version: 66.04
glider: 512
mission: 1
dive: 769
start: 2 21 111 10 26 36
data:
$ID,512
$MISSION,1
$DIVE,769
$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,-22499.52
$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,57
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3180
$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
$GPS1,101937,2248.131,-15805.046,36,1.3,36,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.5
$GPS2,102543,2248.142,-15805.055,12,0.9,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.043,0.253
$KALMAN_X,-236346.0,-477.1,26.8,247068.8,467.6
$KALMAN_Y,-497842.1,-344.1,167.3,623719.3,-2261.8
$MHEAD_RNG_PITCHd_Wd,340.2,9953,-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,-45.20,0.000,2,0.000,0.000,50,2692,2933
$GC,69,-0.85,-146.0,3.7,-5.4,6,102,11.90,2.00,-15.52,0.000,4,0.256,0.070,2578,3904,3778
$GC,258,-0.85,-146.0,54.8,-16.1,28,261,0.00,1.83,0.00,0.000,6,0.000,0.024,2585,2676,3779
$GC,528,-0.85,-146.0,123.0,-26.3,53,532,0.00,2.05,0.00,0.000,4,0.000,0.028,2595,1277,3781
$GC,623,-0.85,-146.0,140.8,-14.0,61,630,0.00,2.30,0.00,0.000,6,0.000,0.056,2586,2676,3781
$GC,887,-0.85,-146.0,187.5,-18.6,86,890,0.00,1.98,0.00,0.000,4,0.000,0.064,2576,3899,3783
$GC,935,-0.85,-146.0,195.8,-16.6,90,938,0.00,1.77,0.00,0.000,6,0.000,0.022,2582,2669,3782
$GC,1213,-0.85,-146.0,237.2,-15.0,99,1216,0.00,2.03,0.00,0.000,4,0.000,0.026,2587,1278,3784
$GC,1265,-0.85,-146.0,244.0,-11.4,100,1269,0.00,2.28,0.00,0.000,6,0.000,0.058,2577,2682,3784
$GC,1545,-0.85,-146.0,283.1,-14.7,107,1549,0.00,1.98,0.00,0.000,4,0.000,0.066,2568,3892,3784
$GC,1587,-0.85,-146.0,288.9,-13.1,107,1593,0.00,1.77,0.00,0.000,6,0.000,0.022,2575,2664,3785
$GC,1840,-0.85,-146.0,322.4,-13.6,114,1844,0.00,2.03,0.00,0.000,4,0.000,0.026,2585,1274,3784
$GC,1887,-0.85,-146.0,328.3,-10.4,115,1892,0.00,2.30,0.00,0.000,6,0.000,0.058,2575,2693,3784
$GC,2172,-0.85,-146.0,362.5,-12.3,122,2176,0.00,1.98,0.00,0.000,4,0.000,0.066,2566,3891,3783
$GC,2196,-0.85,-146.0,365.5,-12.2,122,2199,0.00,1.75,0.00,0.000,6,0.000,0.023,2574,2680,3783
$GC,2464,-0.85,-146.0,395.4,-11.2,129,2468,0.00,2.05,0.00,0.000,4,0.000,0.026,2584,1277,3782
$GC,2516,-0.85,-146.0,400.8,-7.9,130,2520,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2684,3782
$GC,2796,-0.85,-146.0,431.6,-11.4,137,2799,0.00,1.95,0.00,0.000,4,0.000,0.064,2566,3892,3779
$GC,2819,-0.85,-146.0,434.6,-12.0,137,2823,0.00,1.80,0.00,0.000,6,0.000,0.025,2574,2676,3779
$GC,3088,-0.85,-146.0,464.4,-11.2,144,3092,0.00,2.03,0.00,0.000,4,0.000,0.028,2584,1281,3776
$GC,3151,-0.85,-146.0,470.8,-8.7,145,3155,0.00,2.28,0.00,0.000,6,0.000,0.055,2576,2681,3777
$GC,3419,-0.85,-146.0,500.1,-11.2,152,3422,0.00,1.98,0.00,0.000,4,0.000,0.065,2567,3891,3775
$GC,3466,-0.85,-146.0,505.3,-10.5,153,3470,0.00,1.77,0.00,0.000,6,0.000,0.025,2574,2671,3775
$GC,3757,-0.85,-146.0,537.3,-11.2,160,3761,0.00,2.03,0.00,0.000,4,0.000,0.028,2585,1276,3774
$GC,3808,-0.85,-146.0,542.7,-9.9,161,3812,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2683,3774
$GC,4087,-0.85,-146.0,572.6,-10.9,168,4091,0.00,2.00,0.00,0.000,4,0.000,0.069,2566,3898,3771
