version: 66.04
glider: 512
mission: 1
dive: 796
start: 2 24 111 14 26 37
data:
$ID,512
$MISSION,1
$DIVE,796
$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,-23032.441
$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,41
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3100
$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
$GPS1,141707,2250.447,-15755.151,43,1.5,44,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.0
$GPS2,142544,2250.411,-15755.107,13,1.4,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.012,-0.256
$KALMAN_X,-264759.0,794.5,291.1,291051.5,-1900.1
$KALMAN_Y,-520508.1,690.2,-47.9,649766.5,797.2
$MHEAD_RNG_PITCHd_Wd,167.3,7814,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,55,2659,2824
$GC,70,-0.85,-146.0,3.1,-4.2,6,110,11.52,2.17,-18.08,0.000,4,0.247,0.040,2590,1222,3699
$GC,263,-0.85,-146.0,43.9,-16.8,31,271,0.00,2.35,0.00,0.000,6,0.000,0.067,2581,2624,3701
$GC,527,-0.85,-146.0,112.8,-24.7,56,530,0.00,2.08,0.00,0.000,4,0.000,0.067,2571,3895,3702
$GC,610,-0.85,-146.0,131.5,-18.9,63,617,0.00,1.88,0.00,0.000,6,0.000,0.024,2574,2632,3702
$GC,875,-0.85,-146.0,183.9,-20.7,88,878,0.00,2.05,0.00,0.000,4,0.000,0.025,2582,1217,3703
$GC,923,-0.85,-146.0,192.8,-15.5,92,927,0.00,2.33,0.00,0.000,6,0.000,0.058,2572,2648,3703
$GC,1177,-0.85,-146.0,239.0,-18.9,101,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2647,3704
$GC,1420,-0.85,-146.0,280.6,-16.4,107,1424,0.00,2.03,0.00,0.000,4,0.000,0.066,2562,3893,3704
$GC,1444,-0.85,-146.0,284.6,-16.6,107,1447,0.00,1.83,0.00,0.000,6,0.000,0.023,2569,2628,3704
$GC,1712,-0.85,-146.0,324.6,-14.6,114,1716,0.00,2.08,0.00,0.000,4,0.000,0.065,2560,3893,3704
$GC,1741,-0.85,-146.0,328.9,-14.1,114,1746,0.08,1.85,0.00,0.000,6,0.161,0.023,2585,2626,3704
$GC,2005,-0.85,-146.0,360.1,-12.0,121,2009,0.00,2.03,0.00,0.000,4,0.000,0.026,2595,1240,3704
$GC,2045,-0.85,-146.0,365.0,-10.3,121,2052,0.00,2.28,0.00,0.000,6,0.000,0.058,2589,2650,3704
$GC,2299,-0.85,-146.0,393.2,-11.5,128,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2650,3702
$GC,2541,-0.85,-146.0,418.1,-9.9,134,2544,0.00,2.08,0.00,0.000,4,0.000,0.027,2598,1237,3701
$GC,2576,-0.85,-146.0,421.2,-8.2,134,2580,0.00,2.25,0.00,0.000,6,0.000,0.052,2590,2650,3701
$GC,2828,-0.85,-146.0,444.2,-9.4,140,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2650,3699
$GC,3072,-0.85,-146.0,467.1,-9.4,146,3076,0.00,2.03,0.00,0.000,4,0.000,0.064,2580,3896,3698
$GC,3113,-0.85,-146.0,471.5,-10.7,146,3119,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,2644,3697
$GC,3366,-0.85,-146.0,497.3,-10.5,153,3369,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1242,3696
$GC,3413,-0.85,-146.0,502.3,-9.0,154,3418,0.00,2.25,0.00,0.000,6,0.000,0.055,2589,2641,3695
$GC,3700,-0.85,-146.0,531.1,-9.9,161,3704,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3894,3693
$GC,3751,-0.85,-146.0,536.4,-9.5,162,3755,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2638,3692
$GC,4037,-0.85,-146.0,564.3,-10.0,169,4040,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,1245,3690
