version: 66.04
glider: 512
mission: 1
dive: 898
start: 3 8 111 5 46 37
data:
$ID,512
$MISSION,1
$DIVE,898
$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,-25302.451
$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,67
$R_STBD_OVSHOOT,17
$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
$GPS1,053754,2253.081,-15756.310,35,1.5,53,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.6
$GPS2,054544,2253.111,-15756.341,13,1.6,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.179,-0.184
$KALMAN_X,-372799.2,298.4,55.6,397704.4,-2985.7
$KALMAN_Y,-657697.6,721.4,198.5,791666.6,-1113.9
$MHEAD_RNG_PITCHd_Wd,125.6,11589,-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,-146.0,0.0,0.0,0,68,0.00,0.00,-45.20,0.000,2,0.000,0.000,35,2609,2773
$GC,74,-0.85,-146.0,3.1,-4.1,6,114,11.27,2.08,-18.38,0.000,4,0.237,0.039,2600,1255,3640
$GC,162,-0.85,-146.0,22.1,-18.1,19,170,0.00,2.30,0.00,0.000,6,0.000,0.064,2591,2627,3640
$GC,430,-0.85,-146.0,84.0,-23.6,47,434,0.00,2.10,0.00,0.000,4,0.000,0.067,2581,3900,3641
$GC,493,-0.85,-146.0,98.1,-18.4,52,501,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2657,3641
$GC,759,-0.85,-146.0,153.2,-22.1,77,763,0.00,2.08,0.00,0.000,4,0.000,0.027,2599,1238,3642
$GC,830,-0.85,-146.0,165.2,-12.8,83,834,0.00,2.33,0.00,0.000,6,0.000,0.059,2589,2645,3643
$GC,1121,-0.85,-146.0,215.5,-17.3,104,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2646,3644
$GC,1364,-0.85,-146.0,255.7,-16.1,110,1368,0.00,2.08,0.00,0.000,4,0.000,0.026,2598,1232,3644
$GC,1399,-0.85,-146.0,260.7,-12.5,110,1404,0.00,2.35,0.00,0.000,6,0.000,0.063,2590,2648,3644
$GC,1652,-0.85,-146.0,293.6,-13.4,116,1656,0.00,2.08,0.00,0.000,4,0.000,0.072,2580,3893,3644
$GC,1677,-0.85,-146.0,296.8,-12.5,116,1680,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2624,3644
$GC,1945,-0.85,-146.0,329.9,-12.9,123,1949,0.00,2.03,0.00,0.000,4,0.000,0.026,2597,1246,3644
$GC,1958,-0.85,-146.0,331.7,-12.6,123,1962,0.00,2.25,0.00,0.000,6,0.000,0.054,2589,2648,3644
$GC,2237,-0.85,-146.0,363.5,-11.5,130,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3643
$GC,2484,-0.85,-146.0,393.4,-12.4,136,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3641
$GC,2725,-0.85,-146.0,419.2,-10.1,142,2728,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1242,3639
$GC,2766,-0.85,-146.0,422.7,-7.1,142,2772,0.00,2.30,0.00,0.000,6,0.000,0.059,2589,2641,3639
$GC,3018,-0.85,-146.0,447.6,-10.8,149,3022,0.00,2.10,0.00,0.000,4,0.000,0.071,2580,3901,3637
$GC,3093,-0.85,-146.0,456.0,-10.2,150,3097,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2650,3636
$GC,3356,-0.85,-146.0,485.0,-11.0,157,3359,0.00,2.10,0.00,0.000,4,0.000,0.028,2597,1236,3635
$GC,3398,-0.85,-146.0,488.8,-7.8,157,3405,0.00,2.30,0.00,0.000,6,0.000,0.057,2590,2636,3635
$GC,3652,-0.85,-146.0,512.5,-9.6,164,3656,0.00,2.10,0.00,0.000,4,0.000,0.067,2579,3903,3632
$GC,3690,-0.85,-146.0,516.2,-9.3,164,3694,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2637,3631
$GC,3949,-0.85,-146.0,541.3,-9.9,171,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2630,3630
$GC,4191,-0.85,-146.0,565.5,-9.7,177,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2629,3629
