version: 66.04
glider: 512
mission: 1
dive: 798
start: 2 24 111 19 36 25
data:
$ID,512
$MISSION,1
$DIVE,798
$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,-23063.691
$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,49
$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
$GPS1,192407,2247.633,-15755.862,29,1.4,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.0
$GPS2,193532,2247.652,-15755.909,15,1.8,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.088,-0.241
$KALMAN_X,-265460.9,518.6,-5.8,290950.2,-1549.3
$KALMAN_Y,-517949.0,-583.2,-116.9,643451.4,2017.7
$MHEAD_RNG_PITCHd_Wd,189.9,3447,-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,-52.78,0.000,2,0.000,0.000,47,2687,3072
$GC,81,-0.85,-146.0,3.7,-5.7,7,114,11.60,2.20,-11.38,0.000,4,0.246,0.041,2594,1235,3699
$GC,195,-0.85,-146.0,38.0,-18.0,22,203,0.00,2.30,0.00,0.000,6,0.000,0.064,2586,2606,3700
$GC,461,-0.85,-146.0,106.4,-25.2,47,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2606,3701
$GC,725,-0.85,-146.0,168.1,-19.6,72,729,0.00,2.05,0.00,0.000,4,0.000,0.025,2589,1217,3702
$GC,741,-0.85,-146.0,170.8,-19.3,73,745,0.00,2.28,0.00,0.000,6,0.000,0.055,2580,2646,3702
$GC,1026,-0.85,-146.0,224.6,-18.9,91,1029,0.00,2.05,0.00,0.000,4,0.000,0.070,2570,3898,3703
$GC,1049,-0.85,-146.0,229.8,-20.5,91,1053,0.00,1.88,0.00,0.000,6,0.000,0.023,2577,2621,3703
$GC,1318,-0.85,-146.0,275.2,-16.3,98,1321,0.00,2.00,0.00,0.000,4,0.000,0.025,2587,1244,3704
$GC,1335,-0.85,-146.0,278.3,-16.2,98,1339,0.00,2.25,0.00,0.000,6,0.000,0.058,2577,2640,3704
$GC,1604,-0.85,-146.0,319.9,-16.2,105,1607,0.00,2.08,0.00,0.000,4,0.000,0.070,2568,3901,3703
$GC,1672,-0.85,-146.0,330.1,-13.0,106,1676,0.00,1.83,0.00,0.000,6,0.000,0.024,2574,2642,3703
$GC,1941,-0.85,-146.0,365.3,-13.2,113,1944,0.00,2.05,0.00,0.000,4,0.000,0.026,2584,1229,3702
$GC,1958,-0.85,-146.0,367.9,-13.0,113,1963,0.00,2.28,0.00,0.000,6,0.000,0.056,2576,2637,3702
$GC,2233,-0.85,-146.0,401.3,-12.5,120,2237,0.00,2.08,0.00,0.000,4,0.000,0.067,2565,3906,3701
$GC,2262,-0.85,-146.0,405.1,-11.9,120,2265,0.00,1.85,0.00,0.000,6,0.000,0.025,2573,2638,3700
$GC,2525,-0.85,-146.0,437.6,-12.9,127,2528,0.00,2.05,0.00,0.000,4,0.000,0.027,2584,1227,3699
$GC,2548,-0.85,-146.0,441.0,-13.7,127,2552,0.00,2.30,0.00,0.000,6,0.000,0.055,2576,2647,3699
$GC,2810,-0.85,-146.0,474.1,-12.6,134,2814,0.00,2.05,0.00,0.000,4,0.000,0.067,2566,3905,3697
$GC,2857,-0.85,-146.0,479.5,-10.9,135,2861,0.00,1.85,0.00,0.000,6,0.000,0.026,2574,2637,3697
$GC,3148,-0.85,-146.0,509.6,-10.2,142,3152,0.00,2.05,0.00,0.000,4,0.000,0.028,2584,1235,3694
$GC,3173,-0.85,-146.0,512.2,-11.0,142,3177,0.00,2.25,0.00,0.000,6,0.000,0.054,2576,2640,3694
$GC,3437,-0.85,-146.0,540.7,-11.5,149,3440,0.00,2.05,0.00,0.000,4,0.000,0.066,2566,3895,3691
$GC,3484,-0.85,-146.0,546.4,-11.0,150,3488,0.00,1.85,0.00,0.000,6,0.000,0.026,2574,2637,3692
$GC,3777,-0.85,-146.0,578.5,-10.6,157,3780,0.00,2.08,0.00,0.000,4,0.000,0.028,2584,1228,3690
$GC,3801,-0.85,-146.0,581.0,-9.6,157,3805,0.00,2.30,0.00,0.000,6,0.000,0.054,2576,2647,3690
$STATE,4018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4028,-0.32,0.0,601.6,9.6,163,4155,0.65,0.00,123.68,1.048,6,0.156,0.000,2762,2533,3100
