version: 66.04
glider: 512
mission: 1
dive: 774
start: 2 22 111 0 9 16
data:
$ID,512
$MISSION,1
$DIVE,774
$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,-22634.135
$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,33
$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
$GPS1,235758,2252.243,-15807.228,12,2.3,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.5
$GPS2,000824,2252.240,-15807.252,28,1.5,45,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.035,0.254
$KALMAN_X,-241040.3,61.4,67.0,247398.0,-1504.0
$KALMAN_Y,-506981.0,886.3,363.2,639015.4,-3995.9
$MHEAD_RNG_PITCHd_Wd,357.8,3793,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.28,0.000,2,0.000,0.000,47,2706,2894
$GC,73,-0.85,-146.0,3.1,-4.3,6,113,11.62,1.95,-17.35,0.000,4,0.248,0.072,2573,3880,3758
$GC,248,-0.85,-146.0,46.3,-17.6,27,256,0.00,1.77,0.00,0.000,6,0.000,0.025,2577,2686,3760
$GC,512,-0.85,-146.0,120.2,-22.5,52,515,0.00,2.08,0.00,0.000,4,0.000,0.025,2588,1260,3761
$GC,551,-0.85,-146.0,128.7,-18.7,55,558,0.00,2.33,0.00,0.000,6,0.000,0.063,2578,2661,3762
$GC,814,-0.85,-146.0,184.5,-21.8,80,818,0.00,2.00,0.00,0.000,4,0.000,0.064,2569,3898,3762
$GC,851,-0.85,-146.0,192.1,-20.1,83,855,0.00,1.77,0.00,0.000,6,0.000,0.023,2576,2671,3762
$GC,1109,-0.85,-146.0,236.2,-16.9,93,1113,0.00,2.00,0.00,0.000,4,0.000,0.025,2585,1277,3763
$GC,1189,-0.85,-146.0,246.4,-9.9,94,1193,0.00,2.30,0.00,0.000,6,0.000,0.061,2576,2682,3763
$GC,1441,-0.85,-146.0,283.7,-16.1,100,1444,0.00,2.08,0.00,0.000,4,0.000,0.025,2584,1275,3763
$GC,1475,-0.85,-146.0,289.1,-14.2,100,1479,0.00,2.28,0.00,0.000,6,0.000,0.056,2576,2680,3764
$GC,1731,-0.85,-146.0,325.2,-14.6,107,1735,0.00,2.08,0.00,0.000,4,0.000,0.025,2585,1275,3763
$GC,1794,-0.85,-146.0,333.6,-11.6,108,1798,0.00,2.28,0.00,0.000,6,0.000,0.053,2576,2686,3763
$GC,2062,-0.85,-146.0,368.4,-13.4,115,2066,0.00,2.08,0.00,0.000,4,0.000,0.026,2585,1273,3762
$GC,2111,-0.85,-146.0,373.6,-9.4,116,2115,0.00,2.30,0.00,0.000,6,0.000,0.056,2576,2695,3762
$GC,2401,-0.85,-146.0,406.3,-11.3,123,2405,0.00,1.98,0.00,0.000,4,0.000,0.071,2566,3893,3760
$GC,2436,-0.85,-146.0,410.2,-10.7,123,2439,0.00,1.77,0.00,0.000,6,0.000,0.025,2574,2667,3760
$GC,2693,-0.85,-146.0,437.1,-10.8,130,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2661,3758
$GC,2937,-0.85,-146.0,465.5,-12.0,136,2941,0.00,2.03,0.00,0.000,4,0.000,0.027,2584,1286,3757
$GC,2966,-0.85,-146.0,469.3,-12.0,136,2970,0.00,2.28,0.00,0.000,6,0.000,0.058,2576,2681,3757
$GC,3223,-0.85,-146.0,498.7,-11.6,143,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2681,3755
$GC,3470,-0.85,-146.0,524.5,-10.3,149,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2682,3753
$GC,3711,-0.85,-146.0,548.9,-10.0,155,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2681,3750
$GC,3955,-0.85,-146.0,573.1,-9.9,161,3959,0.00,2.08,0.00,0.000,4,0.000,0.028,2585,1289,3749
$GC,4013,-0.85,-146.0,578.1,-7.8,162,4017,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2680,3749
$STATE,4288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4288,begin apogee
$GC,4299,-0.32,0.0,603.0,9.0,169,4425,0.65,0.00,123.47,1.048,6,0.151,0.000,2765,2537,3160
