version: 66.04
glider: 512
mission: 1
dive: 792
start: 2 24 111 3 12 15
data:
$ID,512
$MISSION,1
$DIVE,792
$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,-22977.471
$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,50
$R_STBD_OVSHOOT,68
$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
$GPS1,030237,2254.498,-15754.776,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.6
$GPS2,031120,2254.500,-15754.716,13,1.4,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.086,-0.241
$KALMAN_X,-261834.3,-148.7,228.2,289808.7,-2601.8
$KALMAN_Y,-525280.5,-48.2,172.5,662628.1,-990.8
$MHEAD_RNG_PITCHd_Wd,150.3,14855,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.78,0.000,2,0.000,0.000,46,2697,3065
$GC,78,-0.85,-146.0,3.6,-5.7,7,110,11.80,2.25,-11.65,0.000,4,0.252,0.044,2593,1243,3701
$GC,223,-0.85,-146.0,46.5,-19.5,25,227,0.00,2.25,0.00,0.000,6,0.000,0.074,2585,2580,3703
$GC,488,-0.85,-146.0,120.4,-27.6,49,492,0.00,2.10,0.00,0.000,4,0.000,0.073,2575,3848,3703
$GC,539,-0.85,-146.0,132.9,-18.0,53,546,0.00,1.80,0.00,0.000,6,0.000,0.025,2575,2645,3704
$GC,803,-0.85,-146.0,187.8,-20.4,78,807,0.00,2.12,0.00,0.000,4,0.000,0.035,2584,1233,3706
$GC,895,-0.85,-146.0,203.0,-13.3,86,900,0.00,2.25,0.00,0.000,6,0.000,0.070,2575,2589,3706
$GC,1182,-0.85,-146.0,254.8,-17.9,93,1185,0.00,2.05,0.00,0.000,4,0.000,0.037,2577,1238,3707
$GC,1216,-0.85,-146.0,261.9,-18.8,93,1220,0.00,2.20,0.00,0.000,6,0.000,0.066,2568,2581,3707
$GC,1473,-0.85,-146.0,305.1,-16.8,100,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2582,3707
$GC,1718,-0.85,-146.0,345.6,-16.2,106,1722,0.00,2.05,0.00,0.000,4,0.000,0.039,2576,1243,3706
$GC,1793,-0.85,-146.0,356.1,-11.9,107,1797,0.00,2.20,0.00,0.000,6,0.000,0.066,2568,2584,3707
$GC,2055,-0.85,-146.0,395.0,-15.3,114,2059,0.00,2.05,0.00,0.000,4,0.000,0.041,2574,1244,3706
$GC,2073,-0.85,-146.0,398.0,-15.3,114,2077,0.00,2.22,0.00,0.000,6,0.000,0.071,2566,2584,3705
$GC,2345,-0.85,-146.0,438.7,-15.3,121,2348,0.00,2.12,0.00,0.000,4,0.000,0.077,2556,3846,3703
$GC,2385,-0.85,-146.0,445.3,-13.8,121,2392,0.15,1.80,0.00,0.000,6,0.193,0.029,2589,2646,3702
$GC,2639,-0.85,-146.0,473.5,-11.2,128,2642,0.00,2.20,0.00,0.000,4,0.000,0.050,2599,1239,3702
$GC,2736,-0.85,-146.0,483.2,-8.4,130,2740,0.00,2.30,0.00,0.000,6,0.000,0.082,2599,2588,3702
$GC,3021,-0.85,-146.0,511.3,-10.2,137,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2588,3700
$GC,3266,-0.85,-146.0,535.7,-9.9,143,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2588,3698
$GC,3508,-0.85,-146.0,559.7,-9.8,149,3512,0.00,2.17,0.00,0.000,4,0.000,0.054,2598,1240,3695
$GC,3537,-0.85,-146.0,562.9,-10.8,149,3542,0.00,2.28,0.00,0.000,6,0.000,0.074,2599,2589,3695
$GC,3795,-0.85,-146.0,590.2,-10.8,156,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2589,3693
$STATE,3912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3912,begin apogee
$GC,3922,-0.32,0.0,602.9,10.4,159,4050,0.73,0.00,124.50,1.043,6,0.252,0.000,2755,2507,3100
$STATE,4050,end apogee,CONTROL_FINISHED_OK
$STATE,4051,begin climb
$GC,4055,0.85,146.0,609.8,0.0,162,4192,1.48,2.30,128.82,1.032,4,0.204,0.066,3128,3846,2504
