version: 66.04
glider: 512
mission: 1
dive: 790
start: 2 23 111 21 16 1
data:
$ID,512
$MISSION,1
$DIVE,790
$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,-22946.445
$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,18
$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
$GPS1,210734,2255.026,-15756.522,15,2.6,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.1
$GPS2,211508,2255.031,-15756.495,11,1.4,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,0.063
$KALMAN_X,-259325.9,472.8,33.7,283820.6,-2419.7
$KALMAN_Y,-524846.8,-32.1,227.2,663106.0,-1912.6
$MHEAD_RNG_PITCHd_Wd,65.6,3306,-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,-146.0,0.0,0.0,0,76,0.00,0.00,-52.88,0.000,2,0.000,0.000,40,2640,3092
$GC,81,-0.85,-146.0,3.3,-4.4,7,113,11.85,2.08,-11.62,0.000,4,0.253,0.071,2573,3889,3718
$GC,139,-0.85,-146.0,26.2,-42.6,15,148,0.00,1.88,0.00,0.000,6,0.000,0.025,2580,2646,3719
$GC,413,-0.85,-146.0,103.3,-24.9,41,416,0.00,2.10,0.00,0.000,4,0.000,0.029,2589,1218,3720
$GC,441,-0.85,-146.0,111.3,-24.8,43,448,0.00,2.35,0.00,0.000,6,0.000,0.063,2579,2629,3720
$GC,705,-0.85,-146.0,170.3,-22.9,68,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2629,3721
$GC,986,-0.85,-146.0,223.0,-17.9,86,990,0.00,2.08,0.00,0.000,4,0.000,0.025,2587,1222,3722
$GC,1010,-0.85,-146.0,227.9,-17.7,86,1014,0.00,2.28,0.00,0.000,6,0.000,0.055,2578,2646,3723
$GC,1272,-0.85,-146.0,268.7,-16.2,93,1276,0.00,2.03,0.00,0.000,4,0.000,0.067,2568,3894,3723
$GC,1329,-0.85,-146.0,277.4,-12.6,94,1333,0.00,1.88,0.00,0.000,6,0.000,0.024,2574,2620,3723
$GC,1610,-0.85,-146.0,315.4,-13.8,101,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2615,3723
$GC,1853,-0.85,-146.0,348.3,-13.3,107,1856,0.00,2.03,0.00,0.000,4,0.000,0.027,2584,1230,3723
$GC,1893,-0.85,-146.0,353.3,-10.5,107,1899,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2646,3722
$GC,2145,-0.85,-146.0,384.0,-12.7,114,2148,0.00,2.05,0.00,0.000,4,0.000,0.070,2566,3896,3721
$GC,2179,-0.85,-146.0,388.5,-12.6,114,2183,0.00,1.83,0.00,0.000,6,0.000,0.024,2573,2637,3721
$GC,2438,-0.85,-146.0,419.2,-12.2,121,2441,0.00,2.05,0.00,0.000,4,0.000,0.027,2584,1235,3720
$GC,2474,-0.85,-146.0,423.6,-11.1,121,2478,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2639,3720
$GC,2728,-0.85,-146.0,451.2,-11.3,127,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2640,3718
$GC,2970,-0.85,-146.0,478.8,-11.4,133,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2641,3717
$GC,3213,-0.85,-146.0,504.5,-10.3,139,3217,0.00,2.08,0.00,0.000,4,0.000,0.070,2566,3901,3714
$GC,3243,-0.85,-146.0,507.6,-10.7,139,3247,0.00,1.88,0.00,0.000,6,0.000,0.026,2573,2640,3714
$GC,3507,-0.85,-146.0,533.3,-9.9,146,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2635,3712
$GC,3749,-0.85,-146.0,557.2,-9.7,152,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2635,3711
$GC,3993,-0.85,-146.0,581.7,-10.2,158,3996,0.00,2.08,0.00,0.000,4,0.000,0.030,2584,1235,3709
$GC,4028,-0.85,-146.0,585.3,-10.1,158,4032,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2635,3709
$STATE,4194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4194,begin apogee
$GC,4204,-0.32,0.0,601.1,9.5,162,4331,0.65,0.00,123.38,1.045,6,0.156,0.000,2762,2525,3120
$STATE,4331,end apogee,CONTROL_FINISHED_OK
$STATE,4331,begin climb
