version: 66.04
glider: 512
mission: 1
dive: 762
start: 2 20 111 15 42 29
data:
$ID,512
$MISSION,1
$DIVE,762
$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,-22349.275
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2680
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3220
$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
$GPS1,153446,2245.585,-15757.683,9,3.3,29,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.6
$GPS2,154134,2245.617,-15757.739,10,3.5,29,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.255,-0.028
$KALMAN_X,-240199.1,51.9,-131.5,263127.7,-132.5
$KALMAN_Y,-491991.8,-875.8,-559.3,614469.1,3521.7
$MHEAD_RNG_PITCHd_Wd,253.7,9340,-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,-45.20,0.000,2,0.000,0.000,43,2714,2979
$GC,69,-0.85,-146.0,3.4,-4.5,6,101,10.90,1.92,-16.02,0.000,4,0.229,0.071,2574,3869,3818
$GC,303,-0.85,-146.0,55.7,-17.3,33,307,0.00,1.83,0.00,0.000,6,0.000,0.028,2574,2669,3821
$GC,572,-0.85,-146.0,124.9,-27.6,58,576,0.00,2.08,0.00,0.000,4,0.000,0.032,2574,1272,3822
$GC,642,-0.85,-146.0,139.4,-15.2,64,647,0.12,2.30,0.00,0.000,6,0.149,0.071,2595,2652,3823
$GC,907,-0.85,-146.0,184.2,-15.9,88,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2653,3824
$GC,1173,-0.85,-146.0,227.4,-16.2,102,1177,0.00,2.08,0.00,0.000,4,0.000,0.029,2605,1261,3825
$GC,1220,-0.85,-146.0,234.4,-12.0,103,1224,0.00,2.30,0.00,0.000,6,0.000,0.058,2596,2681,3826
$GC,1505,-0.85,-146.0,271.8,-13.0,110,1509,0.00,2.10,0.00,0.000,4,0.000,0.030,2604,1273,3826
$GC,1568,-0.85,-146.0,279.1,-9.4,111,1572,0.00,2.28,0.00,0.000,6,0.000,0.054,2596,2694,3826
$GC,1837,-0.85,-146.0,311.1,-12.2,118,1841,0.00,2.12,0.00,0.000,4,0.000,0.031,2604,1274,3826
$GC,1877,-0.85,-146.0,315.7,-9.7,118,1883,0.00,2.28,0.00,0.000,6,0.000,0.058,2595,2683,3825
$GC,2128,-0.85,-146.0,346.0,-12.8,125,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2684,3825
$GC,2375,-0.85,-146.0,376.6,-12.4,131,2378,0.00,2.12,0.00,0.000,4,0.000,0.032,2603,1277,3824
$GC,2404,-0.85,-146.0,380.5,-12.4,131,2408,0.00,2.28,0.00,0.000,6,0.000,0.058,2595,2685,3824
$GC,2666,-0.85,-146.0,411.1,-12.1,138,2670,0.00,2.12,0.00,0.000,4,0.000,0.033,2603,1271,3823
$GC,2689,-0.85,-146.0,413.9,-11.8,138,2693,0.00,2.30,0.00,0.000,6,0.000,0.060,2594,2687,3822
$GC,2951,-0.85,-146.0,442.3,-11.1,145,2955,0.00,2.15,0.00,0.000,4,0.000,0.034,2602,1271,3821
$GC,2981,-0.85,-146.0,445.6,-10.9,145,2985,0.00,2.30,0.00,0.000,6,0.000,0.059,2593,2686,3821
$GC,3237,-0.85,-146.0,471.7,-10.3,152,3241,0.00,2.15,0.00,0.000,4,0.000,0.034,2602,1269,3819
$GC,3285,-0.85,-146.0,476.0,-8.1,153,3289,0.00,2.30,0.00,0.000,6,0.000,0.058,2593,2686,3819
$GC,3571,-0.85,-146.0,502.2,-9.3,160,3574,0.00,2.00,0.00,0.000,4,0.000,0.073,2583,3896,3817
$GC,3600,-0.85,-146.0,505.1,-9.5,160,3604,0.00,1.83,0.00,0.000,6,0.000,0.026,2591,2661,3817
$GC,3864,-0.85,-146.0,529.1,-9.4,167,3868,0.00,2.10,0.00,0.000,4,0.000,0.037,2601,1274,3816
$GC,3912,-0.85,-146.0,533.6,-8.4,168,3916,0.00,2.30,0.00,0.000,6,0.000,0.059,2592,2688,3815
$GC,4197,-0.85,-146.0,562.6,-10.1,175,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2688,3813
$GC,4442,-0.85,-146.0,585.5,-9.4,181,4446,0.00,2.15,0.00,0.000,4,0.000,0.037,2601,1285,3812
$GC,4477,-0.85,-146.0,588.8,-8.5,181,4481,0.00,2.28,0.00,0.000,6,0.000,0.061,2592,2679,3812
