version: 66.04
glider: 512
mission: 1
dive: 802
start: 2 25 111 6 35 18
data:
$ID,512
$MISSION,1
$DIVE,802
$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,-23146.75
$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,61
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3080
$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
$GPS1,062301,2244.043,-15759.266,41,1.8,42,10.1
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.8
$GPS2,063425,2244.035,-15759.238,14,2.0,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.256,-0.006
$KALMAN_X,-261325.5,240.9,47.6,281309.1,1608.4
$KALMAN_Y,-517127.1,-271.3,-573.1,636089.4,1420.5
$MHEAD_RNG_PITCHd_Wd,258.5,8450,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,66,0.00,0.00,-45.17,0.000,2,0.000,0.000,43,2667,2846
$GC,71,-0.85,-146.0,3.4,-4.5,6,104,11.85,2.00,-16.33,0.000,4,0.253,0.071,2577,3863,3678
$GC,350,-0.85,-146.0,66.8,-18.5,38,358,0.00,1.80,0.00,0.000,6,0.000,0.024,2584,2653,3680
$GC,615,-0.85,-146.0,130.3,-22.5,63,618,0.00,2.08,0.00,0.000,4,0.000,0.027,2594,1230,3681
$GC,664,-0.85,-146.0,139.9,-17.3,67,668,0.00,2.28,0.00,0.000,6,0.000,0.063,2585,2615,3681
$GC,930,-0.85,-146.0,191.9,-20.1,91,933,0.00,2.08,0.00,0.000,4,0.000,0.066,2574,3895,3681
$GC,992,-0.85,-146.0,203.7,-14.4,95,996,0.00,1.85,0.00,0.000,6,0.000,0.022,2578,2635,3682
$GC,1266,-0.85,-146.0,249.3,-17.0,102,1270,0.00,2.03,0.00,0.000,4,0.000,0.025,2587,1231,3682
$GC,1314,-0.85,-146.0,255.5,-11.7,103,1318,0.00,2.28,0.00,0.000,6,0.000,0.054,2578,2649,3683
$GC,1599,-0.85,-146.0,300.5,-16.2,110,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2649,3682
$GC,1843,-0.85,-146.0,335.9,-13.9,116,1847,0.00,2.08,0.00,0.000,4,0.000,0.026,2585,1233,3682
$GC,1872,-0.85,-146.0,340.0,-12.4,116,1876,0.00,2.22,0.00,0.000,6,0.000,0.050,2576,2642,3682
$GC,2129,-0.85,-146.0,372.3,-12.8,123,2133,0.00,2.00,0.00,0.000,4,0.000,0.061,2566,3887,3681
$GC,2186,-0.85,-146.0,379.8,-11.8,124,2190,0.00,1.83,0.00,0.000,6,0.000,0.024,2574,2630,3680
$GC,2467,-0.85,-146.0,414.4,-12.4,131,2471,0.00,2.03,0.00,0.000,4,0.000,0.027,2584,1241,3679
$GC,2504,-0.85,-146.0,418.7,-10.8,131,2508,0.00,2.22,0.00,0.000,6,0.000,0.053,2576,2638,3678
$GC,2757,-0.85,-146.0,448.0,-11.8,137,2761,0.00,2.05,0.00,0.000,4,0.000,0.065,2566,3898,3677
$GC,2804,-0.85,-146.0,453.7,-10.5,138,2808,0.00,1.85,0.00,0.000,6,0.000,0.025,2573,2627,3676
$GC,3095,-0.85,-146.0,487.7,-11.8,145,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2620,3674
$GC,3340,-0.85,-146.0,516.5,-11.9,151,3343,0.00,2.12,0.00,0.000,4,0.000,0.067,2565,3896,3671
$GC,3369,-0.85,-146.0,520.4,-12.5,151,3373,0.00,1.85,0.00,0.000,6,0.000,0.025,2573,2634,3671
$GC,3631,-0.85,-146.0,549.1,-10.8,158,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2626,3670
$GC,3877,-0.85,-146.0,574.6,-10.4,164,3880,0.00,2.05,0.00,0.000,4,0.000,0.028,2574,1242,3668
$GC,3901,-0.85,-146.0,577.4,-10.7,164,3905,0.00,2.25,0.00,0.000,6,0.000,0.055,2574,2638,3667
$STATE,4161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4162,begin apogee
$GC,4172,-0.32,0.0,603.0,9.9,171,4298,0.65,0.00,123.50,1.050,6,0.155,0.000,2763,2524,3080
