version: 66.04
glider: 512
mission: 1
dive: 891
start: 3 7 111 11 0 43
data:
$ID,512
$MISSION,1
$DIVE,891
$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,-25158.164
$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,52
$R_STBD_OVSHOOT,35
$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
$GPS1,105331,2253.871,-15800.416,17,1.9,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.8
$GPS2,105950,2253.892,-15800.386,16,1.6,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.074,0.245
$KALMAN_X,-363681.6,416.0,295.5,381260.6,-3137.4
$KALMAN_Y,-649936.2,121.5,391.9,785761.5,-2875.2
$MHEAD_RNG_PITCHd_Wd,6.6,8366,-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,18,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.10,0.000,2,0.000,0.000,48,2666,2773
$GC,70,-0.85,-146.0,3.1,-4.3,6,110,11.30,2.03,-18.90,0.000,4,0.240,0.074,2583,3873,3639
$GC,163,-0.85,-146.0,24.5,-20.9,20,171,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2649,3640
$GC,432,-0.85,-146.0,85.6,-22.9,47,436,0.00,2.10,0.00,0.000,4,0.000,0.029,2600,1226,3640
$GC,534,-0.85,-146.0,104.2,-13.8,56,539,0.00,2.30,0.00,0.000,6,0.000,0.063,2591,2626,3641
$GC,799,-0.85,-146.0,153.3,-16.4,80,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2627,3642
$GC,1063,-0.85,-146.0,200.9,-19.1,105,1067,0.00,2.08,0.00,0.000,4,0.000,0.063,2581,3900,3644
$GC,1098,-0.85,-146.0,207.7,-17.6,105,1102,0.00,1.85,0.00,0.000,6,0.000,0.023,2589,2631,3643
$GC,1356,-0.85,-146.0,245.2,-14.5,112,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2624,3645
$GC,1599,-0.85,-146.0,280.5,-14.8,118,1603,0.00,2.05,0.00,0.000,4,0.000,0.025,2599,1225,3644
$GC,1647,-0.85,-146.0,286.0,-10.3,119,1651,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2648,3645
$GC,1934,-0.85,-146.0,321.7,-12.6,126,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2648,3644
$GC,2176,-0.85,-146.0,352.3,-12.4,132,2180,0.00,2.10,0.00,0.000,4,0.000,0.027,2598,1226,3644
$GC,2233,-0.85,-146.0,358.5,-9.7,133,2237,0.00,2.30,0.00,0.000,6,0.000,0.056,2589,2648,3644
$GC,2512,-0.85,-146.0,390.7,-11.9,140,2516,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3903,3642
$GC,2570,-0.85,-146.0,397.6,-10.6,141,2574,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2629,3641
$GC,2850,-0.85,-146.0,427.5,-10.6,148,2854,0.00,2.03,0.00,0.000,4,0.000,0.027,2597,1241,3639
$GC,2886,-0.85,-146.0,431.1,-9.4,148,2890,0.00,2.28,0.00,0.000,6,0.000,0.052,2590,2647,3640
$GC,3137,-0.85,-146.0,455.7,-10.0,154,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2647,3638
$GC,3381,-0.85,-146.0,480.2,-10.0,160,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2647,3636
$GC,3627,-0.85,-146.0,503.4,-9.4,166,3630,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1236,3634
$GC,3668,-0.85,-146.0,507.1,-7.5,166,3674,0.00,2.28,0.00,0.000,6,0.000,0.051,2590,2644,3634
$GC,3920,-0.85,-146.0,528.5,-8.7,173,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3632
$GC,4165,-0.85,-146.0,550.1,-8.9,179,4169,0.00,2.12,0.00,0.000,4,0.000,0.029,2598,1238,3630
$GC,4209,-0.85,-146.0,553.8,-8.0,179,4215,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2646,3630
$GC,4462,-0.85,-146.0,574.8,-8.3,186,4466,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3894,3628
