version: 66.04
glider: 512
mission: 1
dive: 892
start: 3 7 111 13 42 43
data:
$ID,512
$MISSION,1
$DIVE,892
$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,-25170.932
$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,49
$R_STBD_OVSHOOT,32
$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
$GPS1,133524,2254.274,-15800.249,40,1.5,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.7
$GPS2,134150,2254.217,-15800.228,12,1.9,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.253,0.038
$KALMAN_X,-364043.1,255.8,357.7,381989.6,-2329.0
$KALMAN_Y,-652021.5,396.0,-213.4,788791.2,-2894.2
$MHEAD_RNG_PITCHd_Wd,71.4,8175,-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,-45.15,0.000,2,0.000,0.000,48,2661,2760
$GC,70,-0.85,-146.0,3.1,-3.9,6,102,11.25,0.00,-18.62,0.000,6,0.239,0.000,2590,2661,3639
$GC,360,-0.85,-146.0,83.0,-24.9,40,363,0.00,2.15,0.00,0.000,4,0.000,0.028,2599,1230,3641
$GC,389,-0.85,-146.0,90.6,-24.0,42,397,0.00,2.33,0.00,0.000,6,0.000,0.060,2590,2618,3641
$GC,654,-0.85,-146.0,151.9,-20.6,67,658,0.00,2.05,0.00,0.000,4,0.000,0.026,2598,1222,3642
$GC,684,-0.85,-146.0,158.3,-19.1,69,692,0.00,2.33,0.00,0.000,6,0.000,0.053,2589,2644,3642
$GC,967,-0.85,-146.0,209.1,-18.3,93,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2644,3643
$GC,1210,-0.85,-146.0,247.9,-14.8,99,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3644
$GC,1454,-0.85,-146.0,280.8,-13.9,105,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2644,3644
$GC,1700,-0.85,-146.0,314.7,-13.8,111,1703,0.00,2.10,0.00,0.000,4,0.000,0.027,2597,1220,3644
$GC,1763,-0.85,-146.0,322.3,-9.8,112,1767,0.00,2.28,0.00,0.000,6,0.000,0.050,2588,2644,3644
$GC,2031,-0.85,-146.0,354.5,-11.9,119,2035,0.00,2.03,0.00,0.000,4,0.000,0.061,2578,3893,3644
$GC,2060,-0.85,-146.0,358.3,-12.5,119,2064,0.00,1.85,0.00,0.000,6,0.000,0.024,2586,2621,3644
$GC,2325,-0.85,-146.0,385.7,-10.5,126,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2614,3642
$GC,2567,-0.85,-146.0,413.3,-11.4,132,2571,0.00,2.03,0.00,0.000,4,0.000,0.028,2596,1238,3641
$GC,2602,-0.85,-146.0,417.2,-10.5,132,2606,0.00,2.25,0.00,0.000,6,0.000,0.049,2589,2650,3641
$GC,2856,-0.85,-146.0,444.1,-10.9,138,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2650,3638
$GC,3099,-0.85,-146.0,467.7,-9.5,144,3102,0.00,2.10,0.00,0.000,4,0.000,0.028,2597,1228,3637
$GC,3146,-0.85,-146.0,471.9,-8.0,145,3150,0.00,2.30,0.00,0.000,6,0.000,0.053,2589,2648,3637
$GC,3437,-0.85,-146.0,499.4,-9.7,152,3441,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3899,3635
$GC,3478,-0.85,-146.0,503.6,-9.9,152,3484,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2638,3634
$GC,3730,-0.85,-146.0,529.3,-10.4,159,3734,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1238,3632
$GC,3771,-0.85,-146.0,533.5,-9.2,159,3778,0.00,2.28,0.00,0.000,6,0.000,0.051,2589,2644,3632
$GC,4024,-0.85,-146.0,558.1,-9.9,166,4028,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1243,3630
$GC,4060,-0.85,-146.0,561.7,-9.0,166,4064,0.00,2.30,0.00,0.000,6,0.000,0.056,2589,2645,3630
$GC,4312,-0.85,-146.0,586.3,-9.8,172,4316,0.00,2.08,0.00,0.000,4,0.000,0.069,2579,3894,3628
