version: 66.04
glider: 512
mission: 1
dive: 655
start: 2 7 111 19 16 55
data:
$ID,512
$MISSION,1
$DIVE,655
$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,-20156.248
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2865
$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,2700
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3170
$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
$GPS1,191007,2250.773,-15805.669,33,1.8,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.1
$GPS2,191602,2250.841,-15805.702,13,1.7,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.078,0.244
$KALMAN_X,-189133.2,-484.3,-125.3,198894.1,-938.0
$KALMAN_Y,-561735.9,1633.8,-69.1,690876.4,-2604.1
$MHEAD_RNG_PITCHd_Wd,7.6,4937,-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,16,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.20,0.000,2,0.000,0.000,36,2682,2889
$GC,68,-0.85,-146.0,3.1,-4.5,6,108,10.60,2.05,-18.48,0.000,4,0.222,0.084,2573,3880,3768
$GC,165,-0.85,-146.0,28.0,-21.6,21,173,0.00,1.77,0.00,0.000,6,0.000,0.025,2573,2699,3770
$GC,438,-0.85,-146.0,104.6,-25.8,47,442,0.00,2.08,0.00,0.000,4,0.000,0.029,2573,1290,3770
$GC,543,-0.85,-146.0,125.6,-15.9,56,552,0.00,2.35,0.00,0.000,6,0.000,0.067,2563,2696,3771
$GC,807,-0.85,-146.0,179.5,-19.8,81,810,0.00,2.08,0.00,0.000,4,0.000,0.027,2563,1290,3772
$GC,865,-0.85,-146.0,189.6,-14.7,86,870,0.12,2.33,0.00,0.000,6,0.147,0.067,2584,2707,3772
$GC,1139,-0.85,-146.0,232.4,-16.2,97,1142,0.00,1.95,0.00,0.000,4,0.000,0.074,2577,3890,3773
$GC,1196,-0.85,-146.0,240.9,-12.9,98,1199,0.00,1.75,0.00,0.000,6,0.000,0.025,2577,2685,3773
$GC,1475,-0.85,-146.0,280.3,-14.2,105,1478,0.00,2.03,0.00,0.000,4,0.000,0.031,2577,1301,3773
$GC,1542,-0.85,-146.0,289.1,-10.8,106,1547,0.00,2.35,0.00,0.000,6,0.000,0.071,2576,2709,3773
$GC,1804,-0.85,-146.0,324.6,-13.7,113,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2709,3773
$GC,2049,-0.85,-146.0,356.6,-13.0,119,2052,0.00,2.08,0.00,0.000,4,0.000,0.028,2577,1304,3773
$GC,2083,-0.85,-146.0,361.1,-12.8,119,2087,0.00,2.35,0.00,0.000,6,0.000,0.076,2576,2705,3773
$GC,2333,-0.85,-146.0,391.5,-12.2,125,2337,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1306,3772
$GC,2373,-0.85,-146.0,396.1,-10.4,125,2380,0.00,2.35,0.00,0.000,6,0.000,0.074,2576,2695,3772
$GC,2624,-0.85,-146.0,423.2,-10.9,132,2628,0.00,2.03,0.00,0.000,4,0.000,0.085,2567,3889,3770
$GC,2653,-0.85,-146.0,426.6,-11.4,132,2656,0.00,1.75,0.00,0.000,6,0.000,0.026,2567,2691,3770
$GC,2915,-0.85,-146.0,455.7,-11.5,139,2919,0.00,2.05,0.00,0.000,4,0.000,0.031,2567,1303,3768
$GC,2956,-0.85,-146.0,460.1,-9.7,139,2962,0.00,2.33,0.00,0.000,6,0.000,0.070,2563,2704,3768
$GC,3209,-0.85,-146.0,489.1,-11.9,146,3213,0.00,2.10,0.00,0.000,4,0.000,0.031,2563,1301,3766
$GC,3237,-0.85,-146.0,492.9,-11.9,146,3241,0.00,2.35,0.00,0.000,6,0.000,0.077,2563,2702,3766
$GC,3501,-0.85,-146.0,524.8,-12.5,153,3505,0.00,2.00,0.00,0.000,4,0.000,0.081,2554,3889,3764
$GC,3541,-0.85,-146.0,530.5,-13.5,153,3548,0.12,1.75,0.00,0.000,6,0.136,0.027,2587,2700,3764
$GC,3792,-0.85,-146.0,555.9,-10.2,160,3796,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,1302,3762
$GC,3843,-0.85,-146.0,560.8,-8.4,161,3848,0.00,2.33,0.00,0.000,6,0.000,0.067,2588,2712,3762
$GC,4123,-0.85,-146.0,586.1,-9.0,168,4126,0.00,1.98,0.00,0.000,4,0.000,0.080,2588,3890,3760
