version: 66.04
glider: 512
mission: 1
dive: 773
start: 2 21 111 21 20 29
data:
$ID,512
$MISSION,1
$DIVE,773
$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,-22587.836
$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,64
$R_STBD_OVSHOOT,46
$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
$GPS1,211334,2251.583,-15807.208,11,2.6,31,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.0
$GPS2,211937,2251.603,-15807.214,14,1.0,19,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.074,0.245
$KALMAN_X,-239965.4,-142.4,179.5,246484.7,-1166.1
$KALMAN_Y,-505062.6,812.6,276.0,636079.4,-3345.4
$MHEAD_RNG_PITCHd_Wd,6.8,4571,-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,16,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,2,0.000,0.000,40,2724,2898
$GC,69,-0.85,-146.0,3.5,-4.9,6,102,11.73,1.92,-16.62,0.000,4,0.250,0.074,2577,3868,3758
$GC,246,-0.85,-146.0,47.8,-18.1,28,250,0.00,1.73,0.00,0.000,6,0.000,0.023,2583,2686,3759
$GC,517,-0.85,-146.0,122.4,-23.6,53,520,0.00,2.08,0.00,0.000,4,0.000,0.027,2593,1267,3761
$GC,588,-0.85,-146.0,135.5,-14.2,59,592,0.00,2.25,0.00,0.000,6,0.000,0.060,2584,2652,3761
$GC,852,-0.85,-146.0,185.6,-20.4,83,856,0.00,2.00,0.00,0.000,4,0.000,0.061,2574,3893,3763
$GC,878,-0.85,-146.0,191.1,-21.2,85,882,0.00,1.77,0.00,0.000,6,0.000,0.022,2578,2669,3762
$GC,1137,-0.85,-146.0,235.1,-17.0,95,1141,0.00,2.03,0.00,0.000,4,0.000,0.026,2587,1277,3763
$GC,1240,-0.85,-146.0,247.8,-9.7,97,1244,0.00,2.28,0.00,0.000,6,0.000,0.054,2578,2686,3764
$GC,1519,-0.85,-146.0,290.3,-16.4,104,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2686,3763
$GC,1764,-0.85,-146.0,325.4,-14.1,110,1767,0.00,2.08,0.00,0.000,4,0.000,0.026,2586,1273,3764
$GC,1844,-0.85,-146.0,334.6,-8.9,111,1848,0.00,2.28,0.00,0.000,6,0.000,0.055,2577,2682,3763
$GC,2095,-0.85,-146.0,367.7,-13.6,117,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2682,3763
$GC,2340,-0.85,-146.0,398.8,-12.5,123,2344,0.00,2.08,0.00,0.000,4,0.000,0.027,2585,1271,3762
$GC,2387,-0.85,-146.0,404.2,-10.3,124,2391,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2680,3762
$GC,2674,-0.85,-146.0,437.9,-11.9,131,2678,0.00,1.98,0.00,0.000,4,0.000,0.064,2567,3896,3760
$GC,2709,-0.85,-146.0,442.3,-12.1,131,2712,0.00,1.77,0.00,0.000,6,0.000,0.024,2573,2671,3760
$GC,2965,-0.85,-146.0,470.4,-11.2,138,2969,0.00,2.05,0.00,0.000,4,0.000,0.027,2583,1270,3759
$GC,3023,-0.85,-146.0,476.2,-8.8,139,3027,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2682,3759
$GC,3298,-0.85,-146.0,507.6,-11.9,146,3302,0.00,2.00,0.00,0.000,4,0.000,0.068,2566,3900,3757
$GC,3329,-0.85,-146.0,511.5,-11.7,146,3332,0.00,1.77,0.00,0.000,6,0.000,0.025,2574,2682,3756
$GC,3593,-0.85,-146.0,541.4,-11.6,153,3597,0.00,2.08,0.00,0.000,4,0.000,0.028,2584,1272,3754
$GC,3627,-0.85,-146.0,545.6,-10.6,153,3632,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2685,3754
$GC,3885,-0.85,-146.0,574.0,-11.3,160,3889,0.00,2.00,0.00,0.000,4,0.000,0.069,2566,3905,3752
$GC,3914,-0.85,-146.0,577.5,-11.5,160,3917,0.00,1.80,0.00,0.000,6,0.000,0.027,2573,2678,3751
$STATE,4133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4133,begin apogee
$GC,4142,-0.32,0.0,600.3,10.4,166,4270,0.65,0.00,124.20,1.042,6,0.150,0.000,2764,2539,3160
