version: 66.04
glider: 512
mission: 1
dive: 789
start: 2 23 111 18 24 36
data:
$ID,512
$MISSION,1
$DIVE,789
$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,-22934.254
$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,47
$R_STBD_OVSHOOT,42
$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
$GPS1,181207,2255.129,-15757.413,39,1.1,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.0
$GPS2,182343,2255.124,-15757.338,10,1.1,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.250,0.056
$KALMAN_X,-257354.3,532.6,-322.1,280693.3,-1544.9
$KALMAN_Y,-524183.4,349.2,-13.1,662477.9,-2194.0
$MHEAD_RNG_PITCHd_Wd,67.3,4344,-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,21,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.25,0.000,2,0.000,0.000,52,2666,2853
$GC,73,-0.85,-146.0,3.2,-4.4,6,113,11.77,2.03,-17.98,0.000,4,0.252,0.077,2579,3865,3718
$GC,124,-0.85,-146.0,16.4,-27.9,12,132,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2617,3718
$GC,390,-0.85,-146.0,96.0,-27.9,40,394,0.00,2.08,0.00,0.000,4,0.000,0.065,2579,3866,3719
$GC,460,-0.85,-146.0,112.5,-18.9,46,464,0.00,1.77,0.00,0.000,6,0.000,0.023,2586,2639,3720
$GC,729,-0.85,-146.0,169.8,-21.3,71,733,0.00,2.05,0.00,0.000,4,0.000,0.025,2596,1225,3720
$GC,799,-0.85,-146.0,180.8,-11.8,77,803,0.00,2.25,0.00,0.000,6,0.000,0.059,2588,2615,3721
$GC,1086,-0.85,-146.0,226.9,-16.5,92,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2616,3721
$GC,1330,-0.85,-146.0,264.3,-15.1,98,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2616,3722
$GC,1574,-0.85,-146.0,295.8,-12.1,104,1577,0.00,2.03,0.00,0.000,4,0.000,0.026,2596,1230,3722
$GC,1614,-0.85,-146.0,300.2,-9.4,104,1621,0.00,2.25,0.00,0.000,6,0.000,0.054,2588,2645,3722
$GC,1867,-0.85,-146.0,328.2,-11.7,111,1870,0.00,2.08,0.00,0.000,4,0.000,0.026,2596,1236,3721
$GC,1896,-0.85,-146.0,331.9,-11.3,111,1900,0.00,2.22,0.00,0.000,6,0.000,0.048,2589,2640,3721
$GC,2153,-0.85,-146.0,362.2,-12.3,118,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2641,3720
$GC,2397,-0.85,-146.0,392.5,-12.5,124,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2641,3718
$GC,2640,-0.85,-146.0,421.4,-11.8,130,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2641,3717
$GC,2885,-0.85,-146.0,448.5,-10.9,136,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2641,3715
$GC,3128,-0.85,-146.0,474.4,-10.6,142,3132,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1237,3713
$GC,3157,-0.85,-146.0,477.5,-10.1,142,3161,0.00,2.22,0.00,0.000,6,0.000,0.048,2590,2647,3713
$GC,3414,-0.85,-146.0,503.8,-10.5,149,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3711
$GC,3658,-0.85,-146.0,528.2,-9.8,155,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3709
$GC,3905,-0.85,-146.0,549.2,-8.4,161,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3707
$GC,4146,-0.85,-146.0,569.1,-8.2,167,4150,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,1235,3705
$GC,4176,-0.85,-146.0,571.7,-8.1,167,4180,0.00,2.25,0.00,0.000,6,0.000,0.053,2589,2639,3705
$GC,4433,-0.85,-146.0,593.5,-8.8,174,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3703
$STATE,4511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4511,begin apogee
$GC,4521,-0.32,0.0,600.5,8.8,176,4646,0.57,0.00,122.40,1.045,6,0.145,0.000,2759,2529,3120
$STATE,4647,end apogee,CONTROL_FINISHED_OK
$STATE,4647,begin climb
