version: 66.04
glider: 512
mission: 1
dive: 781
start: 2 22 111 19 41 55
data:
$ID,512
$MISSION,1
$DIVE,781
$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,-22802.65
$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,2640
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3120
$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
$GPS1,193336,2255.359,-15804.342,25,1.7,25,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-79.4
$GPS2,194102,2255.403,-15804.297,12,1.8,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.164,0.197
$KALMAN_X,-248153.6,29.3,108.2,259580.4,-1896.5
$KALMAN_Y,-515390.0,530.2,15.0,653992.9,-2494.2
$MHEAD_RNG_PITCHd_Wd,29.6,15416,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-52.83,0.000,2,0.000,0.000,52,2666,3127
$GC,80,-0.85,-146.0,3.9,-6.1,7,113,11.68,1.98,-10.48,0.000,4,0.250,0.068,2576,3873,3719
$GC,204,-0.85,-146.0,45.3,-20.5,22,208,0.00,1.85,0.00,0.000,6,0.000,0.025,2583,2640,3721
$GC,474,-0.85,-146.0,115.6,-26.5,47,478,0.00,2.08,0.00,0.000,4,0.000,0.026,2593,1217,3722
$GC,554,-0.85,-146.0,130.6,-14.0,54,559,0.00,2.28,0.00,0.000,6,0.000,0.058,2583,2618,3723
$GC,818,-0.85,-146.0,184.9,-18.2,78,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2619,3724
$GC,1075,-0.85,-146.0,232.0,-18.5,91,1078,0.00,2.08,0.00,0.000,4,0.000,0.066,2571,3895,3725
$GC,1121,-0.85,-146.0,241.0,-16.7,92,1125,0.00,1.83,0.00,0.000,6,0.000,0.023,2579,2632,3724
$GC,1414,-0.85,-146.0,287.6,-15.6,99,1418,0.00,2.05,0.00,0.000,4,0.000,0.026,2587,1226,3725
$GC,1449,-0.85,-146.0,292.5,-12.4,99,1453,0.00,2.30,0.00,0.000,6,0.000,0.059,2578,2647,3725
$GC,1707,-0.85,-146.0,327.6,-14.1,106,1711,0.00,2.05,0.00,0.000,4,0.000,0.069,2568,3893,3724
$GC,1759,-0.85,-146.0,334.5,-11.5,107,1763,0.00,1.83,0.00,0.000,6,0.000,0.023,2575,2633,3725
$GC,2044,-0.85,-146.0,370.6,-12.8,114,2048,0.00,2.05,0.00,0.000,4,0.000,0.026,2586,1229,3724
$GC,2096,-0.85,-146.0,376.6,-10.0,115,2100,0.00,2.30,0.00,0.000,6,0.000,0.056,2576,2651,3723
$GC,2375,-0.85,-146.0,409.6,-12.2,122,2379,0.00,2.08,0.00,0.000,4,0.000,0.027,2585,1240,3723
$GC,2404,-0.85,-146.0,413.4,-11.6,122,2409,0.00,2.28,0.00,0.000,6,0.000,0.055,2576,2644,3723
$GC,2667,-0.85,-146.0,445.3,-12.6,129,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2644,3720
$GC,2911,-0.85,-146.0,475.0,-12.1,135,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2644,3719
$GC,3156,-0.85,-146.0,502.6,-11.0,141,3159,0.00,2.10,0.00,0.000,4,0.000,0.028,2584,1231,3718
$GC,3185,-0.85,-146.0,505.9,-9.9,141,3189,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2639,3717
$GC,3448,-0.85,-146.0,533.4,-10.8,148,3452,0.00,2.08,0.00,0.000,4,0.000,0.028,2584,1230,3715
$GC,3477,-0.85,-146.0,536.5,-10.2,148,3481,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2644,3716
$GC,3734,-0.85,-146.0,562.1,-10.1,155,3737,0.00,2.05,0.00,0.000,4,0.000,0.067,2566,3895,3713
$GC,3774,-0.85,-146.0,566.5,-10.2,155,3781,0.00,1.88,0.00,0.000,6,0.000,0.025,2574,2637,3712
$GC,4026,-0.85,-146.0,592.4,-10.6,162,4029,0.00,2.08,0.00,0.000,4,0.000,0.029,2584,1233,3711
$GC,4055,-0.85,-146.0,595.5,-10.5,162,4059,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2641,3711
$STATE,4104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4104,begin apogee
$GC,4114,-0.32,0.0,600.7,9.7,164,4241,0.62,0.00,123.68,1.038,6,0.150,0.000,2758,2523,3120
