version: 66.04
glider: 512
mission: 1
dive: 837
start: 3 1 111 7 4 9
data:
$ID,512
$MISSION,1
$DIVE,837
$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,-23978.568
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,35
$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
$GPS1,064107,2255.755,-15800.502,29,1.2,30,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.0
$GPS2,070313,2255.674,-15800.722,13,1.2,30,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.211,0.146
$KALMAN_X,-289738.2,23.6,290.6,307143.3,-3091.8
$KALMAN_Y,-570249.1,-433.6,-127.8,710465.6,-1613.9
$MHEAD_RNG_PITCHd_Wd,45.2,9776,-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,-45.20,0.000,2,0.000,0.000,46,2664,2772
$GC,70,-0.85,-146.0,3.3,-3.7,6,110,11.85,2.15,-18.85,0.000,4,0.251,0.039,2604,1230,3638
$GC,147,-0.85,-146.0,20.6,-24.2,17,155,0.00,2.30,0.00,0.000,6,0.000,0.060,2595,2613,3639
$GC,414,-0.85,-146.0,88.7,-24.1,45,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2614,3639
$GC,679,-0.85,-146.0,149.8,-20.0,70,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2614,3639
$GC,943,-0.85,-146.0,200.2,-18.4,95,947,0.00,2.08,0.00,0.000,4,0.000,0.064,2585,3899,3640
$GC,978,-0.85,-146.0,206.9,-17.2,95,981,0.00,1.83,0.00,0.000,6,0.000,0.023,2593,2635,3640
$GC,1235,-0.85,-146.0,246.3,-15.1,102,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2626,3641
$GC,1479,-0.85,-146.0,281.7,-14.5,108,1483,0.00,2.10,0.00,0.000,4,0.000,0.064,2584,3911,3640
$GC,1526,-0.85,-146.0,287.9,-11.9,109,1530,0.00,1.85,0.00,0.000,6,0.000,0.023,2592,2627,3640
$GC,1819,-0.85,-146.0,323.4,-12.0,116,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2620,3640
$GC,2061,-0.85,-146.0,352.2,-12.0,122,2065,0.00,2.15,0.00,0.000,4,0.000,0.071,2583,3908,3639
$GC,2091,-0.85,-146.0,356.0,-12.1,122,2094,0.00,1.85,0.00,0.000,6,0.000,0.024,2592,2632,3639
$GC,2353,-0.85,-146.0,384.6,-10.9,129,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2624,3637
$GC,2597,-0.85,-146.0,408.7,-9.9,135,2601,0.00,2.03,0.00,0.000,4,0.000,0.027,2602,1244,3636
$GC,2640,-0.85,-146.0,412.5,-8.0,135,2646,0.00,2.28,0.00,0.000,6,0.000,0.054,2592,2647,3635
$GC,2892,-0.85,-146.0,435.1,-9.2,142,2896,0.00,2.05,0.00,0.000,4,0.000,0.067,2582,3901,3633
$GC,2955,-0.85,-146.0,441.2,-9.2,143,2959,0.00,1.88,0.00,0.000,6,0.000,0.025,2590,2637,3632
$GC,3230,-0.85,-146.0,466.8,-9.3,150,3234,0.00,2.12,0.00,0.000,4,0.000,0.069,2582,3902,3630
$GC,3265,-0.85,-146.0,470.3,-9.3,150,3269,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2637,3629
$GC,3523,-0.85,-146.0,493.6,-9.1,157,3527,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,1242,3627
$GC,3563,-0.85,-146.0,497.2,-8.1,157,3569,0.00,2.25,0.00,0.000,6,0.000,0.054,2590,2642,3627
$GC,3815,-0.85,-146.0,520.1,-9.4,164,3819,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3894,3625
$GC,3879,-0.85,-146.0,526.3,-9.4,165,3883,0.00,1.85,0.00,0.000,6,0.000,0.027,2588,2637,3625
$GC,4153,-0.85,-146.0,553.2,-10.0,172,4157,0.00,2.05,0.00,0.000,4,0.000,0.028,2598,1237,3621
$GC,4196,-0.85,-146.0,557.2,-9.0,172,4202,0.00,2.28,0.00,0.000,6,0.000,0.054,2590,2654,3621
$GC,4449,-0.85,-146.0,583.2,-10.4,179,4452,0.00,2.03,0.00,0.000,4,0.000,0.067,2579,3888,3619
