version: 66.04
glider: 512
mission: 1
dive: 725
start: 2 16 111 2 21 27
data:
$ID,512
$MISSION,1
$DIVE,725
$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,-21639.484
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$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,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,020730,2249.350,-15754.839,37,1.1,43,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.1
$GPS2,022031,2249.433,-15754.914,11,1.3,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.054,-0.250
$KALMAN_X,-205036.4,212.4,172.7,232370.0,-2131.5
$KALMAN_Y,-505777.6,458.4,-262.6,633685.8,1804.2
$MHEAD_RNG_PITCHd_Wd,157.6,6677,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,37,2764,2907
$GC,69,-0.85,-146.0,3.3,-4.7,6,102,10.98,2.25,-17.08,0.000,4,0.229,0.039,2593,1291,3757
$GC,144,-0.85,-146.0,23.2,-24.2,17,152,0.00,2.33,0.00,0.000,6,0.000,0.062,2584,2681,3759
$GC,411,-0.85,-146.0,98.9,-30.1,44,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2682,3760
$GC,665,-0.85,-146.0,159.9,-20.4,68,669,0.00,1.98,0.00,0.000,4,0.000,0.067,2575,3894,3761
$GC,725,-0.85,-146.0,170.8,-16.9,73,729,0.00,1.75,0.00,0.000,6,0.000,0.023,2575,2683,3761
$GC,1019,-0.85,-146.0,223.9,-18.4,92,1023,0.00,2.03,0.00,0.000,4,0.000,0.025,2575,1289,3762
$GC,1133,-0.85,-146.0,240.6,-13.1,94,1138,0.12,2.28,0.00,0.000,6,0.138,0.057,2598,2712,3762
$GC,1402,-0.85,-146.0,273.4,-11.8,101,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2712,3762
$GC,1644,-0.85,-146.0,300.3,-10.9,107,1648,0.00,2.10,0.00,0.000,4,0.000,0.027,2608,1298,3762
$GC,1685,-0.85,-146.0,304.5,-9.2,107,1691,0.00,2.28,0.00,0.000,6,0.000,0.060,2600,2706,3762
$GC,1936,-0.85,-146.0,331.2,-10.9,114,1939,0.00,2.08,0.00,0.000,4,0.000,0.028,2608,1300,3762
$GC,1966,-0.85,-146.0,334.5,-10.9,114,1970,0.00,2.28,0.00,0.000,6,0.000,0.062,2599,2702,3762
$GC,2224,-0.85,-146.0,360.8,-10.5,121,2227,0.00,2.08,0.00,0.000,4,0.000,0.028,2608,1298,3761
$GC,2242,-0.85,-146.0,362.8,-10.5,121,2246,0.00,2.28,0.00,0.000,6,0.000,0.060,2600,2698,3760
$GC,2510,-0.85,-146.0,388.0,-9.3,128,2514,0.00,2.00,0.00,0.000,4,0.000,0.077,2589,3899,3759
$GC,2528,-0.85,-146.0,389.6,-8.8,128,2531,0.00,1.75,0.00,0.000,6,0.000,0.025,2590,2691,3759
$GC,2802,-0.85,-146.0,413.0,-8.6,135,2805,0.00,2.05,0.00,0.000,4,0.000,0.029,2590,1298,3758
$GC,2850,-0.85,-146.0,417.0,-7.5,136,2854,0.00,2.30,0.00,0.000,6,0.000,0.064,2590,2702,3758
$GC,3137,-0.85,-146.0,444.2,-9.8,143,3141,0.00,1.98,0.00,0.000,4,0.000,0.074,2580,3893,3755
$GC,3184,-0.85,-146.0,448.9,-9.1,144,3188,0.00,1.75,0.00,0.000,6,0.000,0.025,2580,2691,3755
$GC,3478,-0.85,-146.0,478.2,-10.1,151,3481,0.00,2.05,0.00,0.000,4,0.000,0.031,2581,1307,3753
$GC,3506,-0.85,-146.0,481.7,-11.1,151,3510,0.00,2.30,0.00,0.000,6,0.000,0.065,2577,2713,3753
$GC,3769,-0.85,-146.0,508.7,-10.7,158,3773,0.00,2.10,0.00,0.000,4,0.000,0.030,2577,1297,3750
$GC,3797,-0.85,-146.0,512.4,-11.6,158,3802,0.00,2.33,0.00,0.000,6,0.000,0.065,2576,2707,3751
$GC,4055,-0.85,-146.0,541.8,-11.6,165,4058,0.00,1.98,0.00,0.000,4,0.000,0.076,2567,3891,3749
$GC,4078,-0.85,-146.0,544.6,-11.4,165,4082,0.12,1.75,0.00,0.000,6,0.136,0.027,2601,2701,3748
