version: 66.04
glider: 512
mission: 1
dive: 896
start: 3 8 111 0 18 7
data:
$ID,512
$MISSION,1
$DIVE,896
$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,-25271.869
$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,37
$R_STBD_OVSHOOT,19
$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
$GPS1,001036,2254.188,-15757.397,40,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.2
$GPS2,001714,2254.153,-15757.423,16,1.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.245,0.074
$KALMAN_X,-369800.4,340.5,406.2,392450.8,-3315.2
$KALMAN_Y,-657217.1,475.6,351.8,793210.6,-3188.0
$MHEAD_RNG_PITCHd_Wd,63.2,3496,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.80,0.000,2,0.000,0.000,44,2630,3005
$GC,78,-0.85,-146.0,3.4,-5.2,7,110,11.25,2.12,-12.02,0.000,4,0.239,0.075,2582,3886,3637
$GC,137,-0.85,-146.0,23.7,-36.5,15,145,0.00,1.90,0.00,0.000,6,0.000,0.026,2590,2640,3639
$GC,405,-0.85,-146.0,94.5,-25.5,41,409,0.00,2.10,0.00,0.000,4,0.000,0.028,2600,1216,3640
$GC,433,-0.85,-146.0,101.5,-25.2,43,437,0.00,2.35,0.00,0.000,6,0.000,0.061,2591,2639,3640
$GC,703,-0.85,-146.0,159.2,-19.0,68,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2639,3641
$GC,976,-0.85,-146.0,206.9,-16.2,91,979,0.00,2.10,0.00,0.000,4,0.000,0.026,2599,1216,3641
$GC,1061,-0.85,-146.0,217.4,-10.5,92,1067,0.00,2.35,0.00,0.000,6,0.000,0.061,2589,2644,3642
$GC,1315,-0.85,-146.0,252.0,-14.0,99,1318,0.00,2.08,0.00,0.000,4,0.000,0.071,2579,3897,3642
$GC,1418,-0.85,-146.0,266.1,-12.6,101,1421,0.00,1.88,0.00,0.000,6,0.000,0.024,2587,2609,3642
$GC,1698,-0.85,-146.0,303.8,-13.5,108,1701,0.00,2.00,0.00,0.000,4,0.000,0.025,2597,1232,3642
$GC,1749,-0.85,-146.0,310.2,-10.4,109,1754,0.00,2.30,0.00,0.000,6,0.000,0.058,2588,2639,3642
$GC,2031,-0.85,-146.0,345.1,-12.5,116,2035,0.00,2.08,0.00,0.000,4,0.000,0.067,2578,3898,3641
$GC,2095,-0.85,-146.0,352.4,-9.1,117,2098,0.00,1.85,0.00,0.000,6,0.000,0.024,2586,2633,3641
$GC,2369,-0.85,-146.0,380.3,-10.4,124,2373,0.00,2.05,0.00,0.000,4,0.000,0.026,2596,1229,3640
$GC,2418,-0.85,-146.0,384.5,-7.0,125,2422,0.00,2.33,0.00,0.000,6,0.000,0.058,2589,2645,3640
$GC,2703,-0.85,-146.0,410.5,-9.6,132,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3638
$GC,2947,-0.85,-146.0,436.1,-10.9,138,2951,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3895,3637
$GC,3005,-0.85,-146.0,442.4,-9.6,139,3009,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2635,3636
$GC,3287,-0.85,-146.0,471.1,-10.3,146,3290,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1245,3635
$GC,3339,-0.85,-146.0,476.5,-8.5,147,3343,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2643,3634
$GC,3618,-0.85,-146.0,503.3,-10.0,154,3622,0.00,2.10,0.00,0.000,4,0.000,0.071,2580,3896,3632
$GC,3648,-0.85,-146.0,506.7,-11.6,154,3652,0.00,1.85,0.00,0.000,6,0.000,0.027,2586,2642,3631
$GC,3912,-0.85,-146.0,533.2,-10.1,161,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3630
$GC,4155,-0.85,-146.0,555.7,-9.1,167,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3628
$GC,4399,-0.85,-146.0,576.8,-8.6,173,4403,0.00,2.08,0.00,0.000,4,0.000,0.030,2597,1245,3626
$GC,4435,-0.85,-146.0,579.6,-7.8,173,4439,0.00,2.33,0.00,0.000,6,0.000,0.059,2589,2647,3626