$GC,4503,-0.85,-146.0,578.4,-8.1,186,4509,0.00,1.85,0.00,0.000,6,0.000,0.027,2587,2642,3628
$GC,4758,-0.85,-146.0,599.1,-8.3,193,4761,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1238,3626
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4778,-0.32,0.0,600.6,8.2,193,4905,0.57,0.00,123.18,1.063,6,0.143,0.000,2763,2461,3040
$STATE,4905,end apogee,CONTROL_FINISHED_OK
$STATE,4905,begin climb
$GC,4910,0.85,146.0,605.5,0.0,196,5048,1.15,2.20,130.15,1.049,4,0.082,0.029,3161,1065,2443
$GC,5168,0.85,146.0,587.0,21.8,202,5172,0.00,2.25,0.00,0.000,6,0.000,0.049,3161,2467,2437
$GC,5453,0.85,146.0,525.1,21.1,209,5456,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1059,2433
$GC,5483,0.85,146.0,518.7,21.6,209,5487,0.00,2.22,0.00,0.000,6,0.000,0.043,3162,2472,2433
$GC,5741,0.85,146.0,466.5,20.1,216,5745,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1052,2431
$GC,5843,0.85,146.0,447.7,16.9,218,5848,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2467,2430
$GC,6118,0.85,146.0,396.2,18.7,225,6122,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1048,2428
$GC,6234,0.85,146.0,376.5,15.9,227,6238,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2460,2428
$GC,6497,0.85,146.0,335.8,15.1,234,6500,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1056,2426
$GC,6639,0.85,146.0,316.7,13.1,237,6643,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2472,2426
$GC,6924,0.85,146.0,284.9,11.0,244,6928,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1056,2425
$GC,7078,0.88,162.9,269.6,8.9,247,7097,0.00,2.22,12.95,0.794,6,0.000,0.042,3163,2462,2375
$GC,7350,0.88,162.9,233.9,14.4,254,7354,0.00,2.25,0.00,0.000,4,0.000,0.053,3163,3868,2372
$GC,7610,0.88,162.9,199.7,11.2,259,7614,0.00,2.10,0.00,0.000,6,0.000,0.025,3172,2456,2370
$GC,7881,0.88,162.9,170.0,11.4,284,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2450,2370
$GC,8147,0.93,204.0,140.7,7.8,309,8188,0.00,2.30,36.22,0.721,4,0.000,0.047,3162,3868,2207
$GC,8420,0.93,204.0,99.6,17.6,332,8428,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2465,2204
$GC,8686,0.93,204.0,56.2,15.6,357,8690,0.00,2.10,0.00,0.000,4,0.000,0.027,3182,1039,2202
$GC,8933,0.93,204.0,21.8,14.1,384,8941,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2450,2202
$STATE,9068,end climb,SURFACE_DEPTH_REACHED
$STATE,9069,begin surface coast
$FINISH,0.3,1.023877
$STATE,9090,end surface coast,CONTROL_FINISHED_OK
$STATE,9090,begin surface
$SM_CCo,9116,76.47,0.588,0,0,1612,350.04
$SM_GC,1.35,0.00,0.00,76.47,0.000,0.000,0.588,49,2658,1612,-8.85,0.54,350.04
$IRIDIUM_FIX,2244.02,-15801.49,310500,080824
$TT8_MAMPS,0.023777
$HUMID,1880
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,23.6,116.975
$10V_AH,10.6,69.056
$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,22.025,85.475,302.500,76.475,0.000,25.090,35.859,152.569,0.750,0.000,0.000,16.570,867.437,6085.250,426.282,1608.257,589.190,33.372,1089.008,0.000,1595.790,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,74.399,1063.062,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.642,647.598,666.250,146.186,601.284,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35060,412
$CAP_FILE_SIZE,76363,0
$CFSIZE,260165632,226041856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,070311,133524,2254.274,-15800.249,40,1.5,41,10.1