version: 66.04
glider: 512
mission: 1
dive: 893
start: 3 7 111 16 20 13
data:
$ID,512
$MISSION,1
$DIVE,893
$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,-25189.021
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,160907,2253.604,-15759.570,25,1.9,26,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.7
$GPS2,161920,2253.521,-15759.554,17,1.9,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.118,0.228
$KALMAN_X,-365902.9,349.6,159.5,385127.6,-3077.8
$KALMAN_Y,-653912.0,533.8,-146.6,789183.1,-2832.2
$MHEAD_RNG_PITCHd_Wd,17.3,6917,-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,-52.80,0.000,2,0.000,0.000,50,2671,3010
$GC,81,-0.85,-146.0,3.4,-5.0,7,114,11.23,1.98,-11.98,0.000,4,0.238,0.067,2585,3868,3639
$GC,182,-0.85,-146.0,33.7,-21.2,22,186,0.00,1.83,0.00,0.000,6,0.000,0.025,2592,2636,3640
$GC,454,-0.85,-146.0,96.9,-23.4,47,458,0.00,2.08,0.00,0.000,4,0.000,0.030,2602,1233,3641
$GC,549,-0.85,-146.0,114.8,-14.2,55,556,0.00,2.30,0.00,0.000,6,0.000,0.059,2593,2618,3642
$GC,813,-0.85,-146.0,164.9,-16.9,80,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2618,3642
$GC,1105,-0.85,-146.0,214.2,-16.9,102,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2618,3644
$GC,1348,-0.85,-146.0,250.8,-14.5,108,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2618,3644
$GC,1593,-0.85,-146.0,284.0,-13.8,114,1597,0.00,2.10,0.00,0.000,4,0.000,0.064,2583,3902,3645
$GC,1641,-0.85,-146.0,290.2,-10.7,115,1644,0.00,1.88,0.00,0.000,6,0.000,0.023,2590,2611,3645
$GC,1934,-0.85,-146.0,325.5,-12.4,122,1938,0.00,2.00,0.00,0.000,4,0.000,0.026,2600,1239,3644
$GC,1992,-0.85,-146.0,332.2,-9.1,123,1996,0.00,2.25,0.00,0.000,6,0.000,0.052,2591,2642,3644
$GC,2266,-0.85,-146.0,364.6,-12.0,130,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2642,3643
$GC,2511,-0.85,-146.0,393.0,-11.4,136,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2642,3642
$GC,2753,-0.85,-146.0,419.5,-10.9,142,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2642,3640
$GC,2997,-0.85,-146.0,445.2,-10.5,148,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2642,3638
$GC,3240,-0.85,-146.0,470.9,-10.6,154,3244,0.00,2.08,0.00,0.000,4,0.000,0.066,2581,3902,3636
$GC,3270,-0.85,-146.0,474.3,-10.9,154,3274,0.00,1.88,0.00,0.000,6,0.000,0.026,2589,2635,3636
$GC,3534,-0.85,-146.0,503.7,-11.7,161,3538,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,1232,3635
$GC,3564,-0.85,-146.0,507.3,-11.5,161,3568,0.00,2.30,0.00,0.000,6,0.000,0.053,2590,2645,3635
$GC,3821,-0.85,-146.0,535.4,-11.0,168,3825,0.00,2.05,0.00,0.000,4,0.000,0.065,2580,3894,3632
$GC,3850,-0.85,-146.0,538.7,-10.7,168,3854,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2645,3631
$GC,4115,-0.85,-146.0,564.0,-9.5,175,4118,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1233,3630
$GC,4150,-0.85,-146.0,567.4,-8.9,175,4154,0.00,2.28,0.00,0.000,6,0.000,0.051,2589,2642,3630
$GC,4403,-0.85,-146.0,589.8,-9.1,181,4407,0.00,2.05,0.00,0.000,4,0.000,0.064,2580,3894,3627
