version: 66.04
glider: 512
mission: 1
dive: 763
start: 2 20 111 18 25 42
data:
$ID,512
$MISSION,1
$DIVE,763
$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,-22367.482
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,181837,2245.451,-15759.069,42,1.4,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.3
$GPS2,182449,2245.511,-15759.091,12,1.5,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.243,-0.081
$KALMAN_X,-239546.8,18.4,169.5,259885.1,405.3
$KALMAN_Y,-492440.3,-880.3,-162.1,614337.9,2081.0
$MHEAD_RNG_PITCHd_Wd,241.5,7222,-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,-45.17,0.000,2,0.000,0.000,45,2716,2978
$GC,69,-0.85,-146.0,3.8,-5.9,6,101,10.85,2.22,-15.52,0.000,4,0.227,0.045,2592,1271,3820
$GC,229,-0.85,-146.0,44.1,-17.3,26,233,0.00,2.28,0.00,0.000,6,0.000,0.063,2584,2655,3822
$GC,493,-0.85,-146.0,113.8,-26.8,50,496,0.00,2.08,0.00,0.000,4,0.000,0.032,2591,1274,3823
$GC,539,-0.85,-146.0,124.0,-19.1,54,543,0.00,2.30,0.00,0.000,6,0.000,0.061,2582,2679,3823
$GC,805,-0.85,-146.0,180.2,-18.2,78,808,0.00,1.98,0.00,0.000,4,0.000,0.064,2573,3908,3824
$GC,867,-0.85,-146.0,191.3,-14.4,83,873,0.00,1.83,0.00,0.000,6,0.000,0.023,2580,2676,3824
$GC,1130,-0.85,-146.0,236.5,-17.7,94,1134,0.00,2.10,0.00,0.000,4,0.000,0.037,2590,1286,3826
$GC,1227,-0.85,-146.0,251.5,-11.6,96,1231,0.00,2.28,0.00,0.000,6,0.000,0.058,2581,2692,3826
$GC,1506,-0.85,-146.0,291.7,-14.2,103,1510,0.00,2.15,0.00,0.000,4,0.000,0.035,2590,1275,3827
$GC,1553,-0.85,-146.0,297.9,-11.2,104,1557,0.00,2.30,0.00,0.000,6,0.000,0.062,2581,2690,3827
$GC,1839,-0.85,-146.0,338.1,-14.4,111,1843,0.00,2.15,0.00,0.000,4,0.000,0.037,2589,1278,3827
$GC,1856,-0.85,-146.0,340.9,-13.7,111,1860,0.00,2.28,0.00,0.000,6,0.000,0.058,2581,2688,3827
$GC,2124,-0.85,-146.0,376.5,-13.7,118,2128,0.00,2.15,0.00,0.000,4,0.000,0.038,2589,1282,3825
$GC,2148,-0.85,-146.0,380.0,-14.3,118,2152,0.00,2.28,0.00,0.000,6,0.000,0.062,2580,2680,3825
$GC,2411,-0.85,-146.0,415.1,-13.7,125,2414,0.00,2.15,0.00,0.000,4,0.000,0.038,2588,1278,3825
$GC,2445,-0.85,-146.0,419.8,-12.4,125,2449,0.00,2.28,0.00,0.000,6,0.000,0.061,2580,2681,3824
$GC,2698,-0.85,-146.0,450.2,-12.2,131,2702,0.00,2.15,0.00,0.000,4,0.000,0.039,2588,1281,3823
$GC,2750,-0.85,-146.0,456.2,-9.6,132,2754,0.00,2.30,0.00,0.000,6,0.000,0.063,2579,2686,3822
$GC,3029,-0.85,-146.0,489.0,-12.0,139,3033,0.00,2.00,0.00,0.000,4,0.000,0.071,2569,3903,3819
$GC,3052,-0.85,-146.0,492.0,-11.8,139,3056,0.00,1.83,0.00,0.000,6,0.000,0.028,2577,2681,3819
$GC,3321,-0.85,-146.0,522.4,-11.5,146,3325,0.00,2.17,0.00,0.000,4,0.000,0.043,2585,1268,3818
$GC,3384,-0.85,-146.0,529.3,-9.7,147,3389,0.00,2.30,0.00,0.000,6,0.000,0.062,2576,2678,3818
$GC,3660,-0.85,-146.0,559.2,-11.0,154,3664,0.00,2.17,0.00,0.000,4,0.000,0.041,2582,1276,3816
$GC,3717,-0.85,-146.0,565.3,-8.8,155,3722,0.00,2.33,0.00,0.000,6,0.000,0.062,2572,2694,3815
$GC,3991,-0.85,-146.0,594.6,-10.9,162,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2694,3813
$STATE,4068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4068,begin apogee
$GC,4079,-0.32,0.0,603.5,11.0,164,4206,0.77,0.00,124.62,1.041,6,0.219,0.000,2760,2480,3219
$STATE,4207,end apogee,CONTROL_FINISHED_OK