$GC,4484,-0.85,-146.0,587.1,-10.2,179,4488,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2638,3619
$STATE,4614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4614,begin apogee
$GC,4625,-0.32,0.0,600.2,9.9,183,4750,0.62,0.00,122.25,1.066,6,0.146,0.000,2771,2504,3040
$STATE,4751,end apogee,CONTROL_FINISHED_OK
$STATE,4751,begin climb
$GC,4756,0.85,146.0,606.8,0.0,186,4902,1.08,2.28,133.32,1.036,4,0.074,0.030,3159,1056,2443
$GC,4960,0.85,146.0,603.7,19.7,190,4967,0.00,2.33,0.00,0.000,6,0.000,0.048,3160,2480,2437
$GC,5212,0.85,146.0,546.8,22.9,197,5215,0.00,2.12,0.00,0.000,4,0.000,0.029,3170,1059,2433
$GC,5331,0.85,146.0,522.4,20.6,199,5335,0.00,2.25,0.00,0.000,6,0.000,0.045,3163,2479,2432
$GC,5589,0.85,146.0,472.3,19.4,206,5593,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1054,2429
$GC,5637,0.85,146.0,463.0,19.4,207,5641,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2479,2429
$GC,5928,0.85,146.0,409.7,18.1,214,5932,0.00,2.28,0.00,0.000,4,0.000,0.059,3162,3890,2427
$GC,5985,0.85,146.0,399.3,17.6,215,5989,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2453,2426
$GC,6259,0.85,146.0,350.9,17.3,222,6263,0.00,2.05,0.00,0.000,4,0.000,0.029,3182,1068,2425
$GC,6367,0.85,146.0,331.7,16.7,224,6371,0.00,2.25,0.00,0.000,6,0.000,0.045,3176,2490,2425
$GC,6643,0.85,146.0,290.0,14.7,231,6647,0.00,2.22,0.00,0.000,4,0.000,0.054,3176,3895,2422
$GC,6902,0.85,146.0,259.4,10.5,236,6906,0.00,2.10,0.00,0.000,6,0.000,0.026,3185,2473,2422
$GC,7160,0.85,146.0,233.8,10.9,243,7164,0.00,2.28,0.00,0.000,4,0.000,0.050,3176,3906,2421
$GC,7420,0.86,153.1,206.7,9.3,248,7426,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2478,2421
$GC,7683,0.90,183.0,186.5,8.3,267,7720,0.00,2.30,29.42,0.754,4,0.000,0.046,3176,3901,2293
$GC,7972,0.90,183.0,134.4,19.5,292,7981,0.00,2.15,0.00,0.000,6,0.000,0.027,3185,2478,2290
$GC,8238,0.90,183.0,96.5,12.1,317,8242,0.00,2.28,0.00,0.000,4,0.000,0.052,3176,3894,2289
$GC,8303,0.90,183.0,87.3,14.4,322,8306,0.00,2.08,0.00,0.000,6,0.000,0.025,3185,2479,2289
$GC,8574,0.90,183.0,54.5,10.7,347,8578,0.00,2.05,0.00,0.000,4,0.000,0.027,3195,1068,2289
$GC,8831,0.90,183.0,27.0,10.1,372,8840,0.00,2.22,0.00,0.000,6,0.000,0.040,3192,2490,2289
$STATE,9066,end climb,SURFACE_DEPTH_REACHED
$STATE,9066,begin surface coast
$FINISH,0.5,1.023712
$STATE,9089,end surface coast,CONTROL_FINISHED_OK
$STATE,9089,begin surface
$SM_CCo,9114,88.72,0.587,0,0,1612,350.04
$SM_GC,1.54,0.00,0.00,88.72,0.000,0.000,0.587,48,2661,1612,-8.85,0.59,350.04
$IRIDIUM_FIX,2248.70,-15803.66,250500,070717
$TT8_MAMPS,0.023777
$HUMID,1858
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,23.6,110.297
$10V_AH,10.6,64.217
$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,22.500,89.125,285.000,88.725,0.000,93.765,113.258,818.175,0.500,0.000,0.000,30.801,878.211,6151.143,450.497,1656.326,1397.545,33.374,1111.291,0.000,1630.446,0.000,0.545,0.000
$DEVICE_MAMPS,250.809,70.564,1066.130,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.108,663.333,681.964,160.052,660.358,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35218,419
$CAP_FILE_SIZE,85875,0
$CFSIZE,260165632,228270080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,010311,093901,2255.718,-15800.332,42,2.0,43,10.1