$GC,4084,-0.85,-146.0,568.8,-8.8,170,4089,0.00,2.30,0.00,0.000,6,0.000,0.061,2586,2638,3690
$GC,4371,-0.85,-146.0,598.3,-10.4,177,4375,0.00,2.10,0.00,0.000,4,0.000,0.074,2576,3895,3688
$STATE,4385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4385,begin apogee
$GC,4397,-0.32,0.0,600.5,10.3,177,4524,0.57,0.00,123.68,1.056,6,0.146,0.000,2755,2505,3100
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4525,begin climb
$GC,4529,0.85,146.0,607.1,0.0,180,4666,1.15,2.20,129.55,1.026,4,0.084,0.028,3153,1113,2503
$GC,4674,0.93,205.4,616.0,7.0,184,4733,0.00,2.30,53.30,1.004,6,0.000,0.049,3150,2521,2262
$GC,5000,0.93,205.4,531.5,27.7,192,5003,0.00,2.10,0.00,0.000,4,0.000,0.028,3159,1107,2253
$GC,5063,0.93,205.4,513.8,25.8,193,5067,0.00,2.28,0.00,0.000,6,0.000,0.048,3159,2535,2252
$GC,5331,0.93,205.4,445.6,25.8,200,5335,0.00,2.12,0.00,0.000,4,0.000,0.029,3168,1106,2249
$GC,5355,0.93,205.4,439.4,24.9,200,5359,0.00,2.22,0.00,0.000,6,0.000,0.046,3163,2519,2249
$GC,5617,0.93,205.4,377.4,23.3,207,5621,0.00,2.08,0.00,0.000,4,0.000,0.029,3171,1112,2248
$GC,5742,0.93,205.4,349.3,22.0,209,5746,0.00,2.22,0.00,0.000,6,0.000,0.045,3163,2525,2248
$GC,5993,0.93,205.4,293.2,21.7,215,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2525,2246
$GC,6239,0.93,205.4,244.0,20.7,221,6242,0.00,2.10,0.00,0.000,4,0.000,0.030,3172,1106,2245
$GC,6275,0.93,205.4,236.2,20.2,221,6279,0.00,2.22,0.00,0.000,6,0.000,0.046,3163,2518,2245
$GC,6529,0.93,205.4,186.6,20.0,230,6533,0.00,2.08,0.00,0.000,4,0.000,0.028,3172,1105,2244
$GC,6558,0.93,205.4,181.4,17.1,232,6565,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2517,2244
$GC,6823,0.93,205.4,134.6,17.5,257,6827,0.00,2.08,0.00,0.000,4,0.000,0.027,3172,1106,2243
$GC,6860,0.93,205.4,128.7,15.8,260,6865,0.00,2.22,0.00,0.000,6,0.000,0.045,3164,2524,2243
$GC,7125,0.93,205.4,92.7,12.3,284,7128,0.00,2.20,0.00,0.000,4,0.000,0.057,3163,3899,2243
$GC,7384,0.93,205.4,57.0,14.3,307,7387,0.00,2.03,0.00,0.000,6,0.000,0.026,3172,2517,2243
$GC,7650,0.93,205.4,24.1,12.2,335,7658,0.00,2.22,0.00,0.000,4,0.000,0.046,3163,3898,2243
$STATE,7785,end climb,SURFACE_DEPTH_REACHED
$STATE,7785,begin surface coast
$FINISH,0.5,1.023921
$STATE,7806,end surface coast,CONTROL_FINISHED_OK
$STATE,7806,begin surface
$SM_CCo,7832,80.88,0.600,0,0,1672,350.04
$SM_GC,1.01,0.00,0.00,80.88,0.000,0.000,0.600,45,2598,1672,-8.83,-1.19,350.04
$IRIDIUM_FIX,2244.02,-15754.11,200500,111116
$TT8_MAMPS,0.02301
$HUMID,1858
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.5,104.965
$10V_AH,10.6,60.428
$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,22.175,88.725,306.525,80.875,0.000,24.301,38.934,304.851,0.250,0.000,0.000,13.170,762.166,5222.536,445.634,1320.156,685.108,33.362,991.929,0.000,1316.817,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,74.399,1056.159,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,245.392,582.334,600.592,139.647,573.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28787,363
$CAP_FILE_SIZE,70848,0
$CFSIZE,260165632,230006784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,240211,163946,2248.984,-15755.385,9,2.6,29,10.1