$STATE,4242,end apogee,CONTROL_FINISHED_OK
$STATE,4242,begin climb
$GC,4247,0.85,146.0,607.2,0.0,167,4383,1.12,2.17,129.02,1.025,4,0.091,0.028,3146,1096,2523
$GC,4602,0.85,146.0,585.8,16.1,175,4606,0.00,2.25,0.00,0.000,6,0.000,0.044,3146,2522,2516
$GC,4881,0.85,146.0,539.9,16.6,182,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2522,2512
$GC,5125,0.85,146.0,504.2,14.0,188,5129,0.00,2.10,0.00,0.000,4,0.000,0.029,3155,1107,2510
$GC,5332,0.85,146.0,475.6,13.0,192,5336,0.00,2.22,0.00,0.000,6,0.000,0.047,3150,2519,2509
$GC,5594,0.85,146.0,440.8,12.9,199,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2519,2507
$GC,5838,0.85,146.0,410.5,12.2,205,5841,0.00,2.22,0.00,0.000,4,0.000,0.059,3150,3902,2506
$GC,5867,0.85,146.0,406.8,12.7,205,5871,0.00,2.05,0.00,0.000,6,0.000,0.028,3159,2514,2505
$GC,6130,0.85,146.0,376.7,11.6,212,6133,0.00,2.08,0.00,0.000,4,0.000,0.028,3170,1102,2505
$GC,6389,0.85,146.0,347.7,10.2,217,6393,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2531,2505
$GC,6646,0.85,146.0,321.3,10.2,224,6650,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1110,2504
$GC,6676,0.88,169.0,318.8,8.6,224,6700,0.00,2.22,17.90,0.833,6,0.000,0.043,3163,2534,2430
$GC,6980,0.88,169.0,282.2,13.1,232,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2534,2428
$GC,7226,0.88,169.0,253.6,10.9,238,7230,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1107,2427
$GC,7261,0.88,169.0,250.0,9.8,238,7265,0.00,2.22,0.00,0.000,6,0.000,0.041,3163,2529,2427
$GC,7518,0.90,185.4,225.5,8.9,245,7535,0.00,0.00,15.50,0.753,6,0.000,0.000,3163,2529,2364
$GC,7762,0.90,185.4,195.2,13.8,251,7766,0.00,2.15,0.00,0.000,4,0.000,0.051,3163,3900,2361
$GC,8023,0.90,185.4,155.7,12.6,274,8027,0.00,2.05,0.00,0.000,6,0.000,0.026,3172,2507,2360
$GC,8294,0.94,213.3,129.1,8.4,299,8324,0.00,2.08,25.52,0.685,4,0.000,0.026,3182,1103,2249
$GC,8563,0.94,213.3,90.9,14.5,322,8567,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2531,2247
$GC,8829,0.94,213.3,54.0,12.3,346,8833,0.00,2.10,0.00,0.000,4,0.000,0.026,3185,1097,2246
$GC,8922,0.94,213.3,43.8,10.9,354,8926,0.00,2.20,0.00,0.000,6,0.000,0.040,3176,2519,2246
$GC,9189,0.94,213.3,9.2,13.7,392,9197,0.00,2.10,0.00,0.000,4,0.000,0.025,3185,1112,2246
$GC,9218,0.94,213.3,5.0,14.2,396,9226,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2514,2246
$STATE,9232,end climb,SURFACE_DEPTH_REACHED
$STATE,9232,begin surface coast
$FINISH,0.4,1.011447
$STATE,9255,end surface coast,CONTROL_FINISHED_OK
$STATE,9255,begin surface
$SM_CCo,9280,75.32,0.584,0,0,1692,350.04
$SM_GC,1.39,0.00,0.00,75.32,0.000,0.000,0.584,45,2674,1692,-8.83,0.96,350.04
$IRIDIUM_FIX,2246.36,-15803.66,180500,171758
$TT8_MAMPS,0.023777
$HUMID,1812
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.5,103.073
$10V_AH,10.7,59.066
$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,22.175,89.500,311.625,75.325,0.000,30.346,33.063,238.341,0.000,0.000,0.000,12.752,858.451,6309.994,433.759,1551.394,652.402,33.369,1088.666,0.000,1542.536,0.000,0.543,0.000
$DEVICE_MAMPS,250.042,69.030,1037.751,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,272.188,609.380,628.032,138.572,570.028,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31898,402
$CAP_FILE_SIZE,77997,0
$CFSIZE,260165632,230637568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,220211,221906,2255.830,-15803.449,30,1.2,31,10.1