version: 66.04
glider: 512
mission: 1
dive: 708
start: 2 14 111 2 53 11
data:
$ID,512
$MISSION,1
$DIVE,708
$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,-21306.217
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$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,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,023236,2253.925,-15801.192,35,1.3,35,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-77.4
$GPS2,025214,2254.122,-15801.137,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.216,-0.138
$KALMAN_X,-185223.1,336.3,7.6,201889.2,-1751.9
$KALMAN_Y,-519476.2,-820.6,41.3,657037.4,1613.1
$MHEAD_RNG_PITCHd_Wd,112.5,9686,-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,-45.28,0.000,2,0.000,0.000,18,2735,2907
$GC,68,-0.85,-146.0,3.1,-4.5,6,102,10.80,1.90,-17.60,0.000,4,0.223,0.072,2579,3874,3757
$GC,143,-0.85,-146.0,23.5,-28.2,17,152,0.00,1.75,0.00,0.000,6,0.000,0.025,2579,2706,3759
$GC,410,-0.85,-146.0,101.5,-29.7,44,414,0.00,2.08,0.00,0.000,4,0.000,0.030,2579,1298,3759
$GC,515,-0.85,-146.0,123.2,-13.7,53,519,0.00,2.22,0.00,0.000,6,0.000,0.061,2576,2674,3760
$GC,778,-0.85,-146.0,173.1,-19.4,77,782,0.00,2.03,0.00,0.000,4,0.000,0.026,2576,1288,3761
$GC,840,-0.85,-146.0,182.9,-14.3,82,844,0.00,2.28,0.00,0.000,6,0.000,0.058,2576,2706,3761
$GC,1105,-0.85,-146.0,230.6,-18.4,95,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2706,3761
$GC,1351,-0.85,-146.0,267.2,-14.4,101,1355,0.00,2.10,0.00,0.000,4,0.000,0.026,2576,1282,3761
$GC,1387,-0.85,-146.0,272.2,-12.6,101,1391,0.00,2.30,0.00,0.000,6,0.000,0.057,2576,2709,3761
$GC,1640,-0.85,-146.0,306.0,-13.9,107,1643,0.00,2.10,0.00,0.000,4,0.000,0.026,2576,1286,3761
$GC,1680,-0.85,-146.0,311.7,-12.1,107,1686,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2698,3761
$GC,1931,-0.85,-146.0,343.2,-13.0,114,1935,0.00,2.00,0.00,0.000,4,0.000,0.080,2576,3896,3760
$GC,1965,-0.85,-146.0,347.7,-12.0,114,1969,0.00,1.75,0.00,0.000,6,0.000,0.024,2576,2683,3760
$GC,2223,-0.85,-146.0,377.7,-11.8,121,2227,0.00,2.03,0.00,0.000,4,0.000,0.029,2576,1301,3758
$GC,2257,-0.85,-146.0,381.9,-10.7,121,2262,0.00,2.28,0.00,0.000,6,0.000,0.062,2576,2699,3758
$GC,2509,-0.85,-146.0,410.1,-11.6,127,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2699,3757
$GC,2752,-0.85,-146.0,439.0,-11.9,133,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2699,3755
$GC,2996,-0.85,-146.0,466.7,-11.4,139,3000,0.00,2.08,0.00,0.000,4,0.000,0.031,2576,1307,3753
$GC,3043,-0.85,-146.0,471.8,-9.7,140,3047,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2707,3753
$GC,3329,-0.85,-146.0,502.2,-10.5,147,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3750
$GC,3571,-0.85,-146.0,526.7,-10.1,153,3575,0.00,2.10,0.00,0.000,4,0.000,0.033,2576,1303,3748
$GC,3605,-0.85,-146.0,530.2,-9.8,153,3609,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2702,3748
$GC,3856,-0.85,-146.0,555.5,-10.4,159,3859,0.00,1.98,0.00,0.000,4,0.000,0.077,2576,3888,3746
$GC,3885,-0.85,-146.0,558.4,-9.7,159,3888,0.00,1.75,0.00,0.000,6,0.000,0.028,2576,2702,3745
$GC,4149,-0.85,-146.0,583.8,-9.7,166,4152,0.00,2.10,0.00,0.000,4,0.000,0.032,2576,1292,3743
