version: 66.04
glider: 512
mission: 1
dive: 783
start: 2 23 111 1 16 24
data:
$ID,512
$MISSION,1
$DIVE,783
$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,-22836.426
$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,43
$R_STBD_OVSHOOT,44
$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
$GPS1,010636,2255.153,-15802.553,11,1.9,29,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.1
$GPS2,011531,2255.089,-15802.502,12,1.8,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,0.003
$KALMAN_X,-250739.7,556.9,102.6,264744.4,-2420.7
$KALMAN_Y,-517861.8,-110.2,453.7,656072.7,-3070.6
$MHEAD_RNG_PITCHd_Wd,79.3,12303,-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,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.28,0.000,2,0.000,0.000,45,2672,2855
$GC,70,-0.85,-146.0,3.2,-4.8,6,111,11.62,2.00,-17.45,0.000,4,0.248,0.072,2574,3867,3718
$GC,131,-0.85,-146.0,21.1,-32.3,14,140,0.00,1.85,0.00,0.000,6,0.000,0.025,2578,2640,3719
$GC,400,-0.85,-146.0,98.8,-29.4,41,403,0.00,2.08,0.00,0.000,4,0.000,0.026,2588,1221,3720
$GC,449,-0.85,-146.0,111.2,-21.1,45,453,0.00,2.28,0.00,0.000,6,0.000,0.061,2578,2613,3721
$GC,712,-0.85,-146.0,171.7,-24.7,69,716,0.00,2.08,0.00,0.000,4,0.000,0.064,2568,3900,3722
$GC,751,-0.85,-146.0,180.5,-19.4,72,760,0.00,1.88,0.00,0.000,6,0.000,0.023,2575,2629,3722
$GC,1039,-0.85,-146.0,231.1,-18.4,88,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2622,3723
$GC,1282,-0.85,-146.0,271.8,-15.9,94,1286,0.00,2.03,0.00,0.000,4,0.000,0.026,2585,1237,3724
$GC,1329,-0.85,-146.0,277.8,-10.9,95,1333,0.00,2.28,0.00,0.000,6,0.000,0.055,2576,2644,3724
$GC,1614,-0.85,-146.0,318.5,-15.2,102,1618,0.00,2.08,0.00,0.000,4,0.000,0.071,2566,3906,3724
$GC,1665,-0.85,-146.0,325.6,-11.5,103,1669,0.00,1.88,0.00,0.000,6,0.000,0.024,2574,2637,3724
$GC,1950,-0.85,-146.0,363.0,-13.2,110,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2629,3723
$GC,2195,-0.85,-146.0,392.9,-12.1,116,2198,0.00,2.05,0.00,0.000,4,0.000,0.027,2584,1233,3721
$GC,2231,-0.85,-146.0,397.3,-10.7,116,2235,0.00,2.28,0.00,0.000,6,0.000,0.055,2576,2639,3722
$GC,2484,-0.85,-146.0,426.7,-12.1,122,2488,0.00,2.08,0.00,0.000,4,0.000,0.067,2566,3906,3720
$GC,2525,-0.85,-146.0,432.0,-12.1,122,2531,0.00,1.85,0.00,0.000,6,0.000,0.025,2573,2640,3719
$GC,2778,-0.85,-146.0,460.7,-11.5,129,2781,0.00,2.05,0.00,0.000,4,0.000,0.028,2584,1242,3718
$GC,2802,-0.85,-146.0,463.5,-11.0,129,2806,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2650,3718
$GC,3067,-0.85,-146.0,491.2,-10.9,136,3070,0.00,2.10,0.00,0.000,4,0.000,0.027,2584,1240,3716
$GC,3095,-0.85,-146.0,494.5,-10.0,136,3099,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2650,3716
$GC,3358,-0.85,-146.0,520.6,-10.1,143,3362,0.00,2.03,0.00,0.000,4,0.000,0.068,2566,3893,3713
$GC,3393,-0.85,-146.0,524.4,-11.0,143,3396,0.00,1.85,0.00,0.000,6,0.000,0.025,2574,2628,3713
$GC,3650,-0.85,-146.0,550.4,-10.4,150,3654,0.00,2.05,0.00,0.000,4,0.000,0.028,2584,1236,3711
$GC,3685,-0.85,-146.0,553.9,-8.6,150,3689,0.00,2.28,0.00,0.000,6,0.000,0.055,2576,2648,3711
$GC,3938,-0.85,-146.0,578.4,-10.0,156,3941,0.00,2.05,0.00,0.000,4,0.000,0.069,2566,3896,3709
$GC,3985,-0.85,-146.0,583.4,-10.3,157,3989,0.00,1.85,0.00,0.000,6,0.000,0.025,2574,2634,3708
$STATE,4151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4151,begin apogee
$GC,4161,-0.32,0.0,600.6,10.1,161,4287,0.65,0.00,123.55,1.041,6,0.150,0.000,2764,2518,3120
