8,266,7738,0.00,2.17,0.00,0.000,6,0.000,0.027,3175,2475,2182
$GC,7997,0.93,209.1,112.7,20.0,291,8001,0.00,2.12,0.00,0.000,4,0.000,0.028,3186,1045,2180
$GC,8245,0.93,209.1,70.1,15.5,313,8249,0.00,2.22,0.00,0.000,6,0.000,0.042,3178,2467,2178
$GC,8516,0.93,209.1,31.5,12.9,338,8520,0.00,2.22,0.00,0.000,4,0.000,0.051,3175,3869,2178
$GC,8611,0.93,209.1,16.5,17.7,354,8619,0.00,2.12,0.00,0.000,6,0.000,0.023,3185,2447,2178
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$FINISH,0.5,1.024040
$STATE,8700,end surface coast,CONTROL_FINISHED_OK
$STATE,8700,begin surface
$SM_CCo,8726,77.32,0.600,0,0,1611,350.04
$SM_GC,1.06,0.00,0.00,77.32,0.000,0.000,0.600,49,2666,1611,-8.85,0.71,350.04
$IRIDIUM_FIX,2244.02,-15801.49,310500,050554
$TT8_MAMPS,0.023777
$HUMID,1902
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,116.864
$10V_AH,10.6,68.965
$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,21.650,79.375,305.600,77.325,0.000,23.329,42.623,157.598,0.250,0.000,0.000,18.097,803.934,5909.735,422.065,1472.838,591.290,33.363,1038.612,0.000,1459.290,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,71.331,1066.897,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,250.507,550.915,567.699,126.560,521.334,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28888,370
$CAP_FILE_SIZE,71911,0
$CFSIZE,260165632,226091008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,1
$GPS,070311,105331,2253.871,-15800.416,17,1.9,29,10.1