version: 66.04
glider: 512
mission: 1
dive: 742
start: 2 18 111 3 53 55
data:
$ID,512
$MISSION,1
$DIVE,742
$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,-21934.252
$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,2690
$C_ROLL_CLIMB,2540
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,034336,2255.999,-15804.442,30,1.2,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.2
$GPS2,035302,2256.137,-15804.469,14,1.4,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.255,-0.023
$KALMAN_X,-215889.2,-355.4,44.2,227468.6,-2149.9
$KALMAN_Y,-501819.3,292.5,-137.2,642168.1,-37.4
$MHEAD_RNG_PITCHd_Wd,85.1,16062,-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,20,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.28,0.000,2,0.000,0.000,37,2731,2925
$GC,73,-0.85,-146.0,3.4,-5.0,6,106,11.02,1.90,-17.12,0.000,4,0.232,0.069,2580,3866,3799
$GC,208,-0.85,-146.0,37.9,-18.0,25,216,0.00,1.77,0.00,0.000,6,0.000,0.024,2580,2677,3801
$GC,472,-0.85,-146.0,108.8,-27.8,50,475,0.00,2.05,0.00,0.000,4,0.000,0.028,2580,1278,3801
$GC,531,-0.85,-146.0,121.7,-19.7,55,536,0.00,2.28,0.00,0.000,6,0.000,0.067,2576,2653,3802
$GC,796,-0.85,-146.0,175.0,-19.9,79,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2653,3804
$GC,1053,-0.85,-146.0,224.1,-18.6,95,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2653,3805
$GC,1298,-0.85,-146.0,264.6,-16.1,101,1301,0.00,2.00,0.00,0.000,4,0.000,0.025,2576,1282,3805
$GC,1355,-0.85,-146.0,273.1,-12.4,102,1359,0.00,2.30,0.00,0.000,6,0.000,0.061,2576,2695,3804
$GC,1629,-0.85,-146.0,312.8,-15.2,109,1632,0.00,1.95,0.00,0.000,4,0.000,0.068,2567,3892,3805
$GC,1646,-0.85,-146.0,315.7,-15.1,109,1651,0.12,1.75,0.00,0.000,6,0.143,0.023,2600,2660,3805
$GC,1921,-0.85,-146.0,345.8,-10.6,116,1925,0.00,1.98,0.00,0.000,4,0.000,0.026,2610,1303,3804
$GC,1961,-0.85,-146.0,349.8,-8.9,116,1968,0.00,2.25,0.00,0.000,6,0.000,0.058,2606,2701,3804
$GC,2213,-0.85,-146.0,372.6,-9.0,123,2217,0.00,2.05,0.00,0.000,4,0.000,0.026,2611,1314,3803
$GC,2254,-0.85,-146.0,376.0,-7.3,123,2260,0.00,2.22,0.00,0.000,6,0.000,0.058,2603,2684,3803
$GC,2505,-0.85,-146.0,397.5,-8.8,130,2509,0.00,2.03,0.00,0.000,4,0.000,0.028,2611,1317,3802
$GC,2535,-0.85,-146.0,400.2,-8.8,130,2539,0.00,2.25,0.00,0.000,6,0.000,0.064,2606,2695,3802
$GC,2798,-0.85,-146.0,424.3,-9.5,137,2801,0.00,2.05,0.00,0.000,4,0.000,0.028,2609,1314,3801
$GC,2827,-0.85,-146.0,427.3,-9.7,137,2831,0.00,2.28,0.00,0.000,6,0.000,0.064,2602,2701,3801
$GC,3089,-0.85,-146.0,453.2,-10.0,144,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2701,3798
$GC,3334,-0.85,-146.0,475.6,-8.8,150,3337,0.00,2.08,0.00,0.000,4,0.000,0.029,2606,1310,3797
$GC,3386,-0.85,-146.0,480.1,-7.8,151,3390,0.00,2.25,0.00,0.000,6,0.000,0.061,2597,2691,3796
$GC,3671,-0.85,-146.0,504.2,-8.4,158,3675,0.00,2.00,0.00,0.000,4,0.000,0.074,2589,3893,3795
$GC,3700,-0.85,-146.0,506.8,-8.6,158,3704,0.00,1.75,0.00,0.000,6,0.000,0.027,2593,2715,3794
$GC,3964,-0.85,-146.0,527.7,-8.1,165,3967,0.00,2.10,0.00,0.000,4,0.000,0.031,2593,1299,3794
$GC,4038,-0.85,-146.0,534.2,-8.9,166,4042,0.00,2.30,0.00,0.000,6,0.000,0.065,2590,2696,3793
$GC,4294,-0.85,-146.0,558.0,-9.5,173,4298,0.00,2.00,0.00,0.000,4,0.000,0.077,2589,3891,3791
$GC,4324,-0.85,-146.0,561.0,-9.9,173,4328,0.00,1.75,0.00,0.000,6,0.000,0.026,2589,2692,3790
$GC,4587,-0.85,-146.0,584.1,-8.8,180,4591,0.00,2.08,0.00,0.000,4,0.000,0.031,2589,1296,3788
