version: 66.04
glider: 512
mission: 1
dive: 825
start: 2 27 111 19 18 28
data:
$ID,512
$MISSION,1
$DIVE,825
$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,-23671.719
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,191051,2253.215,-15802.896,9,5.0,28,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.4
$GPS2,191736,2253.219,-15802.914,19,1.1,35,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.129,0.222
$KALMAN_X,-263835.9,-178.7,-332.3,278301.7,-1777.6
$KALMAN_Y,-556249.9,336.7,353.6,690649.4,-2773.1
$MHEAD_RNG_PITCHd_Wd,20.0,12660,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.85,0.000,2,0.000,0.000,51,2617,2996
$GC,77,-0.85,-146.0,3.5,-5.1,7,109,12.38,2.08,-12.07,0.000,4,0.265,0.038,2598,1235,3635
$GC,141,-0.85,-146.0,23.8,-31.0,16,149,0.00,2.33,0.00,0.000,6,0.000,0.062,2589,2630,3637
$GC,409,-0.85,-146.0,90.4,-25.4,43,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2631,3638
$GC,673,-0.85,-146.0,151.6,-20.6,68,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2631,3639
$GC,938,-0.85,-146.0,197.8,-16.3,93,941,0.00,2.05,0.00,0.000,4,0.000,0.026,2597,1234,3639
$GC,1006,-0.85,-146.0,207.2,-11.0,95,1010,0.00,2.28,0.00,0.000,6,0.000,0.054,2588,2640,3640
$GC,1270,-0.85,-146.0,243.4,-13.8,102,1273,0.00,2.08,0.00,0.000,4,0.000,0.070,2578,3905,3640
$GC,1305,-0.85,-146.0,249.0,-15.2,102,1309,0.00,1.85,0.00,0.000,6,0.000,0.024,2584,2652,3640
$GC,1562,-0.85,-146.0,283.0,-13.3,109,1566,0.00,2.05,0.00,0.000,4,0.000,0.026,2595,1235,3640
$GC,1597,-0.85,-146.0,287.2,-11.0,109,1601,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2645,3640
$GC,1848,-0.85,-146.0,318.2,-12.8,115,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3640
$GC,2093,-0.85,-146.0,349.5,-12.9,121,2097,0.00,2.08,0.00,0.000,4,0.000,0.026,2598,1232,3639
$GC,2123,-0.85,-146.0,353.2,-12.0,121,2127,0.00,2.28,0.00,0.000,6,0.000,0.053,2590,2649,3639
$GC,2385,-0.85,-146.0,382.9,-11.4,128,2389,0.00,2.03,0.00,0.000,4,0.000,0.063,2579,3899,3637
$GC,2448,-0.85,-146.0,389.9,-10.9,129,2451,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2623,3637
$GC,2723,-0.85,-146.0,419.6,-10.8,136,2727,0.00,2.03,0.00,0.000,4,0.000,0.027,2598,1238,3636
$GC,2752,-0.85,-146.0,423.0,-10.7,136,2757,0.00,2.25,0.00,0.000,6,0.000,0.051,2589,2652,3636
$GC,3010,-0.85,-146.0,449.5,-10.5,143,3013,0.00,2.10,0.00,0.000,4,0.000,0.026,2598,1244,3634
$GC,3052,-0.85,-146.0,453.4,-8.4,143,3058,0.00,2.28,0.00,0.000,6,0.000,0.056,2589,2644,3634
$GC,3304,-0.85,-146.0,479.4,-10.6,150,3307,0.00,2.05,0.00,0.000,4,0.000,0.069,2579,3888,3632
$GC,3338,-0.85,-146.0,483.3,-10.7,150,3342,0.00,1.83,0.00,0.000,6,0.000,0.024,2587,2635,3631
$GC,3595,-0.85,-146.0,509.3,-10.1,157,3599,0.00,2.03,0.00,0.000,4,0.000,0.027,2597,1239,3629
$GC,3631,-0.85,-146.0,512.7,-8.9,157,3635,0.00,2.25,0.00,0.000,6,0.000,0.052,2589,2647,3630
$GC,3883,-0.85,-146.0,535.7,-9.2,163,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3627
$GC,4128,-0.85,-146.0,557.3,-9.0,169,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3626
$GC,4370,-0.85,-146.0,580.2,-9.5,175,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2646,3625
$STATE,4610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4610,begin apogee
$GC,4621,-0.32,0.0,603.8,9.7,181,4747,0.57,0.00,123.43,1.068,6,0.146,0.000,2758,2521,3040
