version: 66.04
glider: 512
mission: 1
dive: 711
start: 2 14 111 10 45 13
data:
$ID,512
$MISSION,1
$DIVE,711
$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,-21364.691
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,102914,2253.138,-15800.140,11,1.7,11,10.1
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-79.0
$GPS2,104420,2253.221,-15800.227,14,1.7,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,-0.063
$KALMAN_X,-190120.8,14.8,77.5,208597.7,-3068.0
$KALMAN_Y,-515312.2,149.8,-289.9,650568.7,3331.6
$MHEAD_RNG_PITCHd_Wd,94.0,8080,-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,-45.22,0.000,2,0.000,0.000,25,2731,2907
$GC,69,-0.85,-146.0,3.2,-4.3,6,102,10.77,1.90,-16.85,0.000,4,0.224,0.073,2582,3866,3758
$GC,165,-0.85,-146.0,29.9,-20.2,21,173,0.00,1.75,0.00,0.000,6,0.000,0.028,2582,2724,3760
$GC,428,-0.85,-146.0,96.6,-24.2,46,432,0.00,2.17,0.00,0.000,4,0.000,0.037,2581,1285,3761
$GC,534,-0.85,-146.0,116.5,-15.3,55,538,0.00,2.30,0.00,0.000,6,0.000,0.067,2573,2678,3761
$GC,798,-0.85,-146.0,170.2,-21.0,79,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2677,3762
$GC,1078,-0.85,-146.0,224.1,-19.3,97,1082,0.00,2.08,0.00,0.000,4,0.000,0.031,2573,1284,3763
$GC,1151,-0.85,-146.0,236.2,-13.5,98,1156,0.12,2.33,0.00,0.000,6,0.147,0.064,2595,2705,3763
$GC,1407,-0.85,-146.0,269.3,-12.7,105,1411,0.00,2.12,0.00,0.000,4,0.000,0.031,2595,1281,3763
$GC,1436,-0.85,-146.0,272.8,-11.4,105,1441,0.00,2.35,0.00,0.000,6,0.000,0.067,2592,2712,3764
$GC,1693,-0.85,-146.0,305.5,-13.1,112,1697,0.00,1.98,0.00,0.000,4,0.000,0.077,2583,3895,3763
$GC,1716,-0.85,-146.0,308.5,-12.3,112,1720,0.00,1.77,0.00,0.000,6,0.000,0.025,2583,2674,3763
$GC,1984,-0.85,-146.0,340.2,-12.2,119,1988,0.00,2.05,0.00,0.000,4,0.000,0.033,2583,1293,3763
$GC,2064,-0.85,-146.0,349.0,-10.0,120,2068,0.00,2.30,0.00,0.000,6,0.000,0.065,2577,2704,3763
$GC,2320,-0.85,-146.0,383.6,-14.1,127,2324,0.00,2.10,0.00,0.000,4,0.000,0.031,2576,1298,3762
$GC,2354,-0.85,-146.0,388.6,-14.2,127,2358,0.00,2.33,0.00,0.000,6,0.000,0.068,2577,2701,3762
$GC,2611,-0.85,-146.0,421.8,-13.1,134,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2702,3761
$GC,2855,-0.85,-146.0,452.5,-12.4,140,2858,0.00,2.10,0.00,0.000,4,0.000,0.033,2577,1301,3759
$GC,2906,-0.85,-146.0,458.4,-10.0,141,2910,0.00,2.30,0.00,0.000,6,0.000,0.066,2576,2701,3759
$GC,3185,-0.85,-146.0,489.2,-11.2,148,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3757
$GC,3429,-0.85,-146.0,514.6,-10.2,154,3433,0.00,2.10,0.00,0.000,4,0.000,0.033,2576,1306,3756
$GC,3464,-0.85,-146.0,518.1,-9.6,154,3468,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2704,3756
$GC,3715,-0.85,-146.0,540.5,-9.0,160,3719,0.00,1.98,0.00,0.000,4,0.000,0.076,2577,3892,3753
$GC,3755,-0.85,-146.0,544.1,-8.4,160,3762,0.00,1.80,0.00,0.000,6,0.000,0.027,2576,2693,3752
$GC,4006,-0.85,-146.0,568.5,-10.0,167,4010,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,1297,3751
$GC,4065,-0.85,-146.0,574.5,-9.8,168,4069,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2701,3751
$STATE,4334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4335,begin apogee