$GC,4435,-0.85,-146.0,586.3,-8.4,183,4439,0.00,2.08,0.00,0.000,4,0.000,0.030,2597,1249,3626
$GC,4466,-0.85,-146.0,589.0,-7.8,183,4470,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2638,3627
$STATE,4637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4637,begin apogee
$GC,4648,-0.32,0.0,603.2,8.2,188,4774,0.62,0.00,122.93,1.056,6,0.146,0.000,2771,2485,3040
$STATE,4774,end apogee,CONTROL_FINISHED_OK
$STATE,4775,begin climb
$GC,4779,0.85,146.0,607.4,0.0,191,4916,1.12,2.28,129.62,1.048,4,0.089,0.028,3159,1029,2443
$GC,5179,0.85,146.0,560.8,18.3,200,5184,0.00,2.30,0.00,0.000,6,0.000,0.046,3159,2474,2435
$GC,5460,0.85,146.0,504.7,20.2,207,5464,0.00,2.17,0.00,0.000,4,0.000,0.029,3168,1022,2431
$GC,5489,0.85,146.0,498.9,18.6,207,5493,0.00,2.30,0.00,0.000,6,0.000,0.045,3162,2468,2431
$GC,5752,0.85,146.0,448.3,19.5,214,5756,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1026,2429
$GC,5832,0.85,146.0,434.2,16.8,215,5837,0.00,2.28,0.00,0.000,6,0.000,0.045,3162,2459,2429
$GC,6086,0.85,146.0,390.4,17.4,221,6090,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1018,2427
$GC,6116,0.85,146.0,384.9,17.6,221,6120,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2461,2427
$GC,6379,0.85,146.0,343.5,15.2,228,6383,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1029,2425
$GC,6397,0.85,146.0,340.8,14.0,228,6401,0.00,2.30,0.00,0.000,6,0.000,0.043,3163,2474,2425
$GC,6666,0.85,146.0,305.5,13.0,235,6670,0.00,2.28,0.00,0.000,4,0.000,0.058,3162,3872,2425
$GC,6926,0.86,147.3,269.9,9.6,240,6933,0.00,2.17,0.00,0.000,6,0.000,0.027,3172,2433,2423
$GC,7178,0.95,221.8,252.2,6.3,247,7248,0.00,2.40,63.25,0.835,4,0.000,0.050,3162,3869,2135
$GC,7431,0.95,221.8,197.8,24.4,252,7435,0.00,2.12,0.00,0.000,6,0.000,0.026,3171,2466,2130
$GC,7703,0.95,221.8,138.5,21.5,277,7707,0.00,2.12,0.00,0.000,4,0.000,0.028,3182,1036,2127
$GC,7718,0.95,221.8,134.9,21.2,278,7722,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2460,2126
$GC,7989,0.95,221.8,78.5,19.3,303,7993,0.00,2.12,0.00,0.000,4,0.000,0.027,3184,1032,2125
$GC,8038,0.95,221.8,69.1,19.2,307,8042,0.00,2.22,0.00,0.000,6,0.000,0.039,3176,2462,2125
$GC,8304,0.95,221.8,22.3,18.3,335,8313,0.00,2.28,0.00,0.000,4,0.000,0.052,3175,3862,2124
$STATE,8398,end climb,SURFACE_DEPTH_REACHED
$STATE,8398,begin surface coast
$FINISH,0.4,1.023713
$STATE,8410,end surface coast,CONTROL_FINISHED_OK
$STATE,8410,begin surface
$SM_CCo,8439,67.07,0.603,0,0,1612,350.04
$SM_GC,1.44,0.00,0.00,67.07,0.000,0.000,0.603,45,2589,1612,-8.86,-1.44,350.04
$IRIDIUM_FIX,2248.70,-16106.48,010600,030313
$TT8_MAMPS,0.023777
$HUMID,1923
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.6,117.783
$10V_AH,10.6,69.660
$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,22.175,90.875,315.800,67.075,0.000,29.191,42.872,233.007,0.250,0.000,0.000,13.679,768.073,5762.820,429.606,1342.954,674.887,33.373,1018.784,0.000,1333.831,0.000,0.544,0.000
$DEVICE_MAMPS,237.003,72.098,1056.159,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,239.514,523.868,538.802,119.647,493.305,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28801,354
$CAP_FILE_SIZE,72492,0
$CFSIZE,260165632,225767424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,080311,080957,2252.322,-15755.740,26,2.1,46,10.1