$GC,4200,-0.85,-146.0,589.2,-9.2,167,4205,0.00,2.33,0.00,0.000,6,0.000,0.068,2576,2696,3743
$STATE,4313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4313,begin apogee
$GC,4323,-0.32,0.0,600.5,10.0,170,4449,0.60,0.00,123.07,1.095,6,0.116,0.000,2767,2618,3160
$STATE,4449,end apogee,CONTROL_FINISHED_OK
$STATE,4449,begin climb
$GC,4454,0.85,146.0,607.5,0.0,173,4592,1.02,2.22,129.38,1.078,4,0.043,0.029,3182,1233,2564
$GC,4854,0.85,146.0,579.6,17.0,182,4858,0.00,2.22,0.00,0.000,6,0.000,0.047,3179,2634,2556
$GC,5139,0.85,146.0,532.3,16.0,189,5142,0.00,2.10,0.00,0.000,4,0.000,0.030,3188,1222,2552
$GC,5397,0.85,146.0,496.2,12.9,194,5402,0.15,2.20,0.00,0.000,6,0.222,0.048,3157,2625,2551
$GC,5648,0.85,146.0,464.9,12.2,200,5652,0.00,2.10,0.00,0.000,4,0.000,0.029,3165,1203,2548
$GC,5907,0.85,146.0,437.0,10.4,205,5911,0.00,2.22,0.00,0.000,6,0.000,0.046,3163,2625,2548
$GC,6166,0.86,146.3,411.7,9.6,212,6170,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1204,2546
$GC,6206,0.89,173.4,408.1,8.4,212,6235,0.00,2.22,22.70,0.958,6,0.000,0.047,3172,2625,2452
$GC,6500,0.89,173.4,362.8,17.3,220,6503,0.00,2.10,0.00,0.000,4,0.000,0.029,3181,1219,2446
$GC,6636,0.89,173.4,340.0,16.5,223,6640,0.00,2.22,0.00,0.000,6,0.000,0.047,3176,2635,2446
$GC,6921,0.89,173.4,296.6,14.6,230,6925,0.00,2.10,0.00,0.000,4,0.000,0.029,3184,1221,2444
$GC,7116,0.89,173.4,273.1,10.6,234,7120,0.00,2.20,0.00,0.000,6,0.000,0.045,3176,2629,2444
$GC,7393,0.89,173.4,242.6,10.9,241,7396,0.00,2.03,0.00,0.000,4,0.000,0.056,3176,3906,2443
$GC,7652,0.91,192.8,219.5,8.8,246,7673,0.00,1.92,16.90,0.808,6,0.000,0.028,3184,2581,2374
$GC,7933,0.91,192.8,180.0,15.1,261,7936,0.00,2.10,0.00,0.000,4,0.000,0.052,3176,3896,2371
$GC,8134,0.91,192.8,151.2,11.7,279,8138,0.00,1.85,0.00,0.000,6,0.000,0.026,3183,2630,2370
$GC,8404,0.98,247.7,125.7,7.2,304,8457,0.00,2.15,48.22,0.760,4,0.000,0.028,3194,1227,2150
$GC,8468,0.98,247.7,120.2,12.9,309,8472,0.00,2.20,0.00,0.000,6,0.000,0.041,3192,2639,2148
$GC,8737,0.98,247.7,66.5,20.4,334,8741,0.00,2.00,0.00,0.000,4,0.000,0.051,3192,3917,2144
$GC,8993,0.98,247.7,13.2,22.1,363,9001,0.00,1.92,0.00,0.000,6,0.000,0.024,3199,2620,2143
$STATE,9039,end climb,SURFACE_DEPTH_REACHED
$STATE,9039,begin surface coast
$FINISH,0.6,1.023710
$STATE,9051,end surface coast,CONTROL_FINISHED_OK
$STATE,9051,begin surface
$SM_CCo,9074,54.47,0.644,0,0,1733,350.04
$SM_GC,2.29,0.00,0.00,54.47,0.000,0.000,0.644,42,2736,1733,-8.86,1.02,350.04
$IRIDIUM_FIX,2246.36,-15756.28,100500,020230
$TT8_MAMPS,0.023777
$HUMID,1853
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.5,93.866
$10V_AH,10.7,52.664
$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,20.775,88.475,340.275,54.475,0.000,83.527,162.436,660.828,0.500,0.000,0.000,13.503,842.522,6231.958,421.020,1581.489,1238.536,33.373,1106.456,0.000,1568.173,0.000,0.544,0.000
$DEVICE_MAMPS,223.197,79.768,1095.276,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,252.512,550.936,566.818,117.980,486.612,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31867,373
$CAP_FILE_SIZE,86744,0
$CFSIZE,260165632,233811968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,140211,052636,2253.926,-15800.675,15,1.1,32,10.1