$GC,4341,-0.85,-146.0,589.5,-9.9,172,4345,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2642,3627
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4490,-0.32,0.0,602.9,9.6,176,4617,0.62,0.00,123.40,1.058,6,0.143,0.000,2772,2478,3040
$STATE,4617,end apogee,CONTROL_FINISHED_OK
$STATE,4617,begin climb
$GC,4623,0.85,146.0,608.8,0.0,179,4760,1.10,2.35,130.27,1.047,4,0.084,0.056,3148,3875,2442
$GC,5025,0.85,146.0,556.0,23.0,188,5028,0.00,2.15,0.00,0.000,6,0.000,0.027,3157,2441,2434
$GC,5316,0.85,146.0,492.9,20.8,195,5320,0.00,2.30,0.00,0.000,4,0.000,0.050,3150,3873,2431
$GC,5364,0.85,146.0,482.4,23.0,196,5368,0.00,2.12,0.00,0.000,6,0.000,0.026,3159,2448,2430
$GC,5656,0.85,146.0,425.8,18.8,203,5660,0.00,2.30,0.00,0.000,4,0.000,0.050,3150,3882,2429
$GC,5685,0.85,146.0,419.9,19.6,203,5689,0.00,2.12,0.00,0.000,6,0.000,0.027,3159,2466,2428
$GC,5942,0.85,146.0,375.7,16.7,210,5946,0.00,2.10,0.00,0.000,4,0.000,0.029,3169,1046,2427
$GC,5985,0.85,146.0,369.3,15.1,210,5991,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2454,2427
$GC,6237,0.85,146.0,331.7,14.4,217,6241,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1043,2425
$GC,6334,0.85,146.0,317.2,15.7,219,6338,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2469,2425
$GC,6616,0.85,146.0,283.1,11.2,226,6619,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1036,2424
$GC,6741,0.86,153.7,271.0,9.3,228,6753,0.00,2.25,4.43,0.597,6,0.000,0.043,3163,2464,2413
$GC,6998,0.86,153.7,241.6,12.2,235,7002,0.00,2.25,0.00,0.000,4,0.000,0.052,3163,3869,2412
$GC,7259,0.86,153.7,214.0,11.0,240,7263,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2443,2412
$GC,7523,0.94,214.3,193.6,6.9,253,7583,0.00,2.35,53.75,0.778,4,0.000,0.046,3162,3875,2166
$GC,7669,0.94,214.3,168.7,24.2,265,7676,0.00,2.17,0.00,0.000,6,0.000,0.028,3171,2463,2163
$GC,7933,0.94,214.3,116.8,17.0,290,7937,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1045,2159
$GC,7995,0.94,214.3,105.8,17.4,295,8002,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2454,2158
$GC,8261,0.94,214.3,59.0,17.4,320,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2454,2157
$GC,8525,0.94,214.3,17.6,17.7,352,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2454,2157
$STATE,8597,end climb,SURFACE_DEPTH_REACHED
$STATE,8597,begin surface coast
$FINISH,0.5,1.023740
$STATE,8614,end surface coast,CONTROL_FINISHED_OK
$STATE,8614,begin surface
$SM_CCo,8640,70.18,0.584,0,0,1613,350.04
$SM_GC,1.29,0.00,0.00,70.18,0.000,0.000,0.584,52,2671,1613,-8.84,0.90,350.04
$IRIDIUM_FIX,2246.36,-15800.62,310500,111143
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,117.087
$10V_AH,10.6,69.136
$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,21.775,82.575,311.850,70.175,0.000,29.370,33.154,169.388,0.250,0.000,0.000,12.141,779.977,5911.958,430.526,1391.022,586.348,33.368,1033.780,0.000,1383.829,0.000,0.543,0.000
$DEVICE_MAMPS,238.537,69.030,1058.460,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,248.175,550.898,569.755,124.194,514.045,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28787,368
$CAP_FILE_SIZE,71578,0
$CFSIZE,260165632,226009088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,070311,160907,2253.604,-15759.570,25,1.9,26,10.1