$GC,4271,0.85,146.0,607.3,17.7,167,4275,0.00,2.12,0.00,0.000,6,0.000,0.054,3136,2537,2500
$GC,4563,0.85,146.0,557.4,16.6,174,4567,0.00,2.28,0.00,0.000,4,0.000,0.053,3148,1101,2494
$GC,4721,0.85,146.0,532.0,15.2,177,4725,0.00,2.22,0.00,0.000,6,0.000,0.058,3140,2476,2491
$GC,4978,0.85,146.0,493.7,14.7,184,4981,0.00,2.17,0.00,0.000,4,0.000,0.051,3148,1100,2489
$GC,5091,0.85,146.0,477.9,12.9,186,5096,0.00,2.33,0.00,0.000,6,0.000,0.061,3140,2524,2489
$GC,5354,0.85,146.0,442.8,13.4,193,5358,0.00,2.28,0.00,0.000,4,0.000,0.055,3148,1100,2487
$GC,5500,0.85,146.0,423.0,12.4,196,5504,0.00,2.35,0.00,0.000,6,0.000,0.067,3148,2518,2487
$GC,5768,0.85,146.0,387.2,13.3,203,5772,0.00,2.25,0.00,0.000,4,0.000,0.054,3157,1110,2485
$GC,5785,0.85,146.0,384.9,13.0,203,5790,0.00,2.38,0.00,0.000,6,0.000,0.071,3154,2526,2485
$GC,6048,0.85,146.0,355.3,10.9,210,6052,0.00,2.28,0.00,0.000,4,0.000,0.058,3161,1112,2484
$GC,6139,0.85,146.0,345.9,11.0,212,6143,0.00,2.38,0.00,0.000,6,0.000,0.071,3153,2527,2484
$GC,6418,0.85,146.0,317.1,10.1,219,6422,0.00,2.28,0.00,0.000,4,0.000,0.056,3161,1110,2483
$GC,6678,0.88,166.4,293.9,8.7,224,6698,0.00,2.33,15.40,0.813,6,0.000,0.061,3160,2529,2421
$GC,6967,0.88,166.4,259.4,11.9,232,6971,0.00,2.28,0.00,0.000,4,0.000,0.070,3161,3906,2417
$GC,6996,0.88,166.4,255.5,14.3,232,7000,0.00,2.15,0.00,0.000,6,0.000,0.041,3169,2524,2416
$GC,7253,0.88,166.4,228.5,10.4,239,7257,0.00,2.30,0.00,0.000,4,0.000,0.067,3169,3899,2416
$GC,7512,0.88,166.4,197.3,11.6,244,7516,0.00,2.17,0.00,0.000,6,0.000,0.044,3178,2520,2416
$GC,7778,0.92,197.9,171.0,8.2,268,7814,0.00,2.35,27.80,0.732,4,0.000,0.064,3176,3902,2294
$GC,8068,0.92,197.9,122.8,14.1,293,8075,0.00,2.22,0.00,0.000,6,0.000,0.048,3184,2524,2291
$GC,8332,0.92,197.9,91.2,11.2,318,8336,0.00,2.28,0.00,0.000,4,0.000,0.064,3176,3901,2290
$GC,8586,0.94,216.3,63.8,8.8,340,8620,0.00,2.17,19.10,0.573,6,0.000,0.039,3184,2525,2217
$GC,8881,0.94,216.3,27.1,16.2,368,8890,0.00,2.28,0.00,0.000,4,0.000,0.061,3176,3892,2215
$GC,8916,0.94,216.3,20.8,16.1,373,8924,0.00,2.17,0.00,0.000,6,0.000,0.041,3184,2517,2214
$STATE,9030,end climb,SURFACE_DEPTH_REACHED
$STATE,9030,begin surface coast
$FINISH,0.4,1.023743
$STATE,9057,end surface coast,CONTROL_FINISHED_OK
$STATE,9057,begin surface
$SM_CCo,9082,74.90,0.581,0,0,1672,350.04
$SM_GC,1.73,0.00,0.00,74.90,0.000,0.000,0.581,53,2646,1672,-8.80,0.17,350.04
$IRIDIUM_FIX,2246.36,-15753.23,200500,000004
$TT8_MAMPS,0.024544
$HUMID,1843
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,23.5,104.444
$10V_AH,10.6,60.076
$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,23.525,93.075,315.625,74.900,0.000,25.446,34.521,319.055,0.500,0.000,0.000,13.080,862.263,6027.936,442.325,1623.278,729.643,33.359,1128.279,0.000,1614.291,0.000,0.544,0.000
$DEVICE_MAMPS,252.343,82.069,1043.120,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.974,609.229,629.833,139.344,570.002,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31968,398
$CAP_FILE_SIZE,81416,0
$CFSIZE,260165632,230174720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,240211,054556,2253.495,-15754.656,18,1.7,19,10.1