$STATE,4299,end apogee,CONTROL_FINISHED_OK
$STATE,4299,begin climb
$GC,4303,0.85,146.0,608.4,0.0,174,4441,1.08,2.22,128.90,1.028,4,0.071,0.028,3152,1099,2483
$GC,4704,0.85,146.0,569.3,17.7,183,4708,0.00,2.25,0.00,0.000,6,0.000,0.047,3150,2523,2475
$GC,4989,0.85,146.0,520.2,17.0,190,4993,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1093,2471
$GC,5007,0.85,146.0,517.3,16.2,190,5011,0.00,2.25,0.00,0.000,6,0.000,0.047,3159,2518,2471
$GC,5275,0.85,146.0,475.7,15.6,197,5279,0.00,2.20,0.00,0.000,4,0.000,0.054,3150,3906,2469
$GC,5309,0.85,146.0,469.8,17.1,197,5313,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2512,2468
$GC,5567,0.85,146.0,429.5,15.5,204,5571,0.00,2.22,0.00,0.000,4,0.000,0.051,3150,3904,2467
$GC,5596,0.85,146.0,424.6,16.2,204,5600,0.00,2.08,0.00,0.000,6,0.000,0.027,3159,2509,2466
$GC,5860,0.85,146.0,387.2,13.9,211,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2503,2464
$GC,6104,0.85,146.0,353.4,13.9,217,6108,0.00,2.25,0.00,0.000,4,0.000,0.052,3150,3904,2463
$GC,6341,0.85,146.0,319.6,13.9,222,6345,0.00,2.08,0.00,0.000,6,0.000,0.028,3159,2512,2463
$GC,6621,0.85,146.0,286.4,11.1,229,6625,0.00,2.08,0.00,0.000,4,0.000,0.028,3170,1110,2462
$GC,6870,0.89,173.8,261.5,8.4,234,6896,0.00,2.22,21.70,0.812,6,0.000,0.045,3163,2521,2371
$GC,7176,0.89,173.8,220.5,13.3,242,7180,0.00,2.22,0.00,0.000,4,0.000,0.057,3163,3909,2367
$GC,7250,0.89,173.8,210.0,15.1,243,7254,0.00,2.08,0.00,0.000,6,0.000,0.027,3171,2519,2366
$GC,7513,0.89,173.8,178.0,12.1,261,7516,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1097,2365
$GC,7528,0.89,173.8,176.2,11.4,262,7533,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2521,2365
$GC,7793,0.89,173.8,147.4,10.2,286,7796,0.00,2.20,0.00,0.000,4,0.000,0.055,3176,3902,2365
$GC,8050,0.89,173.8,123.6,9.8,309,8054,0.00,2.05,0.00,0.000,6,0.000,0.026,3185,2506,2365
$GC,8320,0.94,217.2,102.0,7.7,334,8363,0.00,2.15,38.15,0.671,4,0.000,0.028,3195,1104,2193
$GC,8614,0.94,217.2,57.2,15.3,359,8622,0.00,2.25,0.00,0.000,6,0.000,0.044,3191,2517,2189
$GC,8883,0.94,217.2,13.3,18.7,392,8892,0.00,2.08,0.00,0.000,4,0.000,0.025,3200,1120,2189
$STATE,8929,end climb,SURFACE_DEPTH_REACHED
$STATE,8929,begin surface coast
$FINISH,0.3,1.023759
$STATE,8946,end surface coast,CONTROL_FINISHED_OK
$STATE,8947,begin surface
$SM_CCo,8974,72.32,0.585,0,0,1652,350.04
$SM_GC,1.11,0.00,0.00,72.32,0.000,0.000,0.585,45,2656,1652,-8.83,0.48,350.04
$IRIDIUM_FIX,2239.35,-15754.99,210500,030325
$TT8_MAMPS,0.023777
$HUMID,1834
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,23.5,105.722
$10V_AH,10.6,60.967
$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,22.575,88.950,312.250,72.325,0.000,57.774,62.626,353.823,0.750,0.000,0.000,14.292,870.770,6008.666,421.013,1611.128,821.687,33.369,1082.125,0.000,1598.392,0.000,0.543,0.000
$DEVICE_MAMPS,253.110,71.331,1050.023,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,273.004,636.287,653.528,139.566,576.956,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31935,403
$CAP_FILE_SIZE,80010,0
$CFSIZE,260165632,229744640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,250211,090730,2243.560,-15800.416,39,1.5,40,10.1