$GC,4652,0.85,146.0,606.3,0.0,179,4790,1.10,2.33,129.27,1.042,4,0.081,0.059,3137,3893,2522
$GC,4941,0.85,146.0,590.6,18.8,185,4945,0.00,2.08,0.00,0.000,6,0.000,0.026,3146,2513,2517
$GC,5203,0.85,146.0,547.3,16.2,192,5207,0.00,2.10,0.00,0.000,4,0.000,0.029,3157,1094,2512
$GC,5221,0.85,146.0,544.5,15.1,192,5225,0.00,2.25,0.00,0.000,6,0.000,0.044,3151,2530,2512
$GC,5489,0.85,146.0,504.9,14.6,199,5492,0.00,2.12,0.00,0.000,4,0.000,0.028,3160,1094,2509
$GC,5501,0.85,146.0,503.2,14.2,199,5505,0.00,2.25,0.00,0.000,6,0.000,0.046,3160,2520,2509
$GC,5776,0.85,146.0,463.5,14.5,206,5780,0.00,2.10,0.00,0.000,4,0.000,0.028,3170,1101,2508
$GC,5895,0.85,146.0,446.0,14.1,208,5899,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2526,2507
$GC,6151,0.85,146.0,411.1,13.4,215,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2526,2506
$GC,6397,0.85,146.0,382.3,11.4,221,6400,0.00,2.20,0.00,0.000,4,0.000,0.056,3162,3902,2505
$GC,6420,0.85,146.0,379.2,12.2,221,6424,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2512,2505
$GC,6688,0.85,146.0,351.0,10.4,228,6692,0.00,2.22,0.00,0.000,4,0.000,0.049,3163,3903,2505
$GC,6711,0.85,146.0,348.3,10.7,228,6715,0.00,2.05,0.00,0.000,6,0.000,0.026,3172,2516,2504
$GC,6979,0.85,146.0,320.6,10.6,235,6983,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1115,2504
$GC,7003,0.86,150.7,318.2,9.4,235,7007,0.00,2.20,0.00,0.000,6,0.000,0.043,3176,2518,2504
$GC,7265,0.88,163.7,294.0,9.0,242,7285,0.00,2.15,13.23,0.807,4,0.000,0.028,3184,1107,2452
$GC,7540,0.88,163.7,264.8,10.5,248,7544,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2534,2450
$GC,7820,0.91,193.4,240.1,8.3,255,7854,0.00,2.20,27.50,0.807,4,0.000,0.028,3184,1112,2330
$GC,8109,0.91,193.4,198.6,14.3,261,8113,0.00,2.20,0.00,0.000,6,0.000,0.044,3176,2519,2326
$GC,8380,0.91,193.4,161.0,14.6,285,8384,0.00,2.08,0.00,0.000,4,0.000,0.027,3185,1104,2324
$GC,8576,0.92,202.7,137.5,9.2,302,8590,0.00,2.20,8.85,0.644,6,0.000,0.041,3177,2521,2292
$GC,8846,0.92,202.7,100.2,14.4,327,8850,0.00,2.08,0.00,0.000,4,0.000,0.027,3185,1102,2291
$GC,8995,0.92,202.7,82.3,11.4,340,8999,0.00,2.20,0.00,0.000,6,0.000,0.040,3176,2524,2291
$GC,9260,0.96,235.2,58.4,8.2,364,9299,0.00,2.22,28.98,0.627,4,0.000,0.054,3176,3878,2160
$GC,9361,0.96,235.2,44.7,19.7,372,9369,0.00,2.05,0.00,0.000,6,0.000,0.025,3185,2521,2159
$STATE,9593,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.5,1.010387
$STATE,9611,end surface coast,CONTROL_FINISHED_OK
$STATE,9611,begin surface
$SM_CCo,9636,61.08,0.586,0,0,1693,350.04
$SM_GC,2.00,0.00,0.00,61.08,0.000,0.000,0.586,43,2637,1693,-8.84,-0.08,350.04
$IRIDIUM_FIX,2246.36,-15753.23,190500,181820
$TT8_MAMPS,0.024544
$HUMID,1833
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.5,104.053
$10V_AH,10.6,59.792
$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,22.225,81.475,330.225,61.075,0.000,61.102,87.843,330.182,0.250,0.000,0.000,15.830,859.016,6766.084,427.777,1506.722,837.330,33.366,1065.287,0.000,1497.066,0.000,0.543,0.000
$DEVICE_MAMPS,251.576,77.467,1044.654,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.438,611.654,630.744,136.395,563.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35205,411
$CAP_FILE_SIZE,80154,0
$CFSIZE,260165632,230301696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,230211,210734,2255.026,-15756.522,15,2.6,35,10.1