version: 66.04
glider: 512
mission: 1
dive: 500
start: 1 26 111 23 20 14
data:
$ID,512
$MISSION,1
$DIVE,500
$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,160
$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,-16704.686
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2900
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,231324,2244.060,-15805.389,30,1.1,47,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.4
$GPS2,231925,2244.034,-15805.393,13,1.7,54,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.131,0.229
$KALMAN_X,-157965.5,-586.8,-326.2,168574.2,1316.5
$KALMAN_Y,-489144.1,-492.5,146.6,607588.7,-3292.6
$MHEAD_RNG_PITCHd_Wd,320.2,6845,-16.2,-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,16,-0.84,-155.7,0.0,0.0,0,63,0.00,0.00,-45.53,0.000,2,0.000,0.000,50,2680,3043
$GC,67,-0.84,-155.7,3.6,-5.5,6,101,11.25,1.98,-16.90,0.000,4,0.244,0.071,2608,3867,3963
$GC,212,-0.84,-155.7,37.4,-10.6,24,216,0.00,1.80,0.00,0.000,6,0.000,0.025,2611,2634,3966
$GC,481,-0.84,-155.7,96.1,-24.5,49,485,0.00,2.03,0.00,0.000,4,0.000,0.029,2621,1259,3967
$GC,564,-0.84,-155.7,106.7,-8.1,56,572,0.00,2.22,0.00,0.000,6,0.000,0.055,2613,2624,3968
$GC,828,-0.84,-155.7,140.7,-14.0,81,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2624,3969
$GC,1092,-0.84,-155.7,177.2,-13.2,106,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2625,3970
$GC,1372,-0.84,-155.7,209.3,-10.4,127,1376,0.00,2.03,0.00,0.000,4,0.000,0.026,2621,1240,3970
$GC,1400,-0.84,-155.7,212.1,-8.9,127,1404,0.00,2.22,0.00,0.000,6,0.000,0.049,2619,2657,3971
$GC,1661,-0.84,-155.7,231.6,-7.8,134,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2658,3971
$GC,1905,-0.84,-155.7,252.4,-8.7,140,1909,0.00,2.05,0.00,0.000,4,0.000,0.026,2626,1252,3970
$GC,1939,-0.84,-155.7,255.3,-8.1,140,1944,0.00,2.20,0.00,0.000,6,0.000,0.051,2619,2651,3971
$GC,2191,-0.84,-155.7,275.5,-8.1,146,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2650,3970
$GC,2434,-0.84,-155.7,294.7,-7.7,152,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2650,3969
$GC,2677,-0.84,-155.7,311.0,-6.4,158,2681,0.00,2.05,0.00,0.000,4,0.000,0.027,2624,1252,3968
$GC,2706,-0.84,-155.7,312.8,-6.1,158,2710,0.00,2.20,0.00,0.000,6,0.000,0.051,2619,2654,3968
$GC,2967,-0.84,-155.7,329.9,-7.3,165,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2655,3968
$GC,3212,-0.84,-155.7,349.9,-8.5,171,3216,0.00,2.08,0.00,0.000,4,0.000,0.026,2626,1238,3965
$GC,3469,-0.84,-155.7,375.2,-10.1,176,3474,0.00,2.25,0.00,0.000,6,0.000,0.049,2619,2659,3965
$GC,3720,-0.84,-155.7,400.5,-10.4,182,3723,0.00,2.00,0.00,0.000,4,0.000,0.067,2619,3891,3963
$GC,3978,-0.84,-155.7,428.9,-9.8,187,3981,0.00,1.80,0.00,0.000,6,0.000,0.026,2627,2649,3961
$GC,4236,-0.84,-155.7,452.9,-9.2,194,4239,0.00,2.03,0.00,0.000,4,0.000,0.062,2627,3886,3960
$GC,4493,-0.84,-155.7,475.5,-8.9,199,4498,0.00,1.85,-0.03,0.000,6,0.000,0.031,2627,2640,3987
$GC,4751,-0.84,-155.7,497.5,-8.8,206,4755,0.00,2.05,0.00,0.000,4,0.000,0.063,2627,3886,3987
$GC,4977,-0.84,-155.7,521.1,-10.6,211,4981,0.00,1.80,0.00,0.000,6,0.000,0.029,2627,2649,3985
$GC,5267,-0.84,-155.7,550.1,-10.0,218,5271,0.00,2.05,0.00,0.000,4,0.000,0.029,2628,1251,3984
$GC,5525,-0.84,-155.7,576.0,-8.9,223,5529,0.00,2.25,0.00,0.000,6,0.000,0.055,2627,2651,3982
$GC,5775,-0.84,-155.7,598.9,-9.7,229,5779,0.00,2.08,0.00,0.000,4,0.000,0.029,2630,1246,3981
