version: 66.04
glider: 512
mission: 1
dive: 715
start: 2 14 111 22 59 1
data:
$ID,512
$MISSION,1
$DIVE,715
$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,-21422.17
$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,60
$R_STBD_OVSHOOT,23
$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
$GPS1,224837,2252.301,-15757.150,40,1.3,40,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.3
$GPS2,225808,2252.354,-15757.184,15,1.4,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.237,-0.098
$KALMAN_X,-196397.7,706.3,-63.2,219565.1,-2530.4
$KALMAN_Y,-510906.3,-817.5,-89.5,645323.4,1535.2
$MHEAD_RNG_PITCHd_Wd,102.5,3572,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,75,0.00,0.00,-52.83,0.000,2,0.000,0.000,34,2758,3152
$GC,79,-0.85,-146.0,3.6,-4.4,7,111,10.85,1.88,-11.02,0.000,4,0.227,0.074,2579,3887,3759
$GC,169,-0.85,-146.0,38.0,-26.2,19,173,0.00,1.75,0.00,0.000,6,0.000,0.030,2578,2728,3761
$GC,439,-0.85,-146.0,109.5,-26.4,44,442,0.00,2.15,0.00,0.000,4,0.000,0.032,2578,1285,3762
$GC,530,-0.85,-146.0,128.9,-16.2,52,535,0.12,2.33,0.00,0.000,6,0.143,0.067,2600,2688,3762
$GC,795,-0.85,-146.0,171.4,-15.0,76,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2689,3763
$GC,1053,-0.85,-146.0,213.3,-15.9,95,1057,0.00,2.10,0.00,0.000,4,0.000,0.030,2610,1275,3764
$GC,1116,-0.85,-146.0,221.3,-10.2,96,1120,0.00,2.35,0.00,0.000,6,0.000,0.064,2601,2715,3764
$GC,1383,-0.85,-146.0,254.6,-12.6,103,1387,0.00,2.15,0.00,0.000,4,0.000,0.031,2610,1273,3764
$GC,1446,-0.85,-146.0,261.1,-8.6,104,1450,0.00,2.33,0.00,0.000,6,0.000,0.061,2602,2708,3764
$GC,1721,-0.85,-146.0,290.4,-10.9,111,1725,0.00,2.12,0.00,0.000,4,0.000,0.029,2609,1278,3764
$GC,1761,-0.85,-146.0,294.6,-9.3,111,1768,0.00,2.30,0.00,0.000,6,0.000,0.058,2600,2706,3764
$GC,2013,-0.85,-146.0,319.7,-10.1,118,2017,0.00,2.12,0.00,0.000,4,0.000,0.030,2609,1278,3763
$GC,2042,-0.85,-146.0,322.9,-10.2,118,2046,0.00,2.30,0.00,0.000,6,0.000,0.058,2600,2705,3763
$GC,2304,-0.85,-146.0,349.9,-10.7,125,2308,0.00,2.12,0.00,0.000,4,0.000,0.031,2609,1277,3762
$GC,2352,-0.85,-146.0,354.5,-8.7,126,2356,0.00,2.30,0.00,0.000,6,0.000,0.059,2600,2702,3762
$GC,2637,-0.85,-146.0,382.3,-9.6,133,2640,0.00,2.12,0.00,0.000,4,0.000,0.031,2608,1282,3760
$GC,2677,-0.85,-146.0,385.9,-7.9,133,2683,0.00,2.30,0.00,0.000,6,0.000,0.060,2599,2701,3760
$GC,2929,-0.85,-146.0,408.1,-9.1,140,2932,0.00,2.12,0.00,0.000,4,0.000,0.031,2608,1284,3758
$GC,2959,-0.85,-146.0,410.9,-10.2,140,2963,0.00,2.30,0.00,0.000,6,0.000,0.059,2599,2704,3758
$GC,3216,-0.85,-146.0,437.1,-10.5,147,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2704,3756
$GC,3461,-0.85,-146.0,461.1,-9.8,153,3464,0.00,2.15,0.00,0.000,4,0.000,0.032,2607,1280,3755
$GC,3508,-0.85,-146.0,465.4,-7.6,154,3512,0.00,2.30,0.00,0.000,6,0.000,0.058,2598,2704,3754
$GC,3794,-0.85,-146.0,491.1,-9.0,161,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2704,3752
$GC,4036,-0.85,-146.0,512.5,-8.8,167,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2704,3750
$GC,4281,-0.85,-146.0,533.1,-8.4,173,4285,0.00,2.15,0.00,0.000,4,0.000,0.034,2607,1288,3749
$GC,4338,-0.85,-146.0,538.0,-7.8,174,4343,0.00,2.30,0.00,0.000,6,0.000,0.061,2598,2699,3748
$GC,4614,-0.85,-146.0,561.6,-8.7,181,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2699,3747
$GC,4856,-0.85,-146.0,582.6,-8.6,187,4860,0.00,2.15,0.00,0.000,4,0.000,0.034,2606,1285,3745
$GC,4881,-0.85,-146.0,584.9,-9.2,187,4885,0.00,2.30,0.00,0.000,6,0.000,0.060,2598,2699,3745