$GC,4122,-0.85,-146.0,576.6,-11.3,168,4125,0.00,1.80,0.00,0.000,6,0.000,0.025,2574,2678,3771
$STATE,4334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4334,begin apogee
$GC,4344,-0.32,0.0,600.2,11.1,174,4471,0.65,0.00,124.05,1.049,6,0.153,0.000,2764,2536,3179
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4472,begin climb
$GC,4476,0.85,146.0,607.3,0.0,177,4613,1.10,2.22,128.93,1.044,4,0.087,0.030,3147,1105,2583
$GC,4876,0.85,146.0,587.3,14.5,186,4881,0.00,2.28,0.00,0.000,6,0.000,0.048,3147,2530,2576
$GC,5168,0.85,146.0,544.4,14.2,193,5171,0.00,2.12,0.00,0.000,4,0.000,0.028,3158,1103,2572
$GC,5427,0.85,146.0,514.4,12.0,198,5431,0.00,2.22,0.00,0.000,6,0.000,0.044,3150,2535,2570
$GC,5684,0.85,146.0,485.3,11.2,205,5687,0.00,2.12,0.00,0.000,4,0.000,0.028,3159,1098,2568
$GC,5926,0.85,146.0,461.8,9.8,210,5930,0.00,2.22,0.00,0.000,6,0.000,0.045,3159,2518,2568
$GC,6194,0.85,146.0,432.7,10.7,217,6198,0.00,2.10,0.00,0.000,4,0.000,0.029,3168,1097,2567
$GC,6452,0.86,154.2,406.4,9.3,222,6464,0.00,2.25,5.22,0.710,6,0.000,0.044,3163,2521,2551
$GC,6709,0.86,154.2,379.6,10.6,229,6713,0.00,2.12,0.00,0.000,4,0.000,0.030,3172,1092,2550
$GC,6969,0.91,193.8,357.8,7.9,234,7012,0.00,2.28,36.92,0.907,6,0.000,0.048,3164,2521,2389
$GC,7266,0.91,193.8,312.5,16.6,242,7270,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1099,2383
$GC,7289,0.91,193.8,308.4,17.4,242,7293,0.00,2.28,0.00,0.000,6,0.000,0.046,3163,2521,2384
$GC,7551,0.91,193.8,267.3,15.6,249,7555,0.00,2.22,0.00,0.000,4,0.000,0.057,3163,3907,2381
$GC,7574,0.91,193.8,263.5,15.9,249,7578,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2516,2380
$GC,7844,0.91,193.8,226.1,14.1,256,7848,0.00,2.25,0.00,0.000,4,0.000,0.052,3164,3909,2379
$GC,8106,0.91,193.8,189.0,14.7,264,8110,0.00,2.08,0.00,0.000,6,0.000,0.026,3172,2508,2379
$GC,8377,0.91,193.8,158.7,10.8,289,8381,0.00,2.22,0.00,0.000,4,0.000,0.048,3164,3905,2378
$GC,8635,0.91,193.8,127.0,12.5,312,8639,0.00,2.05,0.00,0.000,6,0.000,0.026,3173,2513,2379
$GC,8907,1.07,322.8,104.2,3.9,337,9022,0.12,2.28,109.10,0.696,4,0.110,0.045,3205,3903,1862
$GC,9164,1.07,322.8,47.3,30.1,358,9168,0.00,2.08,0.00,0.000,6,0.000,0.027,3213,2512,1857
$STATE,9308,end climb,SURFACE_DEPTH_REACHED
$STATE,9308,begin surface coast
$FINISH,0.2,1.023745
$STATE,9323,end surface coast,CONTROL_FINISHED_OK
$STATE,9323,begin surface
$SM_CCo,9348,13.45,0.566,0,0,1752,350.04
$SM_GC,2.48,0.00,0.00,13.45,0.000,0.000,0.566,46,2704,1752,-8.83,0.68,350.04
$IRIDIUM_FIX,2239.35,-15806.70,170500,070746
$TT8_MAMPS,0.023777
$HUMID,1926
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.5,101.660
$10V_AH,10.6,58.033
$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,22.825,96.350,404.225,13.450,0.000,23.991,34.336,156.027,0.250,0.000,0.000,17.466,869.265,6168.667,417.255,1700.384,576.543,33.360,1174.070,0.000,1683.295,0.000,0.543,0.000
$DEVICE_MAMPS,256.178,69.797,1049.256,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.311,557.685,574.569,112.446,462.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32009,382
$CAP_FILE_SIZE,82210,0
$CFSIZE,260165632,231141376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,210211,130352,2248.936,-15805.685,8,2.2,28,10.1