$GC,4635,-0.85,-146.0,588.3,-8.3,181,4640,0.00,2.30,0.00,0.000,6,0.000,0.064,2589,2696,3788
$STATE,4794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4794,begin apogee
$GC,4804,-0.32,0.0,603.2,9.1,185,4931,0.55,0.00,123.32,1.042,6,0.108,0.000,2767,2549,3200
$STATE,4931,end apogee,CONTROL_FINISHED_OK
$STATE,4931,begin climb
$GC,4936,0.85,146.0,610.1,0.0,188,5071,1.02,2.30,127.78,1.019,4,0.051,0.061,3151,3899,2605
$GC,5333,0.85,146.0,590.9,14.4,197,5337,0.00,2.05,0.00,0.000,6,0.000,0.028,3160,2533,2597
$GC,5625,0.85,146.0,555.1,12.2,204,5628,0.00,2.22,0.00,0.000,4,0.000,0.052,3160,3907,2593
$GC,5883,0.85,146.0,523.1,12.4,209,5887,0.00,2.05,0.00,0.000,6,0.000,0.028,3170,2534,2591
$GC,6141,0.85,146.0,496.3,9.8,216,6145,0.00,2.20,0.00,0.000,4,0.000,0.051,3163,3901,2590
$GC,6400,0.88,168.1,470.6,8.6,221,6424,0.00,2.05,18.27,0.930,6,0.000,0.029,3172,2526,2514
$GC,6700,0.88,168.1,430.7,13.9,229,6704,0.00,2.22,0.00,0.000,4,0.000,0.055,3163,3901,2509
$GC,6959,0.88,168.1,397.8,12.9,234,6965,0.00,2.05,0.00,0.000,6,0.000,0.030,3172,2539,2508
$GC,7211,0.88,168.1,369.7,11.0,241,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2532,2507
$GC,7455,0.88,168.1,342.5,10.9,247,7459,0.00,2.10,0.00,0.000,4,0.000,0.031,3182,1127,2506
$GC,7530,0.88,168.1,334.7,10.5,248,7534,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2542,2506
$GC,7786,0.88,168.1,308.4,9.8,255,7790,0.00,2.20,0.00,0.000,4,0.000,0.059,3176,3911,2505
$GC,7821,0.88,168.1,305.0,9.8,255,7825,0.00,2.05,0.00,0.000,6,0.000,0.026,3185,2523,2504
$GC,8078,0.96,228.2,285.1,6.9,262,8143,0.00,2.25,54.47,0.815,4,0.000,0.052,3178,3899,2269
$GC,8249,0.96,228.2,260.1,21.2,265,8257,0.00,2.08,0.00,0.000,6,0.000,0.027,3187,2540,2265
$GC,8501,0.96,228.2,210.2,19.0,272,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2533,2262
$GC,8753,0.96,228.2,164.3,18.8,290,8757,0.00,2.20,0.00,0.000,4,0.000,0.052,3187,3910,2261
$GC,8950,0.96,228.2,126.1,17.3,307,8954,0.00,2.03,0.00,0.000,6,0.000,0.025,3197,2539,2260
$GC,9219,0.96,228.2,88.0,13.1,332,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2532,2260
$GC,9475,0.96,228.2,59.3,11.2,356,9479,0.00,2.15,0.00,0.000,4,0.000,0.048,3192,3903,2260
$GC,9512,0.96,228.2,54.7,12.8,359,9516,0.00,2.03,0.00,0.000,6,0.000,0.025,3201,2524,2260
$GC,9779,0.96,228.2,20.5,13.9,390,9788,0.00,2.22,0.00,0.000,4,0.000,0.050,3201,3894,2260
$GC,9798,0.96,228.2,17.3,14.0,392,9806,0.00,2.03,0.00,0.000,6,0.000,0.024,3212,2530,2260
$STATE,9885,end climb,SURFACE_DEPTH_REACHED
$STATE,9885,begin surface coast
$FINISH,0.5,1.023832
$STATE,9904,end surface coast,CONTROL_FINISHED_OK
$STATE,9904,begin surface
$SM_CCo,9927,65.12,0.584,0,0,1772,350.04
$SM_GC,2.26,0.00,0.00,65.12,0.000,0.000,0.584,44,2722,1772,-8.85,0.90,350.04
$IRIDIUM_FIX,2248.70,-15805.83,140500,030342
$TT8_MAMPS,0.023777
$HUMID,1817
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.5,98.173
$10V_AH,10.7,55.636
$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,21.075,96.875,323.850,65.125,0.000,55.503,70.585,228.330,0.250,0.000,0.000,14.758,899.371,6850.325,439.602,1656.651,716.638,33.377,1148.306,0.000,1642.401,0.000,0.542,0.000
$DEVICE_MAMPS,231.634,77.467,1042.353,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.256,595.895,616.313,138.066,566.518,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35110,411
$CAP_FILE_SIZE,86999,0
$CFSIZE,260165632,232337408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,180211,064155,2256.224,-15803.424,42,1.8,42,10.1