$GC,4445,-0.85,-146.0,594.0,-9.5,181,4451,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2626,3627
$STATE,4529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4530,begin apogee
$GC,4540,-0.32,0.0,602.0,9.1,184,4666,0.62,0.00,122.75,1.047,6,0.145,0.000,2770,2478,3040
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4672,0.85,146.0,607.6,0.0,187,4818,1.10,2.30,131.88,1.032,4,0.075,0.028,3161,1034,2443
$GC,4954,0.85,146.0,587.7,20.3,193,4958,0.00,2.28,0.00,0.000,6,0.000,0.044,3161,2467,2436
$GC,5217,0.85,146.0,530.5,21.8,200,5220,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1028,2433
$GC,5303,0.85,146.0,513.4,19.5,201,5309,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2466,2432
$GC,5555,0.85,146.0,463.7,19.5,208,5558,0.00,2.25,0.00,0.000,4,0.000,0.052,3162,3872,2430
$GC,5591,0.85,146.0,456.5,20.5,208,5595,0.00,2.15,0.00,0.000,6,0.000,0.025,3172,2434,2428
$GC,5849,0.85,146.0,408.7,18.3,215,5853,0.00,2.33,0.00,0.000,4,0.000,0.051,3163,3877,2427
$GC,6013,0.85,146.0,377.9,17.5,218,6017,0.00,2.12,0.00,0.000,6,0.000,0.028,3172,2460,2426
$GC,6277,0.85,146.0,336.8,15.1,225,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2455,2425
$GC,6522,0.85,146.0,302.2,14.0,231,6525,0.00,2.10,0.00,0.000,4,0.000,0.030,3182,1050,2424
$GC,6783,0.87,156.5,276.9,9.1,236,6795,0.00,2.25,7.12,0.723,6,0.000,0.048,3176,2458,2401
$GC,7040,0.87,156.5,245.6,12.6,243,7044,0.00,2.30,0.00,0.000,4,0.000,0.058,3175,3876,2400
$GC,7300,0.87,156.5,212.0,12.4,248,7306,0.00,2.12,0.00,0.000,6,0.000,0.027,3185,2457,2399
$GC,7560,0.88,164.0,187.0,9.3,264,7574,0.00,2.10,7.88,0.669,4,0.000,0.028,3196,1035,2371
$GC,7701,0.88,164.0,172.5,10.8,276,7705,0.00,2.25,0.00,0.000,6,0.000,0.043,3192,2477,2370
$GC,7972,0.88,164.0,141.4,10.7,301,7975,0.00,2.22,0.00,0.000,4,0.000,0.053,3192,3872,2370
$GC,8190,0.96,233.3,122.7,6.5,320,8256,0.00,2.10,60.58,0.702,6,0.000,0.025,3201,2444,2088
$GC,8523,0.96,233.3,57.8,21.7,350,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2444,2081
$STATE,8772,end climb,SURFACE_DEPTH_REACHED
$STATE,8772,begin surface coast
$FINISH,0.4,1.023883
$STATE,8788,end surface coast,CONTROL_FINISHED_OK
$STATE,8788,begin surface
$SM_CCo,8814,56.38,0.588,0,0,1613,350.04
$SM_GC,1.61,0.00,0.00,56.38,0.000,0.000,0.588,46,2668,1613,-8.86,0.79,350.04
$IRIDIUM_FIX,2244.02,-15756.28,310500,161617
$TT8_MAMPS,0.023777
$HUMID,1902
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,117.207
$10V_AH,10.6,69.222
$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,22.075,72.775,330.200,56.375,0.000,53.600,77.462,255.459,0.250,0.000,0.000,17.459,806.494,6036.362,423.129,1467.627,755.397,33.369,1042.656,0.000,1457.527,0.000,0.544,0.000
$DEVICE_MAMPS,237.770,67.496,1046.955,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.318,598.137,615.284,126.412,520.837,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31829,387
$CAP_FILE_SIZE,73959,0
$CFSIZE,260165632,225964032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,070311,184922,2254.303,-15759.336,9,5.0,29,10.1