version: 66.04
glider: 512
mission: 1
dive: 772
start: 2 21 111 18 41 18
data:
$ID,512
$MISSION,1
$DIVE,772
$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,-22567.703
$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,53
$R_STBD_OVSHOOT,34
$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
$GPS1,183407,2250.580,-15807.081,35,1.0,36,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.5
$GPS2,184025,2250.625,-15807.107,12,1.4,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.044,0.252
$KALMAN_X,-238785.7,-294.2,-78.3,245900.2,-296.4
$KALMAN_Y,-503223.6,464.4,28.3,633027.9,-2657.3
$MHEAD_RNG_PITCHd_Wd,359.8,5990,-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,-45.10,0.000,2,0.000,0.000,48,2692,2940
$GC,69,-0.85,-146.0,3.3,-5.4,6,102,11.77,2.00,-15.75,0.000,4,0.254,0.074,2579,3876,3758
$GC,247,-0.85,-146.0,50.5,-19.0,27,251,0.00,1.77,0.00,0.000,6,0.000,0.023,2586,2681,3759
$GC,516,-0.85,-146.0,125.9,-30.0,52,519,0.00,2.08,0.00,0.000,4,0.000,0.028,2596,1267,3761
$GC,589,-0.85,-146.0,141.8,-17.0,58,597,0.00,2.28,0.00,0.000,6,0.000,0.057,2588,2659,3762
$GC,853,-0.85,-146.0,194.3,-22.4,83,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2659,3763
$GC,1127,-0.85,-146.0,247.8,-18.6,92,1131,0.00,2.03,0.00,0.000,4,0.000,0.025,2596,1276,3764
$GC,1173,-0.85,-146.0,254.7,-12.1,93,1177,0.00,2.28,0.00,0.000,6,0.000,0.056,2588,2679,3764
$GC,1459,-0.85,-146.0,294.1,-14.3,100,1462,0.00,2.08,0.00,0.000,4,0.000,0.025,2596,1266,3764
$GC,1482,-0.85,-146.0,297.7,-14.5,100,1486,0.00,2.28,0.00,0.000,6,0.000,0.054,2587,2682,3764
$GC,1744,-0.85,-146.0,330.8,-12.3,107,1748,0.00,2.08,0.00,0.000,4,0.000,0.026,2596,1272,3764
$GC,1796,-0.85,-146.0,336.7,-9.5,108,1800,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2696,3764
$GC,2075,-0.85,-146.0,369.9,-12.5,115,2079,0.00,2.10,0.00,0.000,4,0.000,0.026,2598,1264,3764
$GC,2115,-0.85,-146.0,374.6,-9.9,115,2122,0.00,2.30,0.00,0.000,6,0.000,0.055,2589,2679,3764
$GC,2366,-0.85,-146.0,404.0,-12.0,122,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2679,3763
$GC,2610,-0.85,-146.0,430.4,-10.7,128,2613,0.00,2.08,0.00,0.000,4,0.000,0.027,2598,1268,3762
$GC,2641,-0.85,-146.0,433.5,-10.9,128,2645,0.00,2.28,0.00,0.000,6,0.000,0.052,2590,2688,3761
$GC,2898,-0.85,-146.0,459.4,-10.4,135,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2687,3760
$GC,3142,-0.85,-146.0,483.7,-9.8,141,3146,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1272,3759
$GC,3183,-0.85,-146.0,487.4,-8.1,141,3189,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2688,3759
$GC,3435,-0.85,-146.0,509.4,-9.0,148,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2687,3757
$GC,3680,-0.85,-146.0,531.1,-8.8,154,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2687,3755
$GC,3922,-0.85,-146.0,552.4,-8.7,160,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2687,3753
$GC,4167,-0.85,-146.0,573.9,-8.7,166,4170,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,1274,3751
$GC,4208,-0.85,-146.0,577.4,-7.3,166,4214,0.00,2.28,0.00,0.000,6,0.000,0.056,2590,2681,3750
$GC,4459,-0.85,-146.0,597.7,-8.2,173,4463,0.00,2.00,0.00,0.000,4,0.000,0.071,2580,3892,3749