$STATE,5783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5784,begin apogee
$GC,5793,-0.32,0.0,600.2,9.7,229,5923,0.45,0.00,127.38,1.085,6,0.090,0.000,2791,2543,3367
$STATE,5924,end apogee,CONTROL_FINISHED_OK
$STATE,5924,begin climb
$GC,5928,0.84,155.7,608.7,0.0,232,6070,1.08,2.28,134.18,1.065,4,0.071,0.048,3163,3909,2732
$GC,6328,0.87,178.2,614.2,8.7,241,6353,0.00,2.00,19.98,1.020,6,0.000,0.027,3172,2555,2640
$GC,6603,0.87,178.2,580.6,12.9,248,6607,0.00,2.15,0.00,0.000,4,0.000,0.048,3163,3912,2635
$GC,6861,0.87,178.2,548.4,12.7,253,6865,0.00,2.00,0.00,0.000,6,0.000,0.027,3172,2559,2633
$GC,7117,0.87,182.7,523.5,9.4,260,7126,0.00,2.12,3.88,0.651,4,0.000,0.029,3182,1148,2622
$GC,7381,0.89,193.6,499.4,9.2,265,7398,0.00,2.22,11.45,0.950,6,0.000,0.043,3178,2550,2576
$GC,7671,0.89,193.6,466.9,11.6,273,7674,0.00,2.12,0.00,0.000,4,0.000,0.051,3176,3903,2574
$GC,7928,0.89,193.6,436.2,11.4,278,7932,0.00,2.03,0.00,0.000,6,0.000,0.029,3185,2540,2573
$GC,8184,0.91,209.2,412.3,9.0,285,8203,0.00,2.17,14.93,0.946,4,0.000,0.051,3178,3896,2512
$GC,8232,0.91,209.2,406.9,13.1,286,8235,0.00,2.03,0.00,0.000,6,0.000,0.028,3187,2550,2512
$GC,8518,0.91,209.2,367.7,13.9,293,8521,0.00,2.10,0.00,0.000,4,0.000,0.031,3197,1132,2509
$GC,8776,0.91,209.2,333.9,13.2,298,8780,0.00,2.20,0.00,0.000,6,0.000,0.044,3192,2549,2508
$GC,9032,0.91,209.2,303.8,11.3,305,9035,0.00,2.12,0.00,0.000,4,0.000,0.031,3201,1128,2508
$GC,9127,0.92,220.6,294.4,9.1,307,9143,0.00,2.25,10.93,0.844,6,0.000,0.045,3201,2560,2466
$GC,9405,0.92,220.6,260.3,13.1,314,9408,0.00,2.10,0.00,0.000,4,0.000,0.051,3201,3900,2463
$GC,9662,0.92,220.6,223.9,13.3,319,9666,0.00,2.03,0.00,0.000,6,0.000,0.027,3211,2522,2463
$GC,9919,0.94,240.0,200.1,8.8,326,9943,0.00,2.22,18.10,0.811,4,0.000,0.051,3205,3894,2388
$GC,10097,0.94,240.0,173.6,16.0,339,10101,0.00,1.98,0.00,0.000,6,0.000,0.027,3213,2563,2386
$GC,10365,0.94,240.0,132.3,15.7,364,10368,0.00,2.12,0.00,0.000,4,0.000,0.050,3214,3900,2383
$GC,10410,0.94,240.0,124.9,17.3,368,10414,0.00,2.00,0.00,0.000,6,0.000,0.026,3223,2539,2383
$GC,10680,0.94,240.0,88.3,9.7,393,10684,0.00,2.15,0.00,0.000,4,0.000,0.048,3218,3899,2383
$GC,10935,1.05,326.8,68.4,6.0,416,11013,0.00,2.00,72.68,0.711,6,0.000,0.025,3227,2523,2034
$STATE,11213,end climb,SURFACE_DEPTH_REACHED
$STATE,11213,begin surface coast
$FINISH,1.2,1.023919
$STATE,11220,end surface coast,CONTROL_FINISHED_OK
$STATE,11220,begin surface
$SM_CCo,11242,13.82,0.610,0,0,1940,350.04
$SM_GC,3.95,0.00,0.00,13.82,0.000,0.000,0.610,51,2680,1940,-8.91,0.85,350.04
$IRIDIUM_FIX,2234.68,-15805.41,210400,202030
$TT8_MAMPS,0.023777
$HUMID,1867
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.7,65.614
$10V_AH,10.7,38.311
$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,21.850,91.700,413.475,13.825,0.000,28.302,34.410,135.133,0.000,0.000,0.000,54.599,1031.561,7552.013,419.393,2138.016,476.799,33.368,1319.583,0.000,2068.634,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,70.564,1084.538,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,305.587,649.688,668.194,132.295,552.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38345,450
$CAP_FILE_SIZE,96187,0
$CFSIZE,260165632,241274880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,1
$GPS,270111,022937,2244.185,-15806.249,66,1.3,66,10.0