version: 66.04
glider: 512
mission: 1
dive: 732
start: 2 16 111 21 49 55
data:
$ID,512
$MISSION,1
$DIVE,732
$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,-21784.826
$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,64
$R_STBD_OVSHOOT,22
$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
$GPS1,213537,2246.282,-15801.702,28,1.8,28,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.6
$GPS2,214902,2246.353,-15801.888,13,1.6,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.100,0.236
$KALMAN_X,-204973.4,794.6,160.3,219731.6,-717.5
$KALMAN_Y,-496448.9,-24.9,10.2,618862.3,1245.5
$MHEAD_RNG_PITCHd_Wd,326.9,14600,-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,-45.25,0.000,2,0.000,0.000,28,2717,2920
$GC,69,-0.85,-146.0,3.5,-5.2,6,103,11.18,1.98,-16.23,0.000,4,0.233,0.076,2581,3892,3759
$GC,302,-0.85,-146.0,57.3,-16.9,33,310,0.00,1.75,0.00,0.000,6,0.000,0.023,2585,2706,3761
$GC,566,-0.85,-146.0,121.0,-25.3,58,569,0.00,2.05,0.00,0.000,4,0.000,0.025,2587,1292,3761
$GC,604,-0.85,-146.0,128.4,-19.0,61,608,0.00,2.28,0.00,0.000,6,0.000,0.062,2578,2696,3762
$GC,868,-0.85,-146.0,177.9,-18.8,85,872,0.00,1.98,0.00,0.000,4,0.000,0.066,2568,3914,3762
$GC,931,-0.85,-146.0,189.4,-13.9,90,939,0.08,1.77,0.00,0.000,6,0.140,0.023,2592,2686,3762
$GC,1216,-0.85,-146.0,229.0,-13.9,103,1220,0.00,1.98,0.00,0.000,4,0.000,0.025,2602,1300,3762
$GC,1250,-0.85,-146.0,233.2,-10.9,103,1254,0.00,2.25,0.00,0.000,6,0.000,0.054,2594,2705,3763
$GC,1502,-0.85,-146.0,263.4,-12.7,109,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2705,3763
$GC,1745,-0.85,-146.0,293.8,-12.4,115,1749,0.00,2.03,0.00,0.000,4,0.000,0.025,2593,1312,3762
$GC,1812,-0.85,-146.0,301.4,-10.1,116,1816,0.00,2.22,0.00,0.000,6,0.000,0.054,2589,2697,3763
$GC,2075,-0.85,-146.0,332.7,-12.1,123,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3761
$GC,2319,-0.85,-146.0,360.0,-11.1,129,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3760
$GC,2562,-0.85,-146.0,386.1,-10.6,135,2566,0.00,2.05,0.00,0.000,4,0.000,0.025,2589,1308,3759
$GC,2596,-0.85,-146.0,389.8,-10.6,135,2601,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2712,3759
$GC,2849,-0.85,-146.0,415.1,-10.3,141,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2712,3757
$GC,3093,-0.85,-146.0,441.1,-10.7,147,3097,0.00,2.08,0.00,0.000,4,0.000,0.028,2589,1318,3756
$GC,3134,-0.85,-146.0,445.7,-9.4,147,3140,0.00,2.28,0.00,0.000,6,0.000,0.064,2589,2709,3755
$GC,3385,-0.85,-146.0,470.2,-9.8,154,3388,0.00,1.98,0.00,0.000,4,0.000,0.076,2589,3896,3754
$GC,3414,-0.85,-146.0,473.1,-9.2,154,3418,0.00,1.73,0.00,0.000,6,0.000,0.025,2589,2705,3753
$GC,3678,-0.85,-146.0,496.9,-9.1,161,3682,0.00,2.08,0.00,0.000,4,0.000,0.031,2589,1303,3750
$GC,3730,-0.85,-146.0,501.8,-8.1,162,3734,0.00,2.30,0.00,0.000,6,0.000,0.064,2589,2707,3750
$GC,4009,-0.85,-146.0,526.4,-8.8,169,4013,0.00,1.95,0.00,0.000,4,0.000,0.071,2581,3892,3749
$GC,4061,-0.85,-146.0,531.1,-8.7,170,4064,0.00,1.75,0.00,0.000,6,0.000,0.026,2581,2695,3748
$GC,4346,-0.85,-146.0,557.3,-9.3,177,4350,0.00,2.08,0.00,0.000,4,0.000,0.033,2583,1305,3747
$GC,4398,-0.85,-146.0,562.3,-8.3,178,4402,0.00,2.28,0.00,0.000,6,0.000,0.061,2577,2701,3746
$GC,4677,-0.85,-146.0,591.0,-10.6,185,4680,0.00,1.98,0.00,0.000,4,0.000,0.071,2567,3895,3744