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4612,-0.32,0.0,600.3,8.9,184,4739,0.68,0.00,123.85,1.039,6,0.206,0.000,2760,2475,3220
$STATE,4740,end apogee,CONTROL_FINISHED_OK
$STATE,4740,begin climb
$GC,4744,0.85,146.0,607.3,0.0,187,4880,1.33,2.15,128.35,1.032,4,0.151,0.053,3150,1162,2624
$GC,4930,0.91,188.4,618.8,7.7,191,4977,0.00,2.25,38.05,0.998,6,0.000,0.061,3150,2518,2451
$GC,5223,0.91,188.4,563.1,20.5,199,5226,0.00,2.17,0.00,0.000,4,0.000,0.053,3159,1155,2443
$GC,5360,0.91,188.4,538.1,17.3,202,5364,0.00,2.22,0.00,0.000,6,0.000,0.061,3159,2519,2443
$GC,5645,0.91,188.4,487.9,17.9,209,5649,0.00,2.17,0.00,0.000,4,0.000,0.053,3168,1149,2440
$GC,5798,0.91,188.4,462.4,15.1,212,5802,0.00,2.25,0.00,0.000,6,0.000,0.061,3168,2523,2439
$GC,6066,0.91,188.4,418.6,16.1,219,6069,0.00,2.15,0.00,0.000,4,0.000,0.050,3177,1158,2437
$GC,6090,0.91,188.4,414.7,15.9,219,6094,0.00,2.25,0.00,0.000,6,0.000,0.063,3177,2527,2437
$GC,6353,0.91,188.4,373.0,15.8,226,6357,0.00,2.15,0.00,0.000,4,0.000,0.047,3186,1152,2436
$GC,6423,0.91,188.4,361.0,16.9,227,6427,0.00,2.22,0.00,0.000,6,0.000,0.058,3187,2526,2436
$GC,6685,0.91,188.4,322.2,14.3,234,6689,0.00,2.25,0.00,0.000,4,0.000,0.066,3187,3902,2435
$GC,6737,0.91,188.4,314.6,15.3,235,6742,0.15,2.08,0.00,0.000,6,0.265,0.039,3170,2559,2434
$GC,7017,0.91,188.4,277.7,13.1,242,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2553,2433
$GC,7259,0.91,188.4,250.9,10.9,248,7263,0.00,2.25,0.00,0.000,4,0.000,0.044,3181,1106,2433
$GC,7480,0.95,225.9,233.4,7.9,252,7516,0.00,2.28,30.83,0.793,6,0.000,0.051,3174,2531,2298
$GC,7770,0.95,225.9,188.3,18.5,263,7774,0.00,2.20,0.00,0.000,4,0.000,0.039,3182,1103,2294
$GC,7969,0.95,225.9,154.7,17.0,280,7973,0.00,2.25,0.00,0.000,6,0.000,0.048,3176,2521,2292
$GC,8232,0.95,225.9,120.1,11.5,304,8236,0.00,2.22,0.00,0.000,4,0.000,0.058,3175,3908,2291
$GC,8491,0.97,238.5,91.0,9.1,327,8507,0.00,2.10,11.55,0.627,6,0.000,0.029,3184,2507,2247
$GC,8777,0.97,238.5,57.3,13.1,353,8781,0.00,2.25,0.00,0.000,4,0.000,0.053,3175,3902,2245
$GC,8808,0.97,238.5,51.8,17.3,355,8812,0.00,2.08,0.00,0.000,6,0.000,0.029,3183,2514,2245
$GC,9076,0.97,238.5,14.3,15.2,389,9084,0.00,2.10,0.00,0.000,4,0.000,0.032,3194,1120,2245
$GC,9152,0.97,238.5,4.1,12.7,402,9160,0.00,2.22,0.00,0.000,6,0.000,0.044,3189,2526,2245
$STATE,9166,end climb,SURFACE_DEPTH_REACHED
$STATE,9166,begin surface coast
$FINISH,0.3,1.010486
$STATE,9190,end surface coast,CONTROL_FINISHED_OK
$STATE,9190,begin surface
$SM_CCo,9214,66.50,0.591,0,0,1792,350.04
$SM_GC,2.50,0.00,0.00,66.50,0.000,0.000,0.591,46,2715,1792,-8.83,0.96,350.04
$IRIDIUM_FIX,2239.35,-15754.99,160500,121206
$TT8_MAMPS,0.023777
$HUMID,1820
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.6,100.697
$10V_AH,10.7,57.447
$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,21.875,100.400,332.625,66.500,0.000,22.920,34.072,191.711,0.250,0.000,0.000,30.354,878.249,6169.582,456.950,1585.853,604.755,33.367,1103.772,0.000,1561.932,0.000,0.543,0.000
$DEVICE_MAMPS,265.382,72.865,1038.518,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,276.146,627.160,645.934,144.957,593.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35169,408
$CAP_FILE_SIZE,81773,0
$CFSIZE,260165632,231436288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,200211,181837,2245.451,-15759.069,42,1.4,42,10.1