version: 66.04
glider: 512
mission: 1
dive: 785
start: 2 23 111 6 48 19
data:
$ID,512
$MISSION,1
$DIVE,785
$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,-22871.234
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,063536,2254.882,-15801.271,31,0.9,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.9
$GPS2,064726,2254.924,-15801.278,14,1.8,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.221,0.129
$KALMAN_X,-253800.5,300.9,91.0,270166.4,-2634.6
$KALMAN_Y,-520036.0,230.5,-29.9,658091.4,-1646.0
$MHEAD_RNG_PITCHd_Wd,49.6,10204,-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,17,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,76,0.00,0.00,-52.83,0.000,2,0.000,0.000,42,2665,3113
$GC,81,-0.85,-146.0,3.7,-4.8,7,114,11.73,2.03,-10.93,0.000,4,0.249,0.075,2575,3873,3719
$GC,184,-0.85,-146.0,38.9,-22.6,20,188,0.00,1.83,0.00,0.000,6,0.000,0.025,2580,2639,3720
$GC,456,-0.85,-146.0,109.7,-26.8,45,459,0.00,2.08,0.00,0.000,4,0.000,0.027,2587,1220,3720
$GC,486,-0.85,-146.0,118.0,-25.5,47,493,0.00,2.33,0.00,0.000,6,0.000,0.060,2577,2623,3721
$GC,751,-0.85,-146.0,178.7,-20.3,72,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2624,3722
$GC,1018,-0.85,-146.0,230.5,-18.8,86,1022,0.00,2.05,0.00,0.000,4,0.000,0.066,2567,3898,3723
$GC,1064,-0.85,-146.0,238.4,-15.3,87,1068,0.00,1.88,0.00,0.000,6,0.000,0.023,2574,2626,3723
$GC,1355,-0.85,-146.0,284.4,-15.6,94,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2619,3723
$GC,1599,-0.85,-146.0,318.1,-13.9,100,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2619,3723
$GC,1844,-0.85,-146.0,351.8,-14.2,106,1847,0.00,2.12,0.00,0.000,4,0.000,0.066,2566,3905,3723
$GC,1867,-0.85,-146.0,355.3,-13.4,106,1871,0.00,1.85,0.00,0.000,6,0.000,0.025,2573,2634,3722
$GC,2135,-0.85,-146.0,389.1,-13.0,113,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2626,3722
$GC,2381,-0.85,-146.0,419.6,-12.4,119,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2625,3721
$GC,2623,-0.85,-146.0,447.9,-11.4,125,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2625,3719
$GC,2867,-0.85,-146.0,474.2,-10.7,131,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2625,3717
$GC,3110,-0.85,-146.0,500.6,-11.0,137,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2624,3715
$GC,3354,-0.85,-146.0,528.5,-11.6,143,3358,0.00,2.12,0.00,0.000,4,0.000,0.067,2565,3900,3713
$GC,3406,-0.85,-146.0,534.4,-10.3,144,3410,0.00,1.88,0.00,0.000,6,0.000,0.027,2573,2646,3712
$GC,3692,-0.85,-146.0,566.4,-11.4,151,3696,0.00,2.08,0.00,0.000,4,0.000,0.029,2583,1236,3710
$GC,3727,-0.85,-146.0,570.4,-9.9,151,3731,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2652,3710
$GC,3978,-0.85,-146.0,596.6,-10.5,157,3982,0.00,2.05,0.00,0.000,4,0.000,0.071,2566,3893,3708
$STATE,4011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4011,begin apogee
$GC,4023,-0.32,0.0,600.6,10.8,157,4149,0.60,0.00,123.12,1.042,6,0.149,0.000,2757,2517,3120
$STATE,4150,end apogee,CONTROL_FINISHED_OK
$STATE,4150,begin climb
$GC,4154,0.85,146.0,606.1,0.0,160,4291,1.12,2.17,129.73,1.041,4,0.091,0.028,3146,1103,2524
$GC,4343,0.85,146.0,611.4,14.7,165,4347,0.00,2.28,0.00,0.000,6,0.000,0.047,3146,2529,2520