$GC,4158,-0.85,-146.0,589.1,-8.3,168,4161,0.00,1.77,0.00,0.000,6,0.000,0.028,2587,2685,3760
$STATE,4289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4289,begin apogee
$GC,4298,-0.32,0.0,600.3,8.4,172,4424,0.52,0.00,123.47,1.053,6,0.137,0.000,2755,2598,3170
$STATE,4425,end apogee,CONTROL_FINISHED_OK
$STATE,4425,begin climb
$GC,4429,0.85,146.0,606.1,0.0,175,4566,1.02,2.25,128.75,1.025,4,0.044,0.063,3151,3895,2573
$GC,4662,0.85,146.0,602.4,18.1,180,4665,0.00,1.95,0.00,0.000,6,0.000,0.028,3158,2615,2568
$GC,4931,0.85,146.0,556.7,16.9,187,4935,0.00,2.10,0.00,0.000,4,0.000,0.061,3159,3905,2562
$GC,5055,0.85,146.0,536.6,15.1,189,5059,0.00,1.98,0.00,0.000,6,0.000,0.031,3168,2590,2561
$GC,5313,0.85,146.0,500.3,13.7,196,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2584,2560
$GC,5557,0.85,146.0,469.2,12.4,202,5561,0.00,2.12,0.00,0.000,4,0.000,0.036,3178,1177,2559
$GC,5569,0.85,146.0,467.4,12.4,202,5574,0.15,2.28,0.00,0.000,6,0.227,0.051,3144,2613,2559
$GC,5842,0.85,146.0,438.6,10.0,209,5846,0.00,2.15,0.00,0.000,4,0.000,0.035,3153,1197,2556
$GC,6000,0.89,171.5,422.8,8.5,212,6026,0.00,2.22,20.85,0.916,6,0.000,0.050,3150,2604,2470
$GC,6305,0.89,171.5,379.5,15.3,220,6309,0.00,2.15,0.00,0.000,4,0.000,0.035,3159,1177,2466
$GC,6564,0.89,171.5,343.9,13.7,225,6568,0.00,2.28,0.00,0.000,6,0.000,0.051,3159,2609,2465
$GC,6815,0.89,171.5,310.3,13.0,231,6819,0.00,2.15,0.00,0.000,4,0.000,0.032,3168,1171,2463
$GC,6968,0.89,171.5,291.9,11.4,234,6972,0.00,2.25,0.00,0.000,6,0.000,0.047,3163,2601,2462
$GC,7236,0.89,171.5,261.2,12.0,241,7240,0.00,2.08,0.00,0.000,4,0.000,0.058,3163,3906,2461
$GC,7494,0.89,171.5,231.1,9.9,246,7498,0.00,1.95,0.00,0.000,6,0.000,0.028,3171,2584,2460
$GC,7751,0.93,207.3,210.3,8.0,253,7784,0.00,0.00,31.33,0.787,6,0.000,0.000,3171,2578,2324
$GC,8046,0.93,207.3,165.3,15.3,272,8050,0.00,2.12,0.00,0.000,4,0.000,0.051,3163,3909,2318
$GC,8150,0.93,207.3,145.7,19.7,281,8154,0.00,1.95,0.00,0.000,6,0.000,0.027,3171,2590,2318
$GC,8418,0.93,207.3,101.2,15.8,306,8422,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1164,2318
$GC,8458,0.93,207.3,95.1,15.1,309,8465,0.00,2.30,0.00,0.000,6,0.000,0.048,3179,2607,2318
$GC,8722,0.93,209.3,63.8,9.5,334,8726,0.00,2.10,0.00,0.000,4,0.000,0.027,3187,1164,2318
$GC,8859,0.98,245.7,53.0,8.0,346,8897,0.00,2.25,33.17,0.652,6,0.000,0.041,3187,2593,2168
$STATE,9144,end climb,SURFACE_DEPTH_REACHED
$STATE,9144,begin surface coast
$FINISH,0.3,1.024035
$STATE,9156,end surface coast,CONTROL_FINISHED_OK
$STATE,9156,begin surface
$SM_CCo,9179,48.17,0.613,0,0,1742,350.04
$SM_GC,2.10,0.00,0.00,48.17,0.000,0.000,0.613,46,2712,1742,-8.81,0.34,350.04
$IRIDIUM_FIX,2239.35,-15807.58,030500,161623
$TT8_MAMPS,0.023777
$HUMID,1845
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.6,86.663
$10V_AH,10.7,47.962
$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,21.000,97.000,337.575,48.175,0.000,31.031,33.416,153.421,0.750,0.000,0.000,13.936,847.018,6243.012,433.936,1546.794,517.204,33.367,1099.535,0.000,1537.358,0.000,0.543,0.000
$DEVICE_MAMPS,227.032,85.137,1053.091,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.329,573.382,593.460,130.887,538.708,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31967,386
$CAP_FILE_SIZE,78927,0
$CFSIZE,260165632,236138496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,070211,215206,2252.016,-15805.422,34,1.2,40,10.1