version: 66.04
glider: 512
mission: 1
dive: 894
start: 3 7 111 18 56 49
data:
$ID,512
$MISSION,1
$DIVE,894
$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,-25229.98
$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,60
$R_STBD_OVSHOOT,39
$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
$GPS1,184922,2254.303,-15759.336,9,5.0,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.7
$GPS2,185558,2254.265,-15759.346,20,5.0,39,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,0.064
$KALMAN_X,-366713.5,334.4,12.5,386449.0,-2486.0
$KALMAN_Y,-655882.2,566.3,433.5,791917.6,-3765.3
$MHEAD_RNG_PITCHd_Wd,65.4,6712,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.20,0.000,2,0.000,0.000,45,2669,2754
$GC,70,-0.85,-146.0,3.0,-4.0,6,110,11.43,2.15,-19.00,0.000,4,0.243,0.040,2601,1245,3639
$GC,126,-0.85,-146.0,15.7,-24.9,13,134,0.00,2.28,0.00,0.000,6,0.000,0.059,2591,2611,3639
$GC,394,-0.85,-146.0,88.5,-25.4,42,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2612,3641
$GC,659,-0.85,-146.0,144.8,-17.8,67,663,0.00,2.03,0.00,0.000,4,0.000,0.026,2600,1236,3642
$GC,711,-0.85,-146.0,153.5,-12.8,71,719,0.00,2.33,0.00,0.000,6,0.000,0.059,2591,2639,3642
$GC,976,-0.85,-146.0,198.4,-18.1,96,979,0.00,2.05,0.00,0.000,4,0.000,0.064,2580,3894,3644
$GC,1001,-0.85,-146.0,203.1,-18.0,97,1004,0.00,1.83,0.00,0.000,6,0.000,0.022,2588,2636,3643
$GC,1269,-0.85,-146.0,245.6,-15.6,104,1273,0.00,2.05,0.00,0.000,4,0.000,0.025,2598,1237,3644
$GC,1333,-0.85,-146.0,253.5,-9.8,105,1337,0.00,2.28,0.00,0.000,6,0.000,0.053,2589,2647,3644
$GC,1601,-0.85,-146.0,291.8,-15.2,112,1605,0.00,2.05,0.00,0.000,4,0.000,0.062,2579,3917,3644
$GC,1652,-0.85,-146.0,299.1,-11.7,113,1656,0.00,1.88,0.00,0.000,6,0.000,0.023,2587,2646,3644
$GC,1939,-0.85,-146.0,336.2,-13.5,120,1942,0.00,2.08,0.00,0.000,4,0.000,0.026,2597,1226,3644
$GC,2013,-0.85,-146.0,345.3,-10.5,121,2017,0.00,2.28,0.00,0.000,6,0.000,0.051,2589,2641,3644
$GC,2276,-0.85,-146.0,379.1,-12.9,128,2279,0.00,2.03,0.00,0.000,4,0.000,0.061,2579,3893,3643
$GC,2305,-0.85,-146.0,382.7,-12.9,128,2309,0.00,1.83,0.00,0.000,6,0.000,0.024,2586,2636,3643
$GC,2569,-0.85,-146.0,410.6,-10.4,135,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2631,3642
$GC,2813,-0.85,-146.0,435.3,-10.1,141,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2630,3640
$GC,3055,-0.85,-146.0,459.2,-9.7,147,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2630,3638
$GC,3299,-0.85,-146.0,484.1,-10.3,153,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2630,3637
$GC,3543,-0.85,-146.0,510.5,-11.0,159,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2630,3636
$GC,3787,-0.85,-146.0,535.4,-10.0,165,3791,0.00,2.05,0.00,0.000,4,0.000,0.029,2597,1244,3633
$GC,3822,-0.85,-146.0,538.7,-8.5,165,3826,0.00,2.28,0.00,0.000,6,0.000,0.055,2589,2635,3633
$GC,4075,-0.85,-146.0,560.2,-8.4,171,4079,0.00,2.08,0.00,0.000,4,0.000,0.066,2580,3895,3631
$GC,4117,-0.85,-146.0,563.9,-8.2,171,4123,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2644,3631
$GC,4369,-0.85,-146.0,583.8,-8.0,178,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2636,3629
$STATE,4567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4567,begin apogee