$STATE,4270,end apogee,CONTROL_FINISHED_OK
$STATE,4270,begin climb
$GC,4275,0.85,146.0,605.6,0.0,169,4413,1.10,2.25,128.95,1.025,4,0.089,0.029,3146,1110,2563
$GC,4675,0.85,146.0,576.6,15.3,178,4680,0.00,2.25,0.00,0.000,6,0.000,0.051,3146,2522,2556
$GC,4960,0.85,146.0,534.6,14.2,185,4964,0.00,2.12,0.00,0.000,4,0.000,0.029,3155,1101,2552
$GC,4984,0.85,146.0,531.6,12.3,185,4988,0.00,2.22,0.00,0.000,6,0.000,0.045,3150,2525,2552
$GC,5246,0.85,146.0,499.1,12.3,192,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2525,2550
$GC,5489,0.85,146.0,471.7,11.2,198,5493,0.00,2.20,0.00,0.000,4,0.000,0.056,3150,3901,2549
$GC,5575,0.85,146.0,461.3,12.5,199,5581,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2505,2548
$GC,5829,0.85,146.0,433.3,11.1,206,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2500,2546
$GC,6070,0.86,148.6,409.3,9.5,212,6074,0.00,2.28,0.00,0.000,4,0.000,0.055,3159,3908,2546
$GC,6329,0.86,148.6,382.8,10.2,217,6333,0.00,2.08,0.00,0.000,6,0.000,0.027,3168,2508,2545
$GC,6586,0.88,167.4,360.3,8.8,224,6610,0.00,2.30,16.80,0.867,4,0.000,0.049,3163,3904,2477
$GC,6864,0.88,167.4,322.4,13.8,230,6868,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2520,2474
$GC,7146,0.88,167.4,288.9,11.4,237,7149,0.00,2.08,0.00,0.000,4,0.000,0.029,3182,1111,2472
$GC,7158,0.88,167.4,287.4,10.4,237,7162,0.00,2.22,0.00,0.000,6,0.000,0.046,3176,2523,2472
$GC,7432,0.88,167.4,259.3,10.0,244,7435,0.00,2.10,0.00,0.000,4,0.000,0.029,3185,1101,2471
$GC,7691,0.95,220.0,238.9,7.3,249,7745,0.00,2.22,46.45,0.810,6,0.000,0.041,3176,2534,2263
$GC,7991,0.95,220.0,187.4,17.9,260,7995,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1102,2257
$GC,8131,0.95,220.0,165.3,15.4,272,8138,0.00,2.25,0.00,0.000,6,0.000,0.041,3177,2521,2256
$GC,8396,0.95,220.0,122.2,15.1,297,8399,0.00,2.20,0.00,0.000,4,0.000,0.054,3176,3906,2255
$GC,8652,0.95,220.0,79.6,13.0,320,8656,0.00,2.05,0.00,0.000,6,0.000,0.025,3185,2508,2254
$GC,8923,0.95,220.0,50.3,12.1,345,8927,0.00,2.22,0.00,0.000,4,0.000,0.047,3176,3905,2254
$GC,9177,0.95,220.0,12.7,14.7,377,9185,0.00,2.05,0.00,0.000,6,0.000,0.023,3185,2522,2254
$STATE,9244,end climb,SURFACE_DEPTH_REACHED
$STATE,9244,begin surface coast
$FINISH,0.5,1.023821
$STATE,9266,end surface coast,CONTROL_FINISHED_OK
$STATE,9267,begin surface
$SM_CCo,9291,78.45,0.600,0,0,1732,350.04
$SM_GC,1.83,0.00,0.00,78.45,0.000,0.000,0.600,49,2706,1732,-8.82,0.74,350.04
$IRIDIUM_FIX,2241.69,-15806.70,170500,181818
$TT8_MAMPS,0.023777
$HUMID,1833
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.5,102.126
$10V_AH,10.6,58.374
$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,22.375,88.600,316.400,78.450,0.000,28.982,32.344,149.050,0.000,0.000,0.000,19.503,870.359,6242.842,433.811,1643.498,547.447,33.367,1116.355,0.000,1621.858,0.000,0.542,0.000
$DEVICE_MAMPS,250.042,73.632,1041.586,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,266.426,586.629,605.182,134.317,555.403,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31984,393
$CAP_FILE_SIZE,78807,0
$CFSIZE,260165632,230977536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,210211,235758,2252.243,-15807.228,12,2.3,32,10.1