$STATE,4485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4485,begin apogee
$GC,4496,-0.32,0.0,600.3,9.2,173,4623,0.52,0.00,124.00,1.050,6,0.140,0.000,2753,2504,3160
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4629,0.85,146.0,605.5,0.0,176,4766,1.15,2.35,129.52,1.042,4,0.087,0.054,3137,3904,2563
$GC,4888,0.85,146.0,600.8,17.5,182,4892,0.00,2.08,0.00,0.000,6,0.000,0.026,3146,2523,2557
$GC,5174,0.85,146.0,558.8,14.5,189,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2516,2553
$GC,5417,0.85,146.0,524.5,13.9,195,5421,0.00,2.22,0.00,0.000,4,0.000,0.054,3146,3899,2551
$GC,5626,0.85,146.0,494.1,15.1,199,5630,0.00,2.05,0.00,0.000,6,0.000,0.026,3155,2517,2550
$GC,5895,0.85,146.0,460.6,11.8,206,5899,0.00,2.22,0.00,0.000,4,0.000,0.052,3151,3899,2548
$GC,6154,0.85,146.0,427.9,11.9,211,6158,0.00,2.05,0.00,0.000,6,0.000,0.026,3159,2511,2547
$GC,6412,0.88,167.5,403.9,8.7,218,6441,0.00,2.25,19.20,0.836,4,0.000,0.053,3159,3901,2477
$GC,6697,0.88,167.5,365.4,14.2,224,6701,0.00,2.05,0.00,0.000,6,0.000,0.026,3168,2517,2474
$GC,6973,0.88,167.5,332.0,11.6,231,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2511,2472
$GC,7214,0.88,167.5,304.7,11.0,237,7218,0.00,2.08,0.00,0.000,4,0.000,0.028,3179,1109,2471
$GC,7307,0.96,228.1,297.1,6.9,239,7366,0.00,2.22,53.95,0.868,6,0.000,0.044,3176,2531,2230
$GC,7636,0.96,228.1,233.2,22.0,247,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2531,2222
$GC,7884,0.96,228.1,185.9,18.6,256,7888,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1100,2221
$GC,7898,0.96,228.1,182.9,18.2,257,7902,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2523,2220
$GC,8164,0.96,228.1,129.6,19.9,281,8167,0.00,2.17,0.00,0.000,4,0.000,0.051,3176,3899,2219
$GC,8200,0.96,228.1,122.2,18.9,284,8204,0.00,2.03,0.00,0.000,6,0.000,0.025,3184,2525,2218
$GC,8470,0.96,228.1,80.0,16.2,309,8474,0.00,2.08,0.00,0.000,4,0.000,0.028,3196,1105,2219
$GC,8551,0.96,228.1,66.6,16.2,316,8556,0.00,2.22,0.00,0.000,6,0.000,0.044,3191,2527,2219
$GC,8819,0.96,228.1,24.5,17.1,343,8828,0.00,2.20,0.00,0.000,4,0.000,0.053,3191,3892,2219
$GC,8933,0.96,228.1,4.1,16.4,363,8942,0.00,2.05,0.00,0.000,6,0.000,0.023,3201,2502,2219
$STATE,8947,end climb,SURFACE_DEPTH_REACHED
$STATE,8948,begin surface coast
$FINISH,0.4,1.023861
$STATE,8965,end surface coast,CONTROL_FINISHED_OK
$STATE,8965,begin surface
$SM_CCo,8989,69.60,0.604,0,0,1732,350.04
$SM_GC,2.17,0.00,0.00,69.60,0.000,0.000,0.604,47,2724,1732,-8.82,1.24,350.04
$IRIDIUM_FIX,2241.69,-15809.75,170500,161641
$TT8_MAMPS,0.023777
$HUMID,1856
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.5,102.012
$10V_AH,10.7,58.287
$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,22.350,81.700,326.675,69.600,0.000,27.937,42.152,155.836,0.750,0.000,0.000,17.140,796.873,6235.412,437.390,1416.013,555.876,33.369,1051.608,0.000,1403.586,0.000,0.544,0.000
$DEVICE_MAMPS,253.877,73.632,1050.023,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,249.076,528.391,543.010,120.947,497.026,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28649,368
$CAP_FILE_SIZE,73287,0
$CFSIZE,260165632,231030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,1
$GPS,210211,211334,2251.583,-15807.208,11,2.6,31,10.1