$GC,4725,-0.85,-146.0,595.6,-9.9,186,4729,0.08,1.77,0.00,0.000,6,0.133,0.026,2593,2702,3743
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4808,begin apogee
$GC,4817,-0.32,0.0,603.5,8.4,188,4943,0.55,0.00,122.72,1.040,6,0.107,0.000,2773,2625,3160
$STATE,4943,end apogee,CONTROL_FINISHED_OK
$STATE,4943,begin climb
$GC,4947,0.85,146.0,609.5,0.0,191,5084,1.05,2.17,128.52,1.011,4,0.067,0.061,3149,3895,2563
$GC,5346,0.85,146.0,579.3,16.5,200,5350,0.00,1.90,0.00,0.000,6,0.000,0.031,3158,2639,2556
$GC,5637,0.85,146.0,536.2,14.1,207,5641,0.00,2.05,0.00,0.000,4,0.000,0.054,3151,3904,2552
$GC,5735,0.85,146.0,521.8,15.1,209,5738,0.00,1.92,0.00,0.000,6,0.000,0.031,3158,2621,2551
$GC,6021,0.85,146.0,483.8,13.5,216,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2617,2550
$GC,6264,0.85,146.0,454.2,11.6,222,6267,0.00,2.05,0.00,0.000,4,0.000,0.053,3151,3905,2548
$GC,6483,0.90,182.8,432.9,8.0,226,6519,0.00,1.92,30.88,0.938,6,0.000,0.029,3160,2607,2415
$GC,6777,0.90,182.8,384.9,17.3,234,6781,0.00,2.08,0.00,0.000,4,0.000,0.033,3169,1232,2407
$GC,6885,0.90,182.8,368.0,15.6,236,6889,0.00,2.22,0.00,0.000,6,0.000,0.049,3162,2629,2406
$GC,7160,0.90,182.8,324.4,15.8,243,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2629,2405
$GC,7402,0.90,182.8,286.0,15.2,249,7406,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1216,2404
$GC,7661,0.90,182.8,252.0,12.5,254,7665,0.00,2.25,0.00,0.000,6,0.000,0.047,3164,2632,2404
$GC,7913,0.90,186.4,226.0,9.5,260,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2633,2403
$GC,8158,0.90,186.4,200.6,11.1,266,8161,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1214,2403
$GC,8298,0.90,186.4,185.8,9.6,275,8305,0.00,2.25,0.00,0.000,6,0.000,0.045,3164,2625,2403
$GC,8562,0.93,203.6,159.8,8.9,300,8588,0.00,2.15,17.42,0.706,4,0.000,0.028,3173,1207,2329
$GC,8595,0.95,221.6,156.8,8.8,302,8618,0.00,2.25,17.35,0.690,6,0.000,0.046,3173,2618,2256
$GC,8887,0.95,221.6,115.3,12.7,329,8891,0.00,2.00,0.00,0.000,4,0.000,0.048,3163,3903,2252
$GC,9115,0.95,221.6,82.9,13.2,349,9119,0.00,1.88,0.00,0.000,6,0.000,0.024,3171,2610,2252
$GC,9386,0.95,221.6,51.0,11.0,374,9389,0.00,2.00,0.00,0.000,4,0.000,0.025,3181,1221,2252
$GC,9554,0.95,221.6,30.9,12.6,389,9562,0.00,2.20,0.00,0.000,6,0.000,0.040,3175,2629,2252
$STATE,9754,end climb,SURFACE_DEPTH_REACHED
$STATE,9754,begin surface coast
$FINISH,0.6,1.023882
$STATE,9771,end surface coast,CONTROL_FINISHED_OK
$STATE,9771,begin surface
$SM_CCo,9794,69.72,0.581,0,0,1732,350.04
$SM_GC,1.89,0.00,0.00,69.72,0.000,0.000,0.581,32,2740,1732,-8.89,1.13,350.04
$IRIDIUM_FIX,2239.35,-15802.37,120500,212104
$TT8_MAMPS,0.023777
$HUMID,1809
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.5,96.904
$10V_AH,10.7,54.722
$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,21.250,86.525,316.900,69.725,0.000,77.643,116.743,332.638,0.250,0.000,0.000,13.147,922.936,6737.188,424.310,1710.483,876.959,33.368,1130.094,0.000,1697.600,0.000,0.544,0.000
$DEVICE_MAMPS,233.168,138.827,1040.052,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,289.871,658.250,676.847,150.702,621.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35218,428
$CAP_FILE_SIZE,88621,0
$CFSIZE,260165632,232783872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,170211,003536,2247.363,-15803.008,32,1.5,33,10.1