version: 66.04
glider: 512
mission: 1
dive: 784
start: 2 23 111 4 1 18
data:
$ID,512
$MISSION,1
$DIVE,784
$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,-22856.141
$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,69
$R_STBD_OVSHOOT,37
$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
$GPS1,035230,2254.318,-15801.830,36,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.9
$GPS2,040026,2254.247,-15801.823,18,1.9,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.189,0.173
$KALMAN_X,-252638.4,589.0,-37.8,267915.8,-3028.7
$KALMAN_Y,-518865.4,-114.8,-21.9,656003.4,-2078.7
$MHEAD_RNG_PITCHd_Wd,37.3,10876,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,67,0.00,0.00,-45.22,0.000,2,0.000,0.000,45,2659,2878
$GC,72,-0.85,-146.0,3.3,-4.8,6,106,11.40,2.05,-17.25,0.000,4,0.242,0.073,2574,3882,3719
$GC,217,-0.85,-146.0,39.6,-18.1,26,221,0.00,1.80,0.00,0.000,6,0.000,0.024,2580,2652,3720
$GC,488,-0.85,-146.0,109.2,-26.5,51,491,0.00,2.08,0.00,0.000,4,0.000,0.027,2590,1230,3721
$GC,561,-0.85,-146.0,124.8,-16.8,57,568,0.00,2.30,0.00,0.000,6,0.000,0.064,2580,2609,3722
$GC,826,-0.85,-146.0,181.4,-19.9,82,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2609,3722
$GC,1081,-0.85,-146.0,231.6,-19.0,95,1085,0.00,2.08,0.00,0.000,4,0.000,0.063,2570,3898,3724
$GC,1129,-0.85,-146.0,239.3,-14.1,96,1133,0.00,1.85,0.00,0.000,6,0.000,0.023,2574,2637,3724
$GC,1419,-0.85,-146.0,283.9,-14.9,103,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2630,3724
$GC,1663,-0.85,-146.0,320.9,-15.6,109,1666,0.00,2.05,0.00,0.000,4,0.000,0.025,2581,1231,3724
$GC,1697,-0.85,-146.0,325.9,-13.4,109,1702,0.00,2.30,0.00,0.000,6,0.000,0.057,2576,2647,3725
$GC,1949,-0.85,-146.0,360.0,-13.8,115,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2647,3724
$GC,2195,-0.85,-146.0,391.1,-12.7,121,2199,0.00,2.05,0.00,0.000,4,0.000,0.069,2566,3898,3723
$GC,2230,-0.85,-146.0,396.2,-12.8,121,2234,0.00,1.85,0.00,0.000,6,0.000,0.025,2574,2645,3722
$GC,2487,-0.85,-146.0,426.3,-11.7,128,2490,0.00,2.05,0.00,0.000,4,0.000,0.027,2584,1240,3720
$GC,2521,-0.85,-146.0,430.3,-10.6,128,2526,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2652,3721
$GC,2773,-0.85,-146.0,456.6,-10.8,134,2777,0.00,2.03,0.00,0.000,4,0.000,0.068,2566,3892,3718
$GC,2802,-0.85,-146.0,460.0,-11.9,134,2806,0.00,1.85,0.00,0.000,6,0.000,0.024,2574,2639,3718
$GC,3066,-0.85,-146.0,489.6,-11.5,141,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2633,3716
$GC,3309,-0.85,-146.0,516.0,-10.6,147,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2634,3714
$GC,3553,-0.85,-146.0,542.4,-10.8,153,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2633,3713
$GC,3798,-0.85,-146.0,567.7,-10.4,159,3801,0.00,2.12,0.00,0.000,4,0.000,0.071,2566,3892,3711
$GC,3832,-0.85,-146.0,571.6,-10.6,159,3836,0.00,1.88,0.00,0.000,6,0.000,0.027,2573,2638,3710
$GC,4092,-0.85,-146.0,596.0,-9.6,166,4096,0.00,2.08,0.00,0.000,4,0.000,0.029,2574,1237,3708
$GC,4116,-0.85,-146.0,598.4,-9.2,166,4121,0.00,2.30,0.00,0.000,6,0.000,0.061,2574,2642,3708
$STATE,4172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4172,begin apogee
$GC,4182,-0.32,0.0,603.3,8.2,168,4308,0.65,0.00,123.60,1.037,6,0.150,0.000,2764,2527,3120
