version: 66.04
glider: 512
mission: 1
dive: 791
start: 2 24 111 0 20 55
data:
$ID,512
$MISSION,1
$DIVE,791
$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,-22963.762
$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,60
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3100
$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
$GPS1,235836,2255.141,-15755.612,33,1.3,39,10.1
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-79.9
$GPS2,002002,2255.335,-15755.521,16,1.8,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.241,-0.091
$KALMAN_X,-260763.6,113.3,456.5,286865.1,-2977.9
$KALMAN_Y,-524987.7,-195.6,389.7,663807.2,-1410.6
$MHEAD_RNG_PITCHd_Wd,100.5,3398,-16.8,-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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.20,0.000,2,0.000,0.000,41,2656,2855
$GC,70,-0.85,-146.0,3.2,-4.6,6,102,11.77,0.00,-17.55,0.000,6,0.250,0.000,2588,2656,3697
$GC,360,-0.85,-146.0,84.0,-25.2,40,364,0.00,2.00,0.00,0.000,4,0.000,0.061,2580,3885,3699
$GC,430,-0.85,-146.0,99.7,-18.6,46,434,0.00,1.80,0.00,0.000,6,0.000,0.023,2588,2643,3699
$GC,699,-0.85,-146.0,155.9,-19.8,71,703,0.00,2.05,0.00,0.000,4,0.000,0.025,2598,1228,3700
$GC,760,-0.85,-146.0,166.3,-13.9,76,764,0.00,2.28,0.00,0.000,6,0.000,0.059,2589,2625,3700
$GC,1046,-0.85,-146.0,214.2,-16.9,97,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2625,3700
$GC,1291,-0.85,-146.0,254.4,-16.1,103,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2625,3700
$GC,1533,-0.85,-146.0,291.7,-15.2,109,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2625,3700
$GC,1777,-0.85,-146.0,319.4,-10.6,115,1780,0.00,2.08,0.00,0.000,4,0.000,0.067,2579,3898,3699
$GC,1802,-0.85,-146.0,322.3,-11.7,115,1806,0.00,1.83,0.00,0.000,6,0.000,0.024,2586,2635,3699
$GC,2070,-0.85,-146.0,350.5,-11.0,122,2074,0.00,2.03,0.00,0.000,4,0.000,0.026,2596,1238,3699
$GC,2111,-0.85,-146.0,354.9,-10.1,122,2117,0.00,2.25,0.00,0.000,6,0.000,0.052,2589,2655,3699
$GC,2362,-0.85,-146.0,382.4,-11.5,129,2366,0.00,2.03,0.00,0.000,4,0.000,0.070,2579,3893,3697
$GC,2403,-0.85,-146.0,387.1,-11.0,129,2409,0.00,1.83,0.00,0.000,6,0.000,0.024,2587,2633,3696
$GC,2656,-0.85,-146.0,416.6,-12.2,136,2659,0.00,2.03,0.00,0.000,4,0.000,0.026,2597,1237,3694
$GC,2692,-0.85,-146.0,420.9,-10.6,136,2696,0.00,2.22,0.00,0.000,6,0.000,0.052,2589,2639,3694
$GC,2945,-0.85,-146.0,447.6,-10.7,142,2949,0.00,2.05,0.00,0.000,4,0.000,0.066,2580,3901,3691
$GC,2986,-0.85,-146.0,452.1,-10.3,142,2992,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,2637,3691
$GC,3239,-0.85,-146.0,477.5,-10.2,149,3243,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1234,3690
$GC,3268,-0.85,-146.0,480.8,-10.5,149,3272,0.00,2.25,0.00,0.000,6,0.000,0.053,2589,2637,3690
$GC,3533,-0.85,-146.0,505.8,-9.5,156,3536,0.00,2.05,0.00,0.000,4,0.000,0.066,2580,3898,3686
$GC,3564,-0.85,-146.0,508.8,-10.0,156,3567,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2628,3686
$GC,3828,-0.85,-146.0,531.9,-8.8,163,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2621,3685
$GC,4070,-0.85,-146.0,554.3,-9.2,169,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2621,3682
$GC,4314,-0.85,-146.0,579.1,-10.4,175,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2620,3681
$STATE,4513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4513,begin apogee
$GC,4523,-0.32,0.0,600.3,10.4,180,4648,0.57,0.00,121.97,1.045,6,0.145,0.000,2758,2527,3100