$STATE,4426,end apogee,CONTROL_FINISHED_OK
$STATE,4426,begin climb
$GC,4430,0.85,146.0,608.3,0.0,172,4567,1.10,2.25,129.62,1.043,4,0.070,0.028,3157,1100,2563
$GC,4821,0.85,146.0,582.1,15.5,180,4825,0.00,2.25,0.00,0.000,6,0.000,0.045,3158,2525,2556
$GC,5077,0.85,146.0,543.9,14.6,187,5081,0.00,2.15,0.00,0.000,4,0.000,0.030,3168,1077,2552
$GC,5191,0.85,146.0,527.9,13.7,189,5195,0.00,2.28,0.00,0.000,6,0.000,0.046,3163,2523,2551
$GC,5460,0.85,146.0,491.6,13.5,196,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2523,2549
$GC,5702,0.85,146.0,461.4,12.2,202,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2523,2547
$GC,5946,0.85,146.0,433.4,11.1,208,5950,0.00,2.12,0.00,0.000,4,0.000,0.030,3172,1090,2546
$GC,5970,0.85,146.0,430.8,10.8,208,5974,0.00,2.28,0.00,0.000,6,0.000,0.047,3163,2530,2546
$GC,6238,0.85,146.0,403.0,10.0,215,6242,0.00,2.20,0.00,0.000,4,0.000,0.054,3163,3909,2545
$GC,6340,0.87,161.2,393.5,8.9,217,6364,0.00,2.10,13.10,0.739,6,0.000,0.026,3172,2485,2503
$GC,6617,0.87,161.2,364.7,10.7,224,6620,0.00,2.25,0.00,0.000,4,0.000,0.049,3163,3904,2500
$GC,6875,0.87,161.2,334.8,11.7,229,6879,0.00,2.05,0.00,0.000,6,0.000,0.028,3172,2521,2500
$GC,7134,0.89,173.5,310.2,9.1,236,7153,0.00,2.17,12.40,0.815,4,0.000,0.029,3182,1106,2452
$GC,7409,0.89,173.5,275.5,12.6,242,7413,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2524,2449
$GC,7689,0.89,173.5,244.9,10.6,249,7692,0.00,2.10,0.00,0.000,4,0.000,0.029,3185,1102,2448
$GC,7948,0.91,190.6,218.4,8.9,254,7969,0.00,2.22,16.35,0.760,6,0.000,0.041,3176,2533,2382
$GC,8229,0.91,190.6,187.5,11.4,269,8233,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1105,2378
$GC,8488,0.91,190.6,162.0,10.0,292,8492,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2519,2378
$GC,8759,0.97,242.0,139.0,7.3,317,8810,0.00,2.17,45.05,0.706,4,0.000,0.026,3185,1103,2172
$GC,9063,0.97,242.0,95.6,17.3,343,9070,0.00,2.22,0.00,0.000,6,0.000,0.040,3177,2514,2168
$GC,9328,0.97,242.0,51.3,18.7,368,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2514,2166
$GC,9596,0.97,242.0,4.5,19.9,405,9605,0.00,2.08,0.00,0.000,4,0.000,0.025,3185,1099,2166
$STATE,9611,end climb,SURFACE_DEPTH_REACHED
$STATE,9611,begin surface coast
$FINISH,0.4,1.011607
$STATE,9631,end surface coast,CONTROL_FINISHED_OK
$STATE,9631,begin surface
$SM_CCo,9657,60.22,0.594,0,0,1733,350.04
$SM_GC,2.34,0.00,0.00,60.22,0.000,0.000,0.594,48,2681,1733,-8.82,0.03,350.04
$IRIDIUM_FIX,2244.02,-15804.53,180500,000005
$TT8_MAMPS,0.023777
$HUMID,1824
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.5,102.249
$10V_AH,10.6,58.465
$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,22.050,85.875,340.000,60.225,0.000,59.804,77.628,241.142,0.250,0.000,0.000,45.668,883.497,6594.011,443.560,1696.424,729.503,33.371,1147.354,0.000,1646.192,0.000,0.543,0.000
$DEVICE_MAMPS,247.741,72.098,1048.489,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,277.510,613.874,632.252,130.866,542.202,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35269,410
$CAP_FILE_SIZE,82005,0
$CFSIZE,260165632,230928384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,1
$GPS,220211,025228,2252.891,-15807.270,8,3.5,27,10.1