$GC,4336,0.85,146.0,607.9,0.0,165,4473,1.08,2.33,129.75,1.040,4,0.071,0.056,3137,3897,2522
$GC,4736,0.85,146.0,566.5,21.0,174,4740,0.00,2.08,0.00,0.000,6,0.000,0.027,3146,2504,2515
$GC,5028,0.85,146.0,517.1,16.1,181,5032,0.00,2.30,0.00,0.000,4,0.000,0.058,3146,3911,2511
$GC,5288,0.85,146.0,476.1,13.8,186,5294,0.00,2.08,0.00,0.000,6,0.000,0.027,3156,2510,2509
$GC,5541,0.85,146.0,444.4,12.2,193,5545,0.00,2.25,0.00,0.000,4,0.000,0.051,3150,3906,2507
$GC,5801,0.85,146.0,411.3,12.8,198,5805,0.00,2.05,0.00,0.000,6,0.000,0.028,3159,2522,2506
$GC,6057,0.85,146.0,381.6,11.7,205,6061,0.00,2.25,0.00,0.000,4,0.000,0.054,3151,3910,2505
$GC,6075,0.85,146.0,379.3,11.5,205,6079,0.00,2.08,0.00,0.000,6,0.000,0.026,3159,2508,2505
$GC,6349,0.85,146.0,348.7,10.9,212,6353,0.00,2.05,0.00,0.000,4,0.000,0.028,3170,1114,2505
$GC,6384,0.85,146.0,345.1,10.6,212,6388,0.00,2.22,0.00,0.000,6,0.000,0.043,3164,2533,2505
$GC,6635,0.86,153.0,321.0,9.3,218,6639,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1105,2504
$GC,6895,0.88,169.7,297.9,8.9,223,6919,0.00,2.20,18.65,0.830,6,0.000,0.042,3163,2521,2428
$GC,7196,0.88,169.7,263.6,11.7,231,7200,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1119,2423
$GC,7316,0.88,169.7,251.0,11.2,233,7320,0.00,2.20,0.00,0.000,6,0.000,0.043,3163,2521,2422
$GC,7573,0.88,169.7,224.6,9.7,240,7576,0.00,2.20,0.00,0.000,4,0.000,0.054,3162,3906,2422
$GC,7835,0.88,169.7,196.0,10.5,248,7838,0.00,2.05,0.00,0.000,6,0.000,0.027,3171,2517,2421
$GC,8104,0.93,203.2,171.4,8.1,273,8141,0.00,2.25,29.60,0.735,4,0.000,0.049,3163,3905,2292
$GC,8166,0.93,203.2,165.3,12.2,278,8170,0.00,2.08,0.00,0.000,6,0.000,0.026,3171,2517,2290
$GC,8438,0.93,203.2,129.1,14.4,303,8441,0.00,2.08,0.00,0.000,4,0.000,0.027,3182,1101,2288
$GC,8553,0.93,203.2,113.6,11.5,313,8557,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2516,2287
$GC,8819,0.93,203.2,81.7,10.5,337,8822,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1094,2287
$GC,8891,0.93,203.2,73.4,12.3,343,8899,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2516,2287
$GC,9156,0.93,203.2,48.7,10.3,368,9160,0.00,2.17,0.00,0.000,4,0.000,0.052,3176,3902,2287
$GC,9314,0.93,203.2,29.6,11.7,382,9322,0.00,2.08,0.00,0.000,6,0.000,0.025,3185,2504,2287
$STATE,9539,end climb,SURFACE_DEPTH_REACHED
$STATE,9539,begin surface coast
$FINISH,0.3,1.023923
$STATE,9562,end surface coast,CONTROL_FINISHED_OK
$STATE,9562,begin surface
$SM_CCo,9586,85.03,0.586,0,0,1692,350.04
$SM_GC,1.63,0.00,0.00,85.03,0.000,0.000,0.586,44,2656,1692,-8.83,0.45,350.04
$IRIDIUM_FIX,2244.02,-15806.70,190500,181817
$TT8_MAMPS,0.023777
$HUMID,1807
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,23.5,104.170
$10V_AH,10.6,59.887
$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,22.550,89.600,301.375,85.025,0.000,28.871,34.709,245.044,0.500,0.000,0.000,11.562,907.287,6401.610,438.608,1714.741,667.201,33.367,1139.465,0.000,1707.575,0.000,0.545,0.000
$DEVICE_MAMPS,253.110,70.564,1044.654,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,288.750,667.859,689.248,154.009,632.564,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35109,427
$CAP_FILE_SIZE,80901,0
$CFSIZE,260165632,230260736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,230211,235836,2255.141,-15755.612,33,1.3,39,10.1