version: 66.04
glider: 512
mission: 1
dive: 788
start: 2 23 111 15 27 25
data:
$ID,512
$MISSION,1
$DIVE,788
$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,-22917.795
$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,52
$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
$GPS1,151836,2255.242,-15758.136,39,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.5
$GPS2,152632,2255.255,-15758.068,13,1.3,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.226,0.120
$KALMAN_X,-255841.7,303.5,-50.5,277877.8,-1724.2
$KALMAN_Y,-522932.4,710.1,74.7,661012.6,-2304.3
$MHEAD_RNG_PITCHd_Wd,52.0,5456,-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,-45.25,0.000,2,0.000,0.000,48,2662,2858
$GC,73,-0.85,-146.0,3.2,-4.8,6,113,11.88,2.03,-17.33,0.000,4,0.255,0.074,2580,3866,3719
$GC,155,-0.85,-146.0,26.7,-28.5,18,164,0.00,1.83,0.00,0.000,6,0.000,0.025,2586,2652,3719
$GC,428,-0.85,-146.0,100.7,-24.1,44,431,0.00,2.10,0.00,0.000,4,0.000,0.027,2597,1217,3720
$GC,487,-0.85,-146.0,112.4,-16.6,49,491,0.00,2.30,0.00,0.000,6,0.000,0.059,2587,2629,3721
$GC,752,-0.85,-146.0,167.8,-21.0,73,756,0.00,2.05,0.00,0.000,4,0.000,0.065,2578,3894,3722
$GC,793,-0.85,-146.0,176.0,-17.7,76,800,0.00,1.88,0.00,0.000,6,0.000,0.023,2585,2622,3722
$GC,1061,-0.85,-146.0,222.0,-17.4,93,1065,0.00,2.00,0.00,0.000,4,0.000,0.025,2595,1235,3723
$GC,1096,-0.85,-146.0,227.7,-15.2,93,1100,0.00,2.25,0.00,0.000,6,0.000,0.053,2587,2650,3723
$GC,1347,-0.85,-146.0,264.3,-15.1,99,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2650,3723
$GC,1591,-0.85,-146.0,299.8,-14.3,105,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2650,3723
$GC,1836,-0.85,-146.0,332.3,-13.1,111,1839,0.00,2.08,0.00,0.000,4,0.000,0.026,2596,1231,3723
$GC,1899,-0.85,-146.0,339.3,-9.4,112,1903,0.00,2.25,0.00,0.000,6,0.000,0.048,2589,2651,3723
$GC,2175,-0.85,-146.0,367.9,-10.4,119,2179,0.00,2.00,0.00,0.000,4,0.000,0.061,2580,3899,3722
$GC,2209,-0.85,-146.0,371.8,-10.3,119,2213,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2640,3721
$GC,2470,-0.85,-146.0,396.1,-9.4,126,2473,0.00,2.05,0.00,0.000,4,0.000,0.026,2597,1236,3719
$GC,2511,-0.85,-146.0,400.0,-7.6,126,2517,0.00,2.22,0.00,0.000,6,0.000,0.051,2589,2636,3720
$GC,2762,-0.85,-146.0,420.9,-8.6,133,2766,0.00,2.05,0.00,0.000,4,0.000,0.066,2579,3903,3718
$GC,2814,-0.85,-146.0,425.6,-7.8,134,2818,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2640,3718
$GC,3100,-0.85,-146.0,454.0,-10.4,141,3104,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1244,3716
$GC,3141,-0.85,-146.0,458.4,-9.5,141,3147,0.00,2.22,0.00,0.000,6,0.000,0.052,2589,2639,3716
$GC,3392,-0.85,-146.0,484.8,-10.6,148,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3714
$GC,3636,-0.85,-146.0,510.1,-10.2,154,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3712
$GC,3880,-0.85,-146.0,535.3,-10.4,160,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2638,3711
$GC,4125,-0.85,-146.0,559.1,-9.8,166,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2638,3709
$GC,4367,-0.85,-146.0,581.8,-9.3,172,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2639,3708
$STATE,4607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4607,begin apogee