$STATE,4156,end apogee,CONTROL_FINISHED_OK
$STATE,4156,begin climb
$GC,4160,0.85,146.0,607.5,0.0,166,4297,1.10,2.22,128.95,1.022,4,0.084,0.030,3146,1087,2504
$GC,4559,0.85,146.0,574.9,15.8,175,4564,0.00,2.30,0.00,0.000,6,0.000,0.051,3146,2524,2496
$GC,4845,0.85,146.0,525.6,17.0,182,4849,0.00,2.12,0.00,0.000,4,0.000,0.029,3155,1096,2492
$GC,5104,0.85,146.0,486.7,14.1,187,5108,0.00,2.28,0.00,0.000,6,0.000,0.048,3150,2523,2491
$GC,5361,0.85,146.0,449.5,14.3,194,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2523,2489
$GC,5605,0.85,146.0,415.6,14.1,200,5609,0.00,2.12,0.00,0.000,4,0.000,0.031,3159,1102,2487
$GC,5764,0.85,146.0,394.4,12.9,203,5768,0.00,2.25,0.00,0.000,6,0.000,0.045,3151,2535,2487
$GC,6026,0.85,146.0,357.7,14.0,210,6029,0.00,2.17,0.00,0.000,4,0.000,0.054,3150,3903,2485
$GC,6055,0.85,146.0,353.8,13.7,210,6059,0.00,2.08,0.00,0.000,6,0.000,0.028,3158,2505,2484
$GC,6318,0.85,146.0,325.0,10.6,217,6321,0.00,2.28,0.00,0.000,4,0.000,0.055,3151,3905,2484
$GC,6461,0.85,146.0,311.6,10.2,220,6465,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2511,2483
$GC,6747,0.85,146.0,285.1,9.7,227,6750,0.00,2.08,0.00,0.000,4,0.000,0.028,3169,1107,2483
$GC,7006,0.92,200.3,263.6,7.2,232,7058,0.00,2.20,44.88,0.829,6,0.000,0.043,3162,2518,2282
$GC,7303,0.92,200.3,214.5,18.9,240,7307,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1104,2277
$GC,7422,0.92,200.3,191.3,19.0,244,7428,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2516,2276
$GC,7687,0.92,200.3,146.4,16.4,269,7691,0.00,2.20,0.00,0.000,4,0.000,0.052,3162,3903,2274
$GC,7758,0.92,200.3,136.0,13.9,275,7762,0.00,2.05,0.00,0.000,6,0.000,0.027,3172,2518,2274
$GC,8027,0.92,200.3,102.2,14.3,300,8030,0.00,2.08,0.00,0.000,4,0.000,0.027,3182,1099,2274
$GC,8284,0.92,200.3,71.0,10.1,323,8288,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2519,2274
$GC,8549,0.92,200.3,40.7,11.6,347,8553,0.00,2.08,0.00,0.000,4,0.000,0.026,3185,1097,2274
$GC,8802,0.92,200.3,10.6,12.4,384,8810,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2515,2274
$STATE,8858,end climb,SURFACE_DEPTH_REACHED
$STATE,8858,begin surface coast
$FINISH,0.5,1.023746
$STATE,8881,end surface coast,CONTROL_FINISHED_OK
$STATE,8881,begin surface
$SM_CCo,8906,86.65,0.592,0,0,1672,350.04
$SM_GC,1.06,0.00,0.00,86.65,0.000,0.000,0.592,45,2655,1672,-8.83,0.42,350.04
$IRIDIUM_FIX,2241.69,-15754.11,200500,191917
$TT8_MAMPS,0.023777
$HUMID,1829
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.5,105.225
$10V_AH,10.6,60.607
$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,22.275,93.675,297.500,86.650,0.000,58.950,91.537,308.513,0.000,0.000,0.000,15.516,867.473,5923.066,431.888,1644.881,814.531,33.369,1109.159,0.000,1628.679,0.000,0.544,0.000
$DEVICE_MAMPS,246.207,70.564,1047.722,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.602,618.201,635.722,147.229,604.758,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31990,398
$CAP_FILE_SIZE,80298,0
$CFSIZE,260165632,229916672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,1
$GPS,240211,220736,2246.602,-15756.749,32,1.1,33,10.1