$GC,4346,-0.85,-146.0,567.8,-8.5,172,4349,0.00,2.10,0.00,0.000,4,0.000,0.034,2611,1298,3747
$GC,4393,-0.85,-146.0,571.6,-6.9,173,4397,0.00,2.30,0.00,0.000,6,0.000,0.064,2606,2698,3747
$GC,4678,-0.85,-146.0,592.7,-7.1,180,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2698,3745
$STATE,4796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4796,begin apogee
$GC,4805,-0.32,0.0,600.8,6.6,183,4931,0.50,0.00,122.78,1.039,6,0.106,0.000,2768,2619,3160
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4936,0.85,146.0,605.9,0.0,186,5073,1.08,2.20,128.70,1.010,4,0.074,0.065,3148,3887,2563
$GC,5332,0.85,146.0,574.7,17.8,195,5335,0.00,1.90,0.00,0.000,6,0.000,0.030,3158,2631,2556
$GC,5623,0.85,146.0,534.2,13.2,202,5626,0.00,2.05,0.00,0.000,4,0.000,0.054,3157,3909,2551
$GC,5881,0.85,146.0,499.2,13.5,207,5885,0.00,1.95,0.00,0.000,6,0.000,0.030,3167,2610,2550
$GC,6138,0.85,146.0,466.6,12.7,214,6141,0.00,2.10,0.00,0.000,4,0.000,0.055,3163,3903,2548
$GC,6396,0.85,146.0,432.6,13.4,219,6400,0.00,1.92,0.00,0.000,6,0.000,0.030,3171,2615,2547
$GC,6655,0.85,146.0,404.5,10.7,226,6658,0.00,2.10,0.00,0.000,4,0.000,0.056,3164,3907,2545
$GC,6751,0.85,146.0,393.1,11.1,228,6754,0.00,1.92,0.00,0.000,6,0.000,0.030,3172,2619,2545
$GC,7036,0.91,194.8,370.5,7.4,235,7082,0.00,2.17,41.08,0.893,4,0.000,0.034,3182,1214,2365
$GC,7090,0.91,194.8,365.2,11.6,236,7095,0.00,2.28,0.00,0.000,6,0.000,0.047,3176,2635,2363
$GC,7364,0.91,194.8,314.9,18.3,243,7368,0.00,2.15,0.00,0.000,4,0.000,0.032,3184,1219,2358
$GC,7623,0.91,194.8,269.5,15.3,248,7627,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2635,2356
$GC,7879,0.91,194.8,228.0,16.2,255,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2635,2355
$GC,8127,0.91,194.8,193.6,13.4,264,8131,0.00,2.12,0.00,0.000,4,0.000,0.031,3185,1219,2354
$GC,8387,0.91,194.8,161.6,11.3,287,8392,0.00,2.22,0.00,0.000,6,0.000,0.048,3177,2631,2354
$GC,8652,0.91,194.8,128.8,10.3,311,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2631,2354
$GC,8916,1.08,325.9,109.7,3.8,336,9032,0.15,2.20,110.32,0.674,4,0.105,0.025,3233,1202,1830
$GC,9246,1.08,325.9,29.8,30.0,364,9255,0.00,2.30,0.00,0.000,6,0.000,0.044,3231,2625,1822
$STATE,9324,end climb,SURFACE_DEPTH_REACHED
$STATE,9324,begin surface coast
$FINISH,0.3,1.023812
$STATE,9331,end surface coast,CONTROL_FINISHED_OK
$STATE,9332,begin surface
$SM_CCo,9355,15.35,0.561,0,0,1732,350.04
$SM_GC,3.03,0.00,0.00,15.35,0.000,0.000,0.561,49,2761,1732,-8.83,1.70,350.04
$IRIDIUM_FIX,2241.69,-15757.16,120500,020200
$TT8_MAMPS,0.023777
$HUMID,1885
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.5,96.074
$10V_AH,10.7,54.115
$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,21.450,88.400,402.875,15.350,0.000,88.450,117.899,303.492,0.250,0.000,0.000,11.271,841.973,6492.465,418.756,1563.575,841.815,33.365,1127.955,0.000,1548.304,0.000,0.543,0.000
$DEVICE_MAMPS,229.333,76.700,1038.518,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,255.989,544.202,559.382,105.822,444.283,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32036,379
$CAP_FILE_SIZE,85649,0
$CFSIZE,260165632,233091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,160211,045852,2248.468,-15755.085,9,4.1,29,10.1