$GC,4687,-0.85,-146.0,599.0,-7.8,179,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3625
$STATE,4722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4722,begin apogee
$GC,4733,-0.32,0.0,602.1,7.7,180,4859,0.62,0.00,122.85,1.071,6,0.143,0.000,2772,2494,3040
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4865,0.85,146.0,606.5,0.0,183,5003,1.08,2.30,130.15,1.052,4,0.069,0.029,3160,1021,2443
$GC,5144,0.85,146.0,581.8,20.7,189,5148,0.00,2.30,0.00,0.000,6,0.000,0.048,3160,2461,2436
$GC,5414,0.85,146.0,522.9,21.5,196,5417,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1025,2432
$GC,5426,0.85,146.0,519.4,22.0,196,5431,0.00,2.30,0.00,0.000,6,0.000,0.048,3162,2462,2432
$GC,5701,0.85,146.0,462.7,20.1,203,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2462,2430
$GC,5946,0.85,146.0,416.2,18.8,209,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2462,2428
$GC,6188,0.85,146.0,376.2,16.5,215,6192,0.00,2.30,0.00,0.000,4,0.000,0.056,3162,3879,2427
$GC,6279,0.85,146.0,361.0,16.7,217,6284,0.00,2.17,0.00,0.000,6,0.000,0.029,3171,2441,2426
$GC,6559,0.85,146.0,321.2,14.4,224,6563,0.00,2.33,0.00,0.000,4,0.000,0.051,3163,3883,2425
$GC,6611,0.85,146.0,313.7,15.0,225,6615,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2447,2425
$GC,6892,0.85,146.0,275.6,14.5,232,6895,0.00,2.08,0.00,0.000,4,0.000,0.028,3183,1049,2424
$GC,6966,0.88,167.7,268.2,8.6,233,6988,0.00,2.25,16.88,0.823,6,0.000,0.043,3176,2471,2356
$GC,7270,0.88,167.7,232.0,12.8,241,7273,0.00,2.25,0.00,0.000,4,0.000,0.053,3176,3871,2352
$GC,7502,0.88,167.7,194.6,14.6,246,7510,0.00,2.15,0.00,0.000,6,0.000,0.026,3185,2450,2350
$GC,7768,0.88,167.7,162.2,12.5,271,7772,0.00,2.08,0.00,0.000,4,0.000,0.028,3195,1038,2350
$GC,7842,0.88,167.7,153.3,11.9,277,7846,0.00,2.25,0.00,0.000,6,0.000,0.042,3189,2472,2350
$GC,8108,0.90,182.8,124.5,8.9,301,8135,0.00,0.00,15.85,0.616,6,0.000,0.000,3189,2472,2294
$GC,8393,0.90,182.8,91.4,12.1,328,8396,0.00,2.10,0.00,0.000,4,0.000,0.026,3197,1039,2292
$GC,8588,0.90,182.8,67.2,12.4,345,8592,0.00,2.22,0.00,0.000,6,0.000,0.040,3192,2466,2293
$GC,8854,0.92,201.7,38.2,8.8,369,8881,0.00,2.28,17.90,0.601,4,0.000,0.050,3189,3871,2217
$STATE,9075,end climb,SURFACE_DEPTH_REACHED
$STATE,9075,begin surface coast
$FINISH,0.5,1.023732
$STATE,9093,end surface coast,CONTROL_FINISHED_OK
$STATE,9093,begin surface
$SM_CCo,9121,75.43,0.600,0,0,1612,350.04
$SM_GC,1.47,0.00,0.00,75.43,0.000,0.000,0.600,50,2614,1612,-8.84,-0.74,350.04
$IRIDIUM_FIX,2244.02,-15759.32,310500,212155
$TT8_MAMPS,0.023777
$HUMID,1885
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,117.551
$10V_AH,10.6,69.488
$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,21.950,85.875,303.625,75.425,0.000,29.593,37.561,167.455,0.250,0.000,0.000,16.944,852.527,6164.994,431.764,1539.156,609.618,33.368,1068.641,0.000,1530.021,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,75.166,1070.732,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.402,636.383,655.762,143.041,583.995,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32110,407
$CAP_FILE_SIZE,75631,0
$CFSIZE,260165632,225841152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,080311,025246,2253.955,-15756.534,14,2.2,34,10.1