$GC,4617,-0.32,0.0,603.2,8.6,178,4743,0.57,0.00,123.32,1.054,6,0.146,0.000,2758,2529,3120
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4744,begin climb
$GC,4749,0.85,146.0,608.5,0.0,181,4886,1.10,2.30,129.75,1.048,4,0.073,0.055,3145,3905,2522
$GC,5147,0.85,146.0,568.8,19.8,190,5151,0.00,2.10,0.00,0.000,6,0.000,0.028,3155,2508,2515
$GC,5433,0.85,146.0,521.1,15.9,197,5436,0.00,2.25,0.00,0.000,4,0.000,0.051,3151,3904,2511
$GC,5694,0.85,146.0,477.2,16.5,202,5698,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2514,2509
$GC,5953,0.85,146.0,439.7,14.1,209,5956,0.00,2.22,0.00,0.000,4,0.000,0.051,3151,3903,2507
$GC,6027,0.85,146.0,429.2,13.5,210,6030,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2513,2506
$GC,6289,0.85,146.0,396.7,11.8,217,6293,0.00,2.25,0.00,0.000,4,0.000,0.050,3151,3916,2506
$GC,6549,0.85,146.0,365.2,11.2,222,6553,0.00,2.08,0.00,0.000,6,0.000,0.026,3159,2512,2505
$GC,6806,0.85,146.0,338.5,10.1,229,6810,0.00,2.25,0.00,0.000,4,0.000,0.049,3151,3918,2505
$GC,6858,0.85,146.0,333.3,10.3,230,6862,0.00,2.08,0.00,0.000,6,0.000,0.026,3160,2516,2505
$GC,7143,0.88,163.6,307.5,8.8,237,7168,0.00,2.08,15.02,0.734,4,0.000,0.028,3170,1109,2453
$GC,7422,0.88,163.6,275.8,10.7,243,7427,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2525,2452
$GC,7696,0.88,163.6,247.8,9.7,250,7700,0.00,2.10,0.00,0.000,4,0.000,0.029,3171,1112,2450
$GC,7956,0.92,196.1,226.5,8.2,255,7993,0.00,2.22,29.83,0.795,6,0.000,0.044,3163,2530,2319
$GC,8251,0.92,196.1,183.4,16.5,268,8255,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1115,2314
$GC,8504,0.92,196.1,146.8,11.5,290,8512,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2517,2313
$GC,8769,0.92,196.1,118.8,11.3,315,8773,0.00,2.08,0.00,0.000,4,0.000,0.027,3172,1109,2313
$GC,9018,0.92,196.1,92.2,10.1,337,9022,0.00,2.20,0.00,0.000,6,0.000,0.041,3163,2525,2313
$GC,9283,0.96,228.2,65.3,8.2,361,9316,0.00,0.00,28.27,0.635,6,0.000,0.000,3163,2525,2188
$GC,9573,0.96,228.2,24.8,15.0,391,9582,0.00,2.20,0.00,0.000,4,0.000,0.053,3162,3892,2185
$GC,9655,0.96,228.2,9.8,19.5,405,9664,0.00,2.05,0.00,0.000,6,0.000,0.024,3171,2524,2184
$STATE,9692,end climb,SURFACE_DEPTH_REACHED
$STATE,9692,begin surface coast
$FINISH,0.4,1.023828
$STATE,9709,end surface coast,CONTROL_FINISHED_OK
$STATE,9709,begin surface
$SM_CCo,9734,61.90,0.593,0,0,1692,350.04
$SM_GC,1.76,0.00,0.00,61.90,0.000,0.000,0.593,54,2666,1692,-8.80,0.74,350.04
$IRIDIUM_FIX,2248.70,-15758.45,190500,121249
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.5,103.926
$10V_AH,10.6,59.702
$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,22.325,80.575,326.200,61.900,0.000,31.379,34.863,263.921,0.250,0.000,0.000,14.081,892.883,6586.898,431.817,1686.696,678.388,33.367,1139.012,0.000,1673.167,0.000,0.544,0.000
$DEVICE_MAMPS,254.644,74.399,1053.858,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,280.033,625.130,643.192,139.070,573.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35202,414
$CAP_FILE_SIZE,80121,0
$CFSIZE,260165632,230342656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,230211,181207,2255.129,-15757.413,39,1.1,40,10.1