version: 66.04
glider: 512
mission: 1
dive: 817
start: 2 26 111 22 12 18
data:
$ID,512
$MISSION,1
$DIVE,817
$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,-23426.805
$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,43
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,220501,2249.943,-15802.429,43,1.2,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-81.1
$GPS2,221125,2249.930,-15802.441,11,1.3,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.128,0.222
$KALMAN_X,-260019.2,5.4,-19.0,274793.7,-378.8
$KALMAN_Y,-545132.9,196.9,325.6,673613.6,-4305.6
$MHEAD_RNG_PITCHd_Wd,19.9,8422,-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,-45.20,0.000,2,0.000,0.000,50,2662,2779
$GC,69,-0.85,-146.0,3.1,-3.9,6,109,13.52,2.03,-18.58,0.000,4,0.291,0.080,2578,3864,3656
$GC,196,-0.85,-146.0,33.4,-21.7,26,204,0.00,1.85,0.00,0.000,6,0.000,0.025,2585,2634,3657
$GC,461,-0.85,-146.0,98.6,-24.5,51,464,0.00,2.05,0.00,0.000,4,0.000,0.027,2595,1228,3658
$GC,519,-0.85,-146.0,112.3,-19.1,56,523,0.00,2.28,0.00,0.000,6,0.000,0.058,2586,2621,3659
$GC,783,-0.85,-146.0,163.5,-17.5,80,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2622,3659
$GC,1074,-0.85,-146.0,214.1,-16.9,102,1078,0.00,2.05,0.00,0.000,4,0.000,0.025,2594,1221,3660
$GC,1098,-0.85,-146.0,217.9,-15.9,102,1102,0.00,2.30,0.00,0.000,6,0.000,0.054,2585,2647,3661
$GC,1361,-0.85,-146.0,260.0,-16.9,109,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2648,3662
$GC,1604,-0.85,-146.0,299.6,-16.1,115,1608,0.00,2.10,0.00,0.000,4,0.000,0.025,2593,1224,3662
$GC,1646,-0.85,-146.0,305.5,-13.7,115,1653,0.00,2.30,0.00,0.000,6,0.000,0.051,2586,2642,3661
$GC,1898,-0.85,-146.0,341.0,-14.2,122,1901,0.00,2.03,0.00,0.000,4,0.000,0.061,2576,3901,3661
$GC,1966,-0.85,-146.0,349.5,-10.8,123,1970,0.00,1.88,0.00,0.000,6,0.000,0.023,2578,2624,3661
$GC,2235,-0.85,-146.0,384.2,-13.4,130,2239,0.00,2.03,0.00,0.000,4,0.000,0.027,2587,1229,3660
$GC,2286,-0.85,-146.0,390.6,-9.9,131,2290,0.00,2.28,0.00,0.000,6,0.000,0.056,2585,2640,3659
$GC,2565,-0.85,-146.0,424.5,-12.5,138,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2641,3658
$GC,2810,-0.85,-146.0,452.4,-11.1,144,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2641,3658
$GC,3053,-0.85,-146.0,477.1,-9.9,150,3056,0.00,2.05,0.00,0.000,4,0.000,0.066,2573,3894,3656
$GC,3082,-0.85,-146.0,480.3,-10.9,150,3086,0.00,1.83,0.00,0.000,6,0.000,0.024,2577,2637,3656
$GC,3345,-0.85,-146.0,509.5,-11.4,157,3348,0.00,2.05,0.00,0.000,4,0.000,0.027,2587,1241,3654
$GC,3374,-0.85,-146.0,512.9,-10.8,157,3378,0.00,2.25,0.00,0.000,6,0.000,0.052,2578,2650,3654
$GC,3631,-0.85,-146.0,540.4,-10.7,164,3635,0.00,2.03,0.00,0.000,4,0.000,0.064,2568,3892,3652
$GC,3657,-0.85,-146.0,543.2,-11.3,164,3660,0.00,1.83,0.00,0.000,6,0.000,0.025,2575,2640,3651
$GC,3926,-0.85,-146.0,571.5,-10.5,171,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2634,3650
$GC,4171,-0.85,-146.0,597.3,-10.6,177,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2634,3648
$STATE,4205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4205,begin apogee