$STATE,4649,end apogee,CONTROL_FINISHED_OK
$STATE,4649,begin climb
$GC,4653,0.85,146.0,607.6,0.0,183,4787,1.12,0.00,129.73,1.042,6,0.084,0.000,3142,2527,2504
$GC,5021,0.85,146.0,574.9,19.2,192,5024,0.00,2.12,0.00,0.000,4,0.000,0.029,3153,1101,2495
$GC,5218,0.85,146.0,541.0,16.9,196,5223,0.00,2.28,0.00,0.000,6,0.000,0.044,3150,2536,2492
$GC,5492,0.85,146.0,496.2,15.7,203,5496,0.00,2.10,0.00,0.000,4,0.000,0.028,3159,1116,2490
$GC,5504,0.85,146.0,494.3,15.2,203,5508,0.00,2.22,0.00,0.000,6,0.000,0.045,3159,2527,2489
$GC,5779,0.85,146.0,453.5,14.9,210,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2527,2488
$GC,6023,0.85,146.0,417.5,14.5,216,6027,0.00,2.17,0.00,0.000,4,0.000,0.051,3150,3901,2487
$GC,6091,0.85,146.0,407.6,14.6,217,6095,0.00,2.05,0.00,0.000,6,0.000,0.028,3159,2518,2486
$GC,6360,0.85,146.0,373.6,12.5,224,6364,0.00,2.08,0.00,0.000,4,0.000,0.028,3169,1109,2485
$GC,6372,0.85,146.0,371.9,12.2,224,6376,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2526,2485
$GC,6646,0.85,146.0,339.8,11.5,231,6650,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1103,2483
$GC,6693,0.85,146.0,334.9,11.1,232,6697,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2521,2483
$GC,6985,0.85,146.0,305.4,9.8,239,6988,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1093,2483
$GC,7243,0.85,146.0,278.0,9.6,244,7247,0.00,2.25,0.00,0.000,6,0.000,0.046,3164,2519,2483
$GC,7503,0.89,181.4,256.6,8.1,251,7537,0.00,2.17,28.45,0.822,4,0.000,0.028,3172,1095,2360
$GC,7661,0.89,181.4,237.3,15.9,254,7665,0.00,2.28,0.00,0.000,6,0.000,0.048,3163,2527,2356
$GC,7931,0.89,181.4,196.4,14.1,261,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2527,2354
$GC,8196,0.89,181.4,161.0,10.8,286,8200,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1102,2354
$GC,8236,0.89,181.4,156.6,11.6,289,8240,0.00,2.22,0.00,0.000,6,0.000,0.041,3163,2534,2354
$GC,8502,0.91,192.5,130.7,9.1,313,8518,0.00,2.15,10.23,0.655,4,0.000,0.027,3172,1117,2315
$GC,8699,0.91,192.5,107.8,11.6,330,8707,0.00,2.22,0.00,0.000,6,0.000,0.041,3164,2519,2314
$GC,8965,0.91,192.5,78.6,11.4,355,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2519,2314
$GC,9230,0.97,243.8,57.0,7.4,380,9283,0.00,2.25,44.72,0.629,4,0.000,0.052,3163,3899,2106
$GC,9398,0.97,243.8,29.0,20.7,394,9406,0.00,2.08,0.00,0.000,6,0.000,0.024,3172,2518,2104
$STATE,9523,end climb,SURFACE_DEPTH_REACHED
$STATE,9523,begin surface coast
$FINISH,0.3,1.023822
$STATE,9539,end surface coast,CONTROL_FINISHED_OK
$STATE,9539,begin surface
$SM_CCo,9564,56.97,0.584,0,0,1672,350.04
$SM_GC,2.10,0.00,0.00,56.97,0.000,0.000,0.584,48,2698,1672,-8.82,1.61,350.04
$IRIDIUM_FIX,2248.70,-15755.40,200500,000024
$TT8_MAMPS,0.023777
$HUMID,1847
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.5,104.322
$10V_AH,10.7,59.986
$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,22.425,80.225,335.100,56.975,0.000,114.543,153.962,666.533,0.250,0.000,0.000,16.687,869.828,6782.594,439.921,1509.729,1308.975,33.375,1067.655,0.000,1504.203,0.000,0.545,0.000
$DEVICE_MAMPS,250.042,69.797,1045.421,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.364,645.357,663.785,141.916,587.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35155,419
$CAP_FILE_SIZE,86055,0
$CFSIZE,260165632,230207488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,240211,030237,2254.498,-15754.776,35,1.1,35,10.1