$STATE,5058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5058,begin apogee
$GC,5068,-0.32,0.0,600.7,8.9,192,5194,0.57,0.00,123.10,1.048,6,0.148,0.000,2765,2583,3160
$STATE,5195,end apogee,CONTROL_FINISHED_OK
$STATE,5195,begin climb
$GC,5199,0.85,146.0,607.6,0.0,195,5336,1.17,2.20,129.23,1.022,4,0.106,0.045,3156,1229,2564
$GC,5572,0.85,146.0,589.7,14.4,203,5577,0.00,2.30,0.00,0.000,6,0.000,0.065,3154,2620,2556
$GC,5829,0.85,146.0,551.6,15.0,210,5833,0.00,2.20,0.00,0.000,4,0.000,0.047,3162,1218,2552
$GC,5846,0.85,146.0,549.2,13.7,210,5850,0.00,2.30,0.00,0.000,6,0.000,0.060,3162,2631,2552
$GC,6114,0.85,146.0,513.1,13.1,217,6118,0.00,2.17,0.00,0.000,4,0.000,0.044,3171,1227,2551
$GC,6226,0.85,146.0,499.5,11.1,219,6230,0.00,2.28,0.00,0.000,6,0.000,0.058,3162,2635,2550
$GC,6496,0.85,146.0,467.7,12.0,226,6499,0.00,2.05,0.00,0.000,4,0.000,0.064,3162,3899,2548
$GC,6685,0.85,146.0,443.9,12.0,230,6689,0.00,1.92,0.00,0.000,6,0.000,0.035,3170,2631,2547
$GC,6970,0.85,146.0,412.7,10.2,237,6974,0.00,2.05,0.00,0.000,4,0.000,0.057,3163,3904,2546
$GC,6988,0.85,146.0,410.7,9.7,237,6991,0.00,1.95,0.00,0.000,6,0.000,0.034,3170,2623,2545
$GC,7262,0.85,146.0,382.8,10.7,244,7265,0.00,2.15,0.00,0.000,4,0.000,0.039,3182,1214,2545
$GC,7319,0.86,153.6,377.2,9.3,245,7328,0.00,2.25,4.55,0.653,6,0.000,0.051,3176,2632,2533
$GC,7597,0.87,161.7,351.2,9.3,252,7611,0.00,2.22,8.93,0.806,4,0.000,0.038,3184,1219,2500
$GC,7867,0.87,161.7,324.4,10.1,258,7871,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2627,2499
$GC,8152,0.89,170.7,297.5,9.2,265,8166,0.00,2.05,9.65,0.779,4,0.000,0.059,3176,3898,2463
$GC,8422,0.89,170.7,269.0,13.6,271,8427,0.00,1.98,0.00,0.000,6,0.000,0.033,3184,2614,2462
$GC,8713,0.95,224.6,244.0,7.2,278,8768,0.00,2.15,48.05,0.809,4,0.000,0.059,3176,3879,2244
$GC,8950,0.95,224.6,197.9,21.0,283,8953,0.00,1.90,0.00,0.000,6,0.000,0.031,3183,2623,2240
$GC,9216,0.95,224.6,146.7,16.7,306,9220,0.00,2.12,0.00,0.000,4,0.000,0.035,3194,1213,2236
$GC,9307,0.95,224.6,131.3,14.3,314,9312,0.00,2.22,0.00,0.000,6,0.000,0.047,3192,2623,2236
$GC,9571,0.95,224.6,98.1,12.8,338,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2623,2236
$GC,9827,0.95,224.6,63.5,14.1,362,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2623,2236
$GC,10092,0.95,224.6,25.1,15.8,389,10100,0.00,2.12,0.00,0.000,4,0.000,0.030,3200,1221,2236
$GC,10136,0.95,224.6,18.4,14.4,396,10144,0.00,2.22,0.00,0.000,6,0.000,0.046,3200,2623,2236
$STATE,10235,end climb,SURFACE_DEPTH_REACHED
$STATE,10235,begin surface coast
$FINISH,0.3,1.023668
$STATE,10253,end surface coast,CONTROL_FINISHED_OK
$STATE,10253,begin surface
$SM_CCo,10277,68.35,0.594,0,0,1732,350.04
$SM_GC,2.00,0.00,0.00,68.35,0.000,0.000,0.594,43,2732,1732,-8.85,0.90,350.04
$IRIDIUM_FIX,2246.36,-15756.28,100500,232335
$TT8_MAMPS,0.023777
$HUMID,1844
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.5,94.883
$10V_AH,10.7,53.279
$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,21.125,99.800,323.500,68.350,0.000,56.095,72.260,234.509,0.000,0.000,0.000,15.437,927.457,7155.375,454.114,1673.532,709.250,33.373,1170.296,0.000,1661.926,0.000,0.543,0.000
$DEVICE_MAMPS,227.032,80.535,1048.489,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.757,593.654,613.695,129.626,534.589,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35108,417
$CAP_FILE_SIZE,89710,0
$CFSIZE,260165632,233504768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,150211,015236,2251.902,-15756.408,14,1.9,25,10.1