version: 66.04
glider: 512
mission: 1
dive: 786
start: 2 23 111 9 36 31
data:
$ID,512
$MISSION,1
$DIVE,786
$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,-22885.414
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,092436,2255.431,-15800.245,13,1.4,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.8
$GPS2,093538,2255.534,-15800.208,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.172,0.190
$KALMAN_X,-254746.8,18.4,504.5,272822.9,-2648.4
$KALMAN_Y,-521206.7,646.2,313.8,659632.6,-2137.8
$MHEAD_RNG_PITCHd_Wd,32.1,8871,-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,-45.22,0.000,2,0.000,0.000,49,2649,2854
$GC,73,-0.85,-146.0,3.1,-4.3,6,113,11.75,2.08,-17.95,0.000,4,0.251,0.076,2582,3885,3718
$GC,208,-0.85,-146.0,36.2,-17.9,25,212,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2642,3719
$GC,477,-0.85,-146.0,102.5,-23.9,50,481,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1234,3720
$GC,524,-0.85,-146.0,112.0,-17.1,54,528,0.00,2.30,0.00,0.000,6,0.000,0.061,2590,2640,3720
$GC,788,-0.85,-146.0,166.4,-19.3,78,792,0.00,2.05,0.00,0.000,4,0.000,0.068,2580,3897,3721
$GC,837,-0.85,-146.0,175.6,-19.2,82,841,0.00,1.83,0.00,0.000,6,0.000,0.023,2587,2637,3721
$GC,1099,-0.85,-146.0,221.1,-17.0,98,1103,0.00,2.05,0.00,0.000,4,0.000,0.025,2598,1222,3722
$GC,1133,-0.85,-146.0,226.7,-14.6,98,1138,0.00,2.30,0.00,0.000,6,0.000,0.056,2589,2652,3722
$GC,1385,-0.85,-146.0,263.6,-15.4,104,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2653,3722
$GC,1629,-0.85,-146.0,297.2,-13.6,110,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2653,3722
$GC,1873,-0.85,-146.0,327.8,-12.3,116,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2653,3721
$GC,2116,-0.85,-146.0,356.9,-12.0,122,2120,0.00,2.10,0.00,0.000,4,0.000,0.026,2598,1231,3720
$GC,2185,-0.85,-146.0,364.0,-9.1,123,2189,0.00,2.25,0.00,0.000,6,0.000,0.052,2590,2648,3720
$GC,2448,-0.85,-146.0,393.1,-11.3,130,2451,0.00,2.03,0.00,0.000,4,0.000,0.065,2579,3899,3718
$GC,2477,-0.85,-146.0,396.4,-11.2,130,2481,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2620,3718
$GC,2739,-0.85,-146.0,424.4,-10.5,137,2743,0.00,2.00,0.00,0.000,4,0.000,0.027,2597,1233,3717
$GC,2781,-0.85,-146.0,428.2,-8.4,137,2787,0.00,2.22,0.00,0.000,6,0.000,0.047,2590,2648,3716
$GC,3032,-0.85,-146.0,450.0,-8.6,144,3036,0.00,2.00,0.00,0.000,4,0.000,0.061,2580,3895,3715
$GC,3080,-0.85,-146.0,454.0,-8.1,145,3083,0.00,1.83,0.00,0.000,6,0.000,0.024,2587,2632,3714
$GC,3373,-0.85,-146.0,480.6,-9.4,152,3377,0.00,2.03,0.00,0.000,4,0.000,0.028,2597,1244,3712
$GC,3415,-0.85,-146.0,484.9,-9.3,152,3421,0.00,2.22,0.00,0.000,6,0.000,0.053,2589,2639,3712
$GC,3668,-0.85,-146.0,509.1,-9.9,159,3672,0.00,2.05,0.00,0.000,4,0.000,0.068,2580,3893,3710
$GC,3703,-0.85,-146.0,512.9,-9.8,159,3707,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2646,3709
$GC,3963,-0.85,-146.0,537.0,-9.5,166,3967,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1236,3708
$GC,3998,-0.85,-146.0,540.5,-8.3,166,4002,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2648,3708
$GC,4255,-0.85,-146.0,562.4,-8.7,173,4259,0.00,2.03,0.00,0.000,4,0.000,0.064,2580,3893,3705
$GC,4284,-0.85,-146.0,565.2,-8.7,173,4287,0.00,1.85,0.00,0.000,6,0.000,0.026,2587,2633,3705
$GC,4547,-0.85,-146.0,588.3,-9.0,180,4551,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,1243,3703
$GC,4596,-0.85,-146.0,592.7,-8.1,181,4600,0.00,2.28,0.00,0.000,6,0.000,0.058,2587,2645,3702