$GC,4616,0.85,146.0,563.9,17.4,172,4620,0.00,2.12,0.00,0.000,4,0.000,0.028,3155,1100,2514
$GC,4634,0.85,146.0,560.7,16.3,172,4638,0.00,2.25,0.00,0.000,6,0.000,0.045,3150,2531,2514
$GC,4909,0.85,146.0,518.7,15.5,179,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2531,2511
$GC,5152,0.85,146.0,484.4,13.6,185,5155,0.00,2.10,0.00,0.000,4,0.000,0.028,3159,1105,2509
$GC,5169,0.85,146.0,481.7,13.8,185,5173,0.00,2.22,0.00,0.000,6,0.000,0.045,3159,2521,2509
$GC,5437,0.85,146.0,446.3,13.1,192,5441,0.00,2.20,0.00,0.000,4,0.000,0.056,3150,3902,2507
$GC,5472,0.85,146.0,441.7,13.3,192,5476,0.00,2.05,0.00,0.000,6,0.000,0.028,3158,2519,2506
$GC,5730,0.85,146.0,409.8,12.3,199,5733,0.00,2.08,0.00,0.000,4,0.000,0.029,3169,1105,2506
$GC,5770,0.85,146.0,405.0,11.4,199,5776,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2525,2506
$GC,6022,0.85,146.0,376.9,10.8,206,6026,0.00,2.20,0.00,0.000,4,0.000,0.056,3163,3903,2505
$GC,6282,0.86,147.6,347.4,9.5,211,6286,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2512,2504
$GC,6539,0.90,186.5,327.1,7.9,218,6577,0.00,0.00,34.00,0.884,6,0.000,0.000,3172,2507,2358
$GC,6823,0.90,186.5,281.5,17.1,225,6826,0.00,2.22,0.00,0.000,4,0.000,0.051,3163,3901,2353
$GC,6931,0.90,186.5,261.0,18.5,227,6935,0.00,2.05,0.00,0.000,6,0.000,0.027,3172,2518,2352
$GC,7205,0.90,186.5,217.7,15.8,234,7208,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1109,2351
$GC,7312,0.90,186.5,201.6,14.7,236,7316,0.00,2.20,0.00,0.000,6,0.000,0.042,3176,2524,2351
$GC,7579,0.90,186.5,167.4,10.9,259,7583,0.00,2.20,0.00,0.000,4,0.000,0.054,3176,3907,2350
$GC,7841,0.90,186.5,138.1,10.3,282,7844,0.00,2.05,0.00,0.000,6,0.000,0.026,3184,2514,2349
$GC,8112,0.92,196.1,115.7,9.2,307,8125,0.00,2.12,8.57,0.619,4,0.000,0.026,3195,1108,2319
$GC,8253,0.92,196.1,99.3,11.8,319,8260,0.00,2.22,0.00,0.000,6,0.000,0.041,3192,2518,2319
$GC,8518,0.92,196.1,72.0,10.2,344,8522,0.00,2.20,0.00,0.000,4,0.000,0.053,3192,3909,2318
$GC,8739,0.92,196.1,47.6,11.0,364,8744,0.15,2.03,0.00,0.000,6,0.272,0.023,3174,2517,2318
$GC,9007,0.93,204.2,22.3,9.3,395,9023,0.00,2.08,8.93,0.537,4,0.000,0.024,3183,1096,2287
$GC,9070,0.93,204.2,15.8,11.0,405,9078,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2517,2287
$STATE,9174,end climb,SURFACE_DEPTH_REACHED
$STATE,9174,begin surface coast
$FINISH,0.3,1.023850
$STATE,9197,end surface coast,CONTROL_FINISHED_OK
$STATE,9201,begin surface
$SM_CCo,9225,77.18,0.581,0,0,1693,350.04
$SM_GC,1.21,0.00,0.00,77.18,0.000,0.000,0.581,50,2649,1693,-8.81,0.25,350.04
$IRIDIUM_FIX,2246.36,-15801.49,190500,060605
$TT8_MAMPS,0.023777
$HUMID,1802
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.5,103.564
$10V_AH,10.7,59.419
$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,22.500,80.525,304.350,77.175,0.000,63.225,91.970,344.063,0.250,0.000,0.000,14.463,874.123,6291.632,446.909,1558.704,845.332,33.369,1055.545,0.000,1551.415,0.000,0.544,0.000
$DEVICE_MAMPS,271.518,80.535,1041.586,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,289.588,682.459,700.935,161.245,666.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35106,428
$CAP_FILE_SIZE,77309,0
$CFSIZE,260165632,230473728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,230211,092436,2255.431,-15800.245,13,1.4,30,10.1