$GC,4215,-0.32,0.0,601.5,10.5,178,4342,0.65,0.00,124.00,1.057,6,0.156,0.000,2763,2528,3060
$STATE,4343,end apogee,CONTROL_FINISHED_OK
$STATE,4343,begin climb
$GC,4347,0.85,146.0,607.1,0.0,181,4485,1.10,2.33,129.70,1.032,4,0.087,0.062,3136,3897,2463
$GC,4608,0.85,146.0,587.5,22.5,187,4612,0.00,2.05,0.00,0.000,6,0.000,0.025,3146,2517,2457
$GC,4894,0.85,146.0,530.1,20.0,194,4897,0.00,2.08,0.00,0.000,4,0.000,0.028,3156,1107,2453
$GC,4941,0.85,146.0,521.0,19.6,195,4945,0.00,2.25,0.00,0.000,6,0.000,0.044,3150,2527,2452
$GC,5226,0.85,146.0,468.8,18.0,202,5230,0.00,2.10,0.00,0.000,4,0.000,0.029,3159,1106,2449
$GC,5453,0.85,146.0,431.1,15.6,207,5457,0.00,2.25,0.00,0.000,6,0.000,0.044,3151,2527,2448
$GC,5738,0.85,146.0,389.1,15.0,214,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2527,2446
$GC,5981,0.85,146.0,355.2,13.7,220,5985,0.00,2.10,0.00,0.000,4,0.000,0.030,3159,1105,2445
$GC,6163,0.85,146.0,330.4,12.0,224,6167,0.00,2.22,0.00,0.000,6,0.000,0.045,3151,2521,2445
$GC,6450,0.85,146.0,296.4,11.9,231,6454,0.00,2.08,0.00,0.000,4,0.000,0.028,3160,1118,2444
$GC,6553,0.85,146.0,284.2,11.4,233,6557,0.00,2.22,0.00,0.000,6,0.000,0.044,3151,2522,2444
$GC,6827,0.85,146.0,251.9,12.0,240,6830,0.00,2.10,0.00,0.000,4,0.000,0.028,3160,1104,2443
$GC,7087,0.89,173.5,227.9,8.4,245,7114,0.00,2.25,21.50,0.798,6,0.000,0.044,3151,2533,2352
$GC,7364,0.89,173.5,191.8,13.8,254,7368,0.00,2.12,0.00,0.000,4,0.000,0.027,3160,1110,2348
$GC,7624,0.89,173.5,160.3,14.8,277,7628,0.00,2.20,0.00,0.000,6,0.000,0.043,3151,2523,2348
$GC,7893,0.89,173.5,123.4,10.5,302,7897,0.00,2.10,0.00,0.000,4,0.000,0.028,3160,1110,2347
$GC,8019,0.95,220.4,111.7,7.5,313,8069,0.00,2.22,40.75,0.708,6,0.000,0.046,3151,2521,2161
$GC,8325,0.95,220.4,62.2,18.9,341,8328,0.00,2.08,0.00,0.000,4,0.000,0.027,3160,1121,2155
$GC,8364,0.95,220.4,54.6,18.7,344,8372,0.00,2.22,0.00,0.000,6,0.000,0.042,3152,2524,2155
$GC,8633,0.95,220.4,7.7,18.1,380,8641,0.00,2.12,0.00,0.000,4,0.000,0.027,3160,1111,2155
$STATE,8658,end climb,SURFACE_DEPTH_REACHED
$STATE,8658,begin surface coast
$FINISH,0.4,1.023807
$STATE,8670,end surface coast,CONTROL_FINISHED_OK
$STATE,8670,begin surface
$SM_CCo,8697,68.60,0.602,0,0,1632,350.04
$SM_GC,1.13,0.00,0.00,68.60,0.000,0.000,0.602,55,2640,1632,-8.80,0.00,350.04
$IRIDIUM_FIX,2241.69,-15759.32,220500,191928
$TT8_MAMPS,0.023777
$HUMID,1861
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.5,107.448
$10V_AH,10.6,62.287
$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,24.025,80.900,315.950,68.600,0.000,30.184,36.416,161.519,0.250,0.000,0.000,16.234,816.464,5834.206,425.159,1511.314,567.535,33.369,1059.470,0.000,1496.977,0.000,0.543,0.000
$DEVICE_MAMPS,290.693,79.768,1056.926,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,260.965,595.882,612.953,132.027,545.443,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31996,386
$CAP_FILE_SIZE,72309,0
$CFSIZE,260165632,229130240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,270211,003941,2250.355,-15802.010,10,2.5,30,10.1