$STATE,4309,end apogee,CONTROL_FINISHED_OK
$STATE,4309,begin climb
$GC,4314,0.85,146.0,608.1,0.0,171,4451,1.08,2.22,129.82,1.027,4,0.072,0.027,3153,1096,2524
$GC,4490,0.85,146.0,613.1,13.6,175,4494,0.00,2.30,0.00,0.000,6,0.000,0.045,3150,2527,2520
$GC,4763,0.85,146.0,565.3,17.0,182,4767,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1100,2514
$GC,4787,0.85,146.0,561.2,16.8,182,4791,0.00,2.25,0.00,0.000,6,0.000,0.044,3159,2531,2514
$GC,5050,0.85,146.0,520.3,15.5,189,5053,0.00,2.17,0.00,0.000,4,0.000,0.051,3151,3909,2511
$GC,5101,0.85,146.0,512.0,15.6,190,5105,0.00,2.08,0.00,0.000,6,0.000,0.026,3159,2510,2510
$GC,5386,0.85,146.0,468.2,15.5,197,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2503,2508
$GC,5630,0.85,146.0,432.5,14.4,203,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2503,2507
$GC,5874,0.85,146.0,399.4,13.5,209,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2503,2506
$GC,6117,0.85,146.0,371.8,11.1,215,6121,0.00,2.25,0.00,0.000,4,0.000,0.050,3150,3908,2505
$GC,6377,0.88,163.1,345.4,8.9,220,6403,0.00,2.08,14.52,0.743,6,0.000,0.027,3159,2506,2456
$GC,6679,0.88,163.1,311.8,12.2,228,6683,0.00,2.22,0.00,0.000,4,0.000,0.048,3150,3903,2453
$GC,6938,0.88,163.1,278.1,12.6,233,6942,0.00,2.05,0.00,0.000,6,0.000,0.028,3159,2520,2453
$GC,7195,0.88,163.1,251.8,9.7,240,7199,0.00,2.22,0.00,0.000,4,0.000,0.053,3151,3901,2451
$GC,7386,0.89,175.8,235.5,9.0,244,7410,0.00,2.05,14.62,0.673,6,0.000,0.027,3160,2518,2403
$GC,7671,0.89,175.8,204.7,11.0,251,7675,0.00,2.08,0.00,0.000,4,0.000,0.028,3169,1112,2401
$GC,7808,0.89,175.8,189.4,10.5,260,7812,0.00,2.22,0.00,0.000,6,0.000,0.046,3163,2522,2400
$GC,8072,0.89,175.8,162.5,10.4,284,8075,0.00,2.20,0.00,0.000,4,0.000,0.053,3163,3908,2400
$GC,8100,0.89,175.8,159.5,12.0,286,8104,0.00,2.05,0.00,0.000,6,0.000,0.024,3172,2506,2399
$GC,8371,0.97,242.8,141.5,6.6,311,8436,0.00,2.28,58.50,0.704,4,0.000,0.045,3164,3898,2129
$GC,8540,0.97,242.8,113.7,22.7,325,8544,0.00,2.05,0.00,0.000,6,0.000,0.025,3172,2532,2126
$GC,8811,0.97,242.8,57.3,19.8,350,8814,0.00,2.17,0.00,0.000,4,0.000,0.047,3164,3902,2123
$GC,8883,0.97,242.8,41.7,21.3,356,8887,0.00,2.08,0.00,0.000,6,0.000,0.025,3172,2505,2123
$STATE,9082,end climb,SURFACE_DEPTH_REACHED
$STATE,9082,begin surface coast
$FINISH,0.4,1.023818
$STATE,9100,end surface coast,CONTROL_FINISHED_OK
$STATE,9100,begin surface
$SM_CCo,9125,55.50,0.594,0,0,1692,350.04
$SM_GC,2.05,0.00,0.00,55.50,0.000,0.000,0.594,44,2665,1692,-8.83,0.71,350.04
$IRIDIUM_FIX,2246.36,-15803.66,190500,010140
$TT8_MAMPS,0.023777
$HUMID,1870
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.5,103.438
$10V_AH,10.6,59.322
$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,22.000,80.550,341.075,55.500,0.000,30.558,38.934,254.068,0.250,0.000,0.000,19.086,828.918,6273.086,423.979,1472.032,661.402,33.360,1050.289,0.000,1456.778,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,72.865,1036.984,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.750,589.117,607.161,129.066,531.764,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31939,391
$CAP_FILE_SIZE,74870,0
$CFSIZE,260165632,230518784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,2
$GPS,230211,063536,2254.882,-15801.271,31,0.9,32,10.1