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4689,-0.32,0.0,600.6,8.9,183,4815,0.60,0.00,122.43,1.045,6,0.145,0.000,2764,2529,3120
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4820,0.85,146.0,607.2,0.0,186,4957,1.10,2.20,129.32,1.042,4,0.081,0.028,3157,1102,2523
$GC,5220,0.85,146.0,578.3,15.9,195,5224,0.00,2.25,0.00,0.000,6,0.000,0.045,3150,2531,2516
$GC,5505,0.85,146.0,530.5,16.6,202,5508,0.00,2.12,0.00,0.000,4,0.000,0.029,3158,1096,2511
$GC,5764,0.85,146.0,491.9,15.2,207,5768,0.00,2.25,0.00,0.000,6,0.000,0.045,3150,2528,2510
$GC,6021,0.85,146.0,456.7,13.6,214,6024,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1102,2508
$GC,6241,0.85,146.0,430.3,11.1,218,6247,0.00,2.22,0.00,0.000,6,0.000,0.043,3151,2528,2507
$GC,6492,0.85,146.0,401.1,11.5,225,6496,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1102,2506
$GC,6532,0.85,146.0,396.6,10.9,225,6540,0.00,2.25,0.00,0.000,6,0.000,0.043,3151,2519,2505
$GC,6784,0.85,146.0,368.4,11.2,232,6788,0.00,2.22,0.00,0.000,4,0.000,0.055,3149,3904,2505
$GC,7043,0.85,146.0,335.2,13.4,237,7047,0.00,2.08,0.00,0.000,6,0.000,0.027,3159,2506,2503
$GC,7300,0.85,146.0,308.7,10.2,244,7304,0.00,2.25,0.00,0.000,4,0.000,0.054,3150,3899,2503
$GC,7560,0.85,146.0,284.1,9.6,249,7563,0.00,2.05,0.00,0.000,6,0.000,0.028,3159,2518,2503
$GC,7818,0.91,193.4,263.9,7.5,256,7859,0.00,0.00,39.50,0.831,6,0.000,0.000,3159,2513,2331
$GC,8100,0.91,193.4,219.8,17.4,263,8104,0.00,2.10,0.00,0.000,4,0.000,0.029,3169,1103,2325
$GC,8276,0.91,193.4,191.8,15.5,269,8283,0.00,2.25,0.00,0.000,6,0.000,0.043,3163,2518,2324
$GC,8539,0.91,193.4,155.1,15.2,294,8543,0.00,2.22,0.00,0.000,4,0.000,0.055,3163,3906,2323
$GC,8568,0.91,193.4,151.2,12.9,296,8575,0.00,2.08,0.00,0.000,6,0.000,0.026,3172,2519,2323
$GC,8834,0.91,193.4,124.8,10.1,321,8837,0.00,2.05,0.00,0.000,4,0.000,0.027,3182,1119,2322
$GC,8860,0.91,193.4,122.2,9.9,323,8864,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2528,2323
$GC,9130,0.92,200.0,93.7,9.3,348,9144,0.00,2.15,5.62,0.540,4,0.000,0.025,3184,1110,2306
$GC,9225,0.92,200.0,85.3,10.2,356,9229,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2526,2305
$GC,9490,0.92,200.0,62.7,9.7,380,9494,0.00,2.15,0.00,0.000,4,0.000,0.049,3176,3900,2306
$GC,9739,0.92,200.0,33.7,11.7,402,9747,0.00,2.05,0.00,0.000,6,0.000,0.024,3185,2512,2305
$STATE,9998,end climb,SURFACE_DEPTH_REACHED
$STATE,9998,begin surface coast
$FINISH,0.4,1.023829
$STATE,10020,end surface coast,CONTROL_FINISHED_OK
$STATE,10021,begin surface
$SM_CCo,10045,81.05,0.578,0,0,1692,350.04
$SM_GC,1.26,0.00,0.00,81.05,0.000,0.000,0.578,52,2655,1692,-8.81,0.45,350.04
$IRIDIUM_FIX,2246.36,-15758.45,190500,090938
$TT8_MAMPS,0.023777
$HUMID,1815
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,23.5,103.687
$10V_AH,10.7,59.522
$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,22.300,101.425,296.875,81.050,0.000,54.953,73.355,322.616,0.250,0.000,0.000,13.550,972.132,6704.146,445.670,1833.039,837.064,33.369,1179.433,0.000,1825.259,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,75.933,1045.421,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,305.372,708.299,730.245,168.673,688.151,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38264,451
$CAP_FILE_SIZE,89932,0
$CFSIZE,260165632,230416384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,230211,122636,2256.153,-15759.138,33,1.7,33,10.1