$STATE,4288,end apogee,CONTROL_FINISHED_OK
$STATE,4288,begin climb
$GC,4292,0.85,146.0,607.2,0.0,164,4430,1.10,2.35,129.68,1.029,4,0.089,0.060,3137,3891,2523
$GC,4606,0.85,146.0,587.8,18.5,171,4609,0.00,2.05,0.00,0.000,6,0.000,0.026,3146,2519,2517
$GC,4891,0.85,146.0,540.7,15.9,178,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2512,2512
$GC,5136,0.85,146.0,502.5,15.7,184,5140,0.00,2.25,0.00,0.000,4,0.000,0.054,3146,3904,2511
$GC,5171,0.85,146.0,496.6,17.0,184,5175,0.00,2.05,0.00,0.000,6,0.000,0.026,3156,2518,2510
$GC,5430,0.85,146.0,458.3,14.9,191,5434,0.00,2.08,0.00,0.000,4,0.000,0.029,3166,1110,2508
$GC,5572,0.85,146.0,438.4,13.8,194,5576,0.00,2.22,0.00,0.000,6,0.000,0.047,3162,2521,2507
$GC,5852,0.85,146.0,402.8,12.4,201,5856,0.00,2.10,0.00,0.000,4,0.000,0.030,3171,1113,2506
$GC,5893,0.85,146.0,397.9,12.1,201,5899,0.00,2.22,0.00,0.000,6,0.000,0.048,3163,2520,2506
$GC,6146,0.85,146.0,367.6,12.1,208,6150,0.00,2.22,0.00,0.000,4,0.000,0.058,3163,3907,2505
$GC,6259,0.85,146.0,352.6,12.5,210,6263,0.00,2.08,0.00,0.000,6,0.000,0.029,3171,2519,2504
$GC,6528,0.87,161.3,325.7,8.9,217,6544,0.00,2.30,11.45,0.814,4,0.000,0.052,3163,3908,2461
$GC,6647,0.87,161.3,311.7,13.4,219,6651,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2516,2460
$GC,6905,0.87,161.3,285.1,10.1,226,6909,0.00,2.22,0.00,0.000,4,0.000,0.050,3163,3904,2458
$GC,6917,0.87,161.3,283.5,10.9,226,6920,0.00,2.08,0.00,0.000,6,0.000,0.027,3172,2508,2458
$GC,7196,0.87,161.3,252.3,10.5,233,7200,0.00,2.05,0.00,0.000,4,0.000,0.028,3183,1107,2458
$GC,7335,0.91,193.8,239.8,8.2,236,7369,0.00,2.22,29.62,0.798,6,0.000,0.043,3176,2533,2329
$GC,7622,0.91,193.8,198.0,15.8,243,7626,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1108,2323
$GC,7738,0.91,193.8,179.3,16.2,253,7742,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2520,2324
$GC,8003,0.91,193.8,145.1,12.3,277,8007,0.00,2.10,0.00,0.000,4,0.000,0.027,3185,1106,2322
$GC,8262,0.91,193.8,113.6,11.4,300,8266,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2525,2322
$GC,8526,0.91,193.8,85.9,10.1,324,8529,0.00,2.17,0.00,0.000,4,0.000,0.051,3176,3903,2322
$GC,8565,0.91,193.8,82.1,10.0,327,8571,0.00,2.05,0.00,0.000,6,0.000,0.025,3184,2518,2322
$GC,8830,0.91,193.8,54.7,10.0,352,8834,0.00,2.03,0.00,0.000,4,0.000,0.025,3195,1133,2322
$GC,8967,0.99,254.8,44.5,6.9,364,9026,0.00,2.17,51.75,0.612,6,0.000,0.041,3191,2520,2082
$STATE,9192,end climb,SURFACE_DEPTH_REACHED
$STATE,9192,begin surface coast
$FINISH,0.4,1.023740
$STATE,9204,end surface coast,CONTROL_FINISHED_OK
$STATE,9204,begin surface
$SM_CCo,9228,49.58,0.578,0,0,1693,350.04
$SM_GC,2.24,0.00,0.00,49.58,0.000,0.000,0.578,47,2658,1693,-8.83,0.51,350.04
$IRIDIUM_FIX,2251.04,-15802.79,180500,222220
$TT8_MAMPS,0.023777
$HUMID,1828
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.5,103.319
$10V_AH,10.7,59.237
$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,22.150,101.400,346.050,49.575,0.000,27.968,32.690,329.694,0.250,0.000,0.000,12.266,860.439,6255.078,430.600,1541.925,730.122,33.364,1101.205,0.000,1532.953,0.000,0.544,0.000
$DEVICE_MAMPS,247.741,72.098,1040.819,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.452,606.899,625.639,135.639,558.562,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32096,397
$CAP_FILE_SIZE,81983,0
$CFSIZE,260165632,230551552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,230211,035230,2254.318,-15801.830,36,1.1,42,10.1