$STATE,4207,begin climb
$GC,4212,0.85,146.0,610.3,0.0,167,4348,1.38,2.45,128.25,1.030,4,0.177,0.063,3134,3899,2624
$GC,4472,0.85,146.0,610.7,15.0,173,4476,0.00,2.15,0.00,0.000,6,0.000,0.048,3143,2553,2618
$GC,4763,0.85,146.0,573.5,12.2,180,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2553,2615
$GC,5008,0.85,146.0,546.2,10.7,186,5012,0.00,2.30,0.00,0.000,4,0.000,0.055,3154,1107,2613
$GC,5049,0.85,146.0,542.1,9.8,187,5054,0.00,2.28,0.00,0.000,6,0.000,0.055,3154,2522,2613
$GC,5336,0.87,156.8,514.8,9.1,194,5351,0.00,2.30,8.68,0.864,4,0.000,0.054,3161,1115,2580
$GC,5488,0.87,156.8,497.9,10.8,197,5493,0.00,2.30,0.00,0.000,6,0.000,0.060,3161,2523,2578
$GC,5756,0.87,156.8,469.9,10.1,204,5760,0.00,2.28,0.00,0.000,4,0.000,0.068,3161,3908,2576
$GC,6016,0.88,163.2,445.5,9.3,209,6027,0.00,2.17,6.53,0.785,6,0.000,0.040,3171,2512,2554
$GC,6307,0.88,168.5,418.4,9.4,217,6315,0.00,0.00,6.00,0.755,6,0.000,0.000,3171,2513,2533
$GC,6551,0.90,180.5,396.3,9.1,223,6572,0.00,0.00,14.43,0.771,6,0.000,0.000,3171,2512,2484
$GC,6794,0.90,180.5,366.4,12.7,229,6798,0.00,2.22,0.00,0.000,4,0.000,0.051,3182,1101,2481
$GC,6807,0.90,180.5,364.7,12.1,229,6811,0.00,2.30,0.00,0.000,6,0.000,0.055,3182,2523,2480
$GC,7087,0.90,180.5,330.2,12.0,236,7091,0.00,2.28,0.00,0.000,4,0.000,0.069,3182,3904,2479
$GC,7205,0.90,180.5,315.4,11.7,238,7210,0.15,2.17,0.00,0.000,6,0.284,0.041,3167,2513,2479
$GC,7458,0.93,207.4,293.1,8.4,244,7487,0.00,2.28,24.58,0.848,4,0.000,0.060,3157,3899,2373
$GC,7741,0.93,207.4,249.6,15.1,250,7745,0.00,2.15,0.00,0.000,6,0.000,0.038,3165,2518,2370
$GC,8017,0.93,207.4,214.6,12.6,257,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2518,2368
$GC,8265,0.93,207.4,179.1,14.6,272,8269,0.00,2.20,0.00,0.000,4,0.000,0.045,3176,1106,2367
$GC,8525,0.98,245.1,151.4,7.9,295,8564,0.00,2.25,32.88,0.739,6,0.000,0.051,3168,2520,2220
$GC,8830,0.98,245.1,110.8,15.4,323,8833,0.00,2.22,0.00,0.000,4,0.000,0.058,3158,3901,2214
$GC,9092,0.98,245.1,69.6,16.6,346,9096,0.00,2.10,0.00,0.000,6,0.000,0.031,3166,2511,2213
$GC,9362,0.98,245.1,28.6,14.3,371,9371,0.00,2.15,0.00,0.000,4,0.000,0.035,3177,1106,2213
$STATE,9549,end climb,SURFACE_DEPTH_REACHED
$STATE,9549,begin surface coast
$FINISH,0.3,1.023784
$STATE,9567,end surface coast,CONTROL_FINISHED_OK
$STATE,9567,begin surface
$SM_CCo,9594,61.25,0.591,0,0,1792,350.04
$SM_GC,2.44,0.00,0.00,61.25,0.000,0.000,0.591,48,2694,1792,-8.82,0.42,350.04
$IRIDIUM_FIX,2234.68,-15758.03,160500,151542
$TT8_MAMPS,0.023777
$HUMID,1826
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.5,100.815
$10V_AH,10.7,57.535
$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,22.375,97.425,345.950,61.250,0.000,26.724,37.826,156.425,0.250,0.000,0.000,17.577,895.668,6465.465,450.879,1650.747,568.476,33.368,1136.546,0.000,1632.620,0.000,0.543,0.000
$DEVICE_MAMPS,283.790,71.331,1040.819,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,276.582,608.883,628.571,134.658,558.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31939,408
$CAP_FILE_SIZE,82063,0
$CFSIZE,260165632,231391232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,200211,210758,2245.281,-15800.151,15,7.4,34,10.1