$GC,4344,-0.32,0.0,603.2,10.7,175,4471,0.60,0.00,123.97,1.057,6,0.117,0.000,2766,2619,3160
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4472,begin climb
$GC,4476,0.85,146.0,609.7,0.0,178,4614,1.08,2.28,128.52,1.040,4,0.067,0.035,3161,1227,2564
$GC,4876,0.85,146.0,583.6,16.0,187,4880,0.00,2.25,0.00,0.000,6,0.000,0.055,3162,2629,2556
$GC,5162,0.85,146.0,539.5,14.5,194,5165,0.00,2.12,0.00,0.000,4,0.000,0.035,3171,1234,2552
$GC,5230,0.85,146.0,529.9,13.3,195,5234,0.00,2.20,0.00,0.000,6,0.000,0.050,3163,2626,2552
$GC,5492,0.85,146.0,495.7,13.0,202,5496,0.00,2.05,0.00,0.000,4,0.000,0.060,3163,3905,2549
$GC,5751,0.85,146.0,462.1,12.3,207,5755,0.00,1.90,0.00,0.000,6,0.000,0.031,3170,2634,2548
$GC,6008,0.85,146.0,433.1,11.1,214,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2628,2547
$GC,6251,0.85,146.0,408.3,10.0,220,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2628,2545
$GC,6497,0.85,146.0,382.7,10.5,226,6500,0.00,2.03,0.00,0.000,4,0.000,0.055,3163,3900,2544
$GC,6638,0.86,149.7,368.4,9.4,229,6642,0.00,1.90,0.00,0.000,6,0.000,0.028,3171,2614,2543
$GC,6924,0.89,175.1,343.8,8.5,236,6959,0.00,2.12,24.92,0.828,4,0.000,0.033,3181,1217,2448
$GC,7213,0.89,175.1,307.9,12.4,242,7217,0.00,2.22,0.00,0.000,6,0.000,0.045,3176,2636,2444
$GC,7475,0.89,175.1,275.3,12.2,249,7478,0.00,2.00,0.00,0.000,4,0.000,0.058,3176,3890,2442
$GC,7694,0.89,175.1,246.5,11.1,253,7700,0.00,1.88,0.00,0.000,6,0.000,0.026,3184,2611,2441
$GC,7945,0.89,175.1,220.8,9.9,260,7949,0.00,2.05,0.00,0.000,4,0.000,0.051,3176,3898,2441
$GC,8204,0.92,195.1,197.8,8.7,265,8229,0.00,1.88,18.50,0.757,6,0.000,0.026,3184,2609,2363
$GC,8488,0.92,195.1,164.1,11.8,291,8491,0.00,2.03,0.00,0.000,4,0.000,0.027,3194,1226,2360
$GC,8503,0.92,195.1,162.0,11.4,292,8507,0.00,2.20,0.00,0.000,6,0.000,0.045,3192,2634,2360
$GC,8773,0.92,195.1,128.9,12.3,317,8777,0.00,1.98,0.00,0.000,4,0.000,0.051,3192,3893,2360
$GC,8803,0.92,195.1,124.6,13.4,319,8811,0.10,1.88,0.00,0.000,6,0.232,0.025,3177,2633,2360
$GC,9070,1.08,327.2,101.8,3.7,344,9193,0.12,2.22,112.00,0.690,4,0.097,0.028,3228,1218,1824
$GC,9209,1.08,327.2,81.1,31.0,357,9213,0.00,2.25,0.00,0.000,6,0.000,0.044,3228,2627,1821
$STATE,9451,end climb,SURFACE_DEPTH_REACHED
$STATE,9451,begin surface coast
$FINISH,0.3,1.001750
$STATE,9458,end surface coast,CONTROL_FINISHED_OK
$STATE,9458,begin surface
$SM_CCo,9481,12.00,0.561,0,0,1733,350.04
$SM_GC,2.96,0.00,0.00,12.00,0.000,0.000,0.561,45,2728,1733,-8.84,0.79,350.04
$IRIDIUM_FIX,2246.36,-15801.49,100500,101007
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,94.313
$10V_AH,10.7,52.907
$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,21.200,88.175,407.925,12.000,0.000,54.475,76.943,580.119,0.000,0.000,0.000,14.773,845.307,6522.064,435.340,1576.633,1028.006,33.369,1145.386,0.000,1559.190,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,77.467,1056.926,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.456,564.453,580.462,111.052,462.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31930,388
$CAP_FILE_SIZE,86783,0
$CFSIZE,260165632,233689088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,140211,132500,2253.279,-15759.339,43,2.0,48,10.1