$STATE,4748,end apogee,CONTROL_FINISHED_OK
$STATE,4748,begin climb
$GC,4753,0.85,146.0,610.8,0.0,184,4900,1.08,2.40,132.88,1.048,4,0.068,0.067,3137,3894,2442
$GC,5142,0.85,146.0,565.8,22.7,192,5149,0.00,2.12,0.00,0.000,6,0.000,0.026,3146,2473,2435
$GC,5396,0.85,146.0,515.9,19.8,199,5399,0.00,2.05,0.00,0.000,4,0.000,0.027,3157,1080,2431
$GC,5481,0.85,146.0,499.9,17.1,200,5488,0.00,2.25,0.00,0.000,6,0.000,0.044,3150,2492,2431
$GC,5733,0.85,146.0,455.0,18.3,207,5737,0.00,2.25,0.00,0.000,4,0.000,0.054,3150,3904,2429
$GC,5745,0.85,146.0,452.5,17.9,207,5749,0.00,2.10,0.00,0.000,6,0.000,0.026,3159,2493,2429
$GC,6024,0.85,146.0,404.4,16.9,214,6028,0.00,2.08,0.00,0.000,4,0.000,0.029,3169,1087,2427
$GC,6110,0.85,146.0,389.6,16.9,215,6117,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2496,2427
$GC,6362,0.85,146.0,348.5,16.3,222,6365,0.00,2.25,0.00,0.000,4,0.000,0.054,3163,3912,2425
$GC,6425,0.85,146.0,337.4,17.4,223,6428,0.00,2.10,0.00,0.000,6,0.000,0.026,3171,2493,2425
$GC,6699,0.85,146.0,293.5,16.0,230,6703,0.00,2.28,0.00,0.000,4,0.000,0.050,3162,3911,2424
$GC,6734,0.85,146.0,288.0,15.8,230,6741,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2487,2424
$GC,6985,0.85,146.0,258.4,11.3,237,6989,0.00,2.28,0.00,0.000,4,0.000,0.048,3163,3915,2424
$GC,7245,0.85,146.0,228.7,11.9,242,7249,0.00,2.08,0.00,0.000,6,0.000,0.024,3172,2502,2423
$GC,7502,0.85,146.0,202.8,10.5,249,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2497,2423
$GC,7756,0.89,170.9,179.7,8.5,270,7782,0.00,2.10,19.20,0.752,4,0.000,0.027,3182,1087,2343
$GC,8033,0.89,170.9,142.4,13.0,294,8042,0.00,2.25,0.00,0.000,6,0.000,0.043,3175,2501,2341
$GC,8299,0.89,170.9,110.6,10.6,319,8302,0.00,2.08,0.00,0.000,4,0.000,0.027,3184,1090,2341
$GC,8326,0.89,172.0,108.1,9.6,321,8330,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2513,2340
$GC,8596,0.89,172.0,82.1,10.8,346,8599,0.00,2.20,0.00,0.000,4,0.000,0.051,3176,3902,2340
$GC,8854,0.89,172.0,50.3,12.6,369,8857,0.00,2.05,0.00,0.000,6,0.000,0.025,3185,2504,2340
$GC,9122,0.89,172.0,20.2,9.8,402,9130,0.00,2.08,0.00,0.000,4,0.000,0.026,3195,1102,2340
$GC,9147,0.89,172.0,17.6,9.7,405,9156,0.12,2.20,0.00,0.000,6,0.225,0.041,3161,2494,2340
$STATE,9302,end climb,SURFACE_DEPTH_REACHED
$STATE,9303,begin surface coast
$FINISH,0.4,1.023805
$STATE,9330,end surface coast,CONTROL_FINISHED_OK
$STATE,9331,begin surface
$SM_CCo,9355,97.38,0.590,0,0,1612,350.04
$SM_GC,1.91,0.00,0.00,97.38,0.000,0.000,0.590,47,2662,1612,-8.82,0.62,350.04
$IRIDIUM_FIX,2244.02,-15804.53,230500,161645
$TT8_MAMPS,0.023777
$HUMID,1837
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.5,108.342
$10V_AH,10.7,63.017
$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,22.975,90.200,275.500,97.375,0.000,28.014,39.902,165.790,0.000,0.000,0.000,35.691,896.087,6261.492,446.663,1657.397,598.148,33.371,1105.868,0.000,1630.001,0.000,0.543,0.000
$DEVICE_MAMPS,265.382,69.797,1068.431,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,296.250,703.703,725.804,165.172,677.759,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35070,438
$CAP_FILE_SIZE,77940,0
$CFSIZE,260165632,228782080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,1
$GPS,270211,215716,2253.882,-15802.896,8,6.6,28,10.1