$GC,4578,-0.32,0.0,601.4,8.8,183,4704,0.62,0.00,123.25,1.066,6,0.145,0.000,2770,2481,3040
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4705,begin climb
$GC,4710,0.85,146.0,607.5,0.0,186,4847,1.10,2.40,130.10,1.055,4,0.078,0.061,3150,3875,2443
$GC,4944,0.85,146.0,593.1,25.2,191,4948,0.00,2.17,0.00,0.000,6,0.000,0.027,3159,2449,2436
$GC,5212,0.85,146.0,535.0,21.2,198,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2443,2432
$GC,5457,0.85,146.0,482.6,21.4,204,5460,0.00,2.10,0.00,0.000,4,0.000,0.028,3170,1027,2430
$GC,5486,0.85,146.0,476.5,20.1,204,5491,0.00,2.28,0.00,0.000,6,0.000,0.043,3162,2470,2430
$GC,5745,0.85,146.0,427.0,18.6,211,5749,0.00,2.28,0.00,0.000,4,0.000,0.054,3162,3878,2428
$GC,5893,0.85,146.0,399.0,18.5,214,5897,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2456,2426
$GC,6168,0.85,146.0,359.5,13.6,221,6172,0.00,2.10,0.00,0.000,4,0.000,0.030,3182,1041,2425
$GC,6254,0.85,146.0,348.6,12.4,222,6260,0.00,2.25,0.00,0.000,6,0.000,0.045,3176,2459,2425
$GC,6506,0.85,146.0,314.5,13.6,229,6510,0.00,2.10,0.00,0.000,4,0.000,0.029,3184,1042,2424
$GC,6710,0.85,146.0,290.0,10.8,233,6714,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2476,2424
$GC,6978,0.85,146.0,263.9,10.3,240,6982,0.00,2.28,0.00,0.000,4,0.000,0.056,3176,3877,2423
$GC,7239,0.85,146.0,237.1,11.1,245,7243,0.00,2.12,0.00,0.000,6,0.000,0.027,3185,2451,2422
$GC,7498,0.91,187.9,214.8,7.8,252,7544,0.00,2.10,36.05,0.755,4,0.000,0.028,3195,1046,2272
$GC,7563,0.91,187.9,208.3,12.3,253,7567,0.00,2.25,0.00,0.000,6,0.000,0.042,3191,2466,2270
$GC,7831,0.91,187.9,163.8,17.0,275,7835,0.00,2.25,0.00,0.000,4,0.000,0.050,3191,3877,2267
$GC,7989,0.91,187.9,131.1,17.1,288,7997,0.00,2.15,0.00,0.000,6,0.000,0.026,3200,2460,2266
$GC,8254,0.91,187.9,91.5,14.9,313,8258,0.00,2.08,0.00,0.000,4,0.000,0.026,3211,1049,2266
$GC,8452,0.91,187.9,63.6,14.1,330,8457,0.15,2.22,0.00,0.000,6,0.233,0.041,3175,2474,2266
$GC,8721,0.91,187.9,32.5,12.1,354,8724,0.00,2.22,0.00,0.000,4,0.000,0.050,3175,3872,2266
$GC,8737,0.91,187.9,30.0,12.1,355,8741,0.00,2.10,0.00,0.000,6,0.000,0.023,3185,2446,2266
$STATE,8946,end climb,SURFACE_DEPTH_REACHED
$STATE,8947,begin surface coast
$FINISH,0.5,1.023792
$STATE,8969,end surface coast,CONTROL_FINISHED_OK
$STATE,8969,begin surface
$SM_CCo,8996,87.03,0.592,0,0,1612,350.04
$SM_GC,1.67,0.00,0.00,87.03,0.000,0.000,0.592,52,2659,1612,-8.84,0.54,350.04
$IRIDIUM_FIX,2246.36,-15801.49,310500,161601
$TT8_MAMPS,0.023777
$HUMID,1867
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.6,117.317
$10V_AH,10.6,69.309
$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,22.350,81.775,289.400,87.025,0.000,28.967,36.150,145.552,0.000,0.000,0.000,40.330,831.317,6102.406,430.938,1521.872,593.615,33.363,1051.703,0.000,1494.286,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,65.962,1066.130,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.771,607.116,627.545,144.794,587.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31971,397
$CAP_FILE_SIZE,73342,0
$CFSIZE,260165632,225927168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,1
$GPS,070311,212937,2254.358,-15758.324,37,2.0,38,10.1