version: 66.04
glider: 512
mission: 1
dive: 720
start: 2 15 111 12 1 53
data:
$ID,512
$MISSION,1
$DIVE,720
$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,-21549.344
$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,72
$R_STBD_OVSHOOT,28
$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
$GPS1,115455,2253.151,-15754.449,12,1.9,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.3
$GPS2,120101,2253.178,-15754.485,42,1.4,42,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.017,-0.256
$KALMAN_X,-202096.8,50.1,215.2,230279.5,-2094.6
$KALMAN_Y,-514712.1,92.0,-9.3,649664.0,-1450.1
$MHEAD_RNG_PITCHd_Wd,173.7,12764,-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,-45.25,0.000,2,0.000,0.000,44,2715,2898
$GC,68,-0.85,-146.0,3.2,-5.0,6,109,11.73,2.15,-17.10,0.000,4,0.252,0.041,2603,1312,3758
$GC,156,-0.85,-146.0,26.1,-20.0,19,164,0.00,2.30,0.00,0.000,6,0.000,0.061,2594,2694,3760
$GC,424,-0.85,-146.0,95.8,-27.2,45,427,0.00,2.05,0.00,0.000,4,0.000,0.028,2602,1316,3761
$GC,442,-0.85,-146.0,101.6,-26.7,46,450,0.00,2.22,0.00,0.000,6,0.000,0.054,2593,2694,3761
$GC,705,-0.85,-146.0,155.2,-17.7,71,709,0.00,2.05,0.00,0.000,4,0.000,0.026,2601,1306,3762
$GC,767,-0.85,-146.0,163.9,-11.8,76,771,0.00,2.28,0.00,0.000,6,0.000,0.061,2592,2702,3762
$GC,1038,-0.85,-146.0,207.2,-16.3,98,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2702,3763
$GC,1283,-0.85,-146.0,245.4,-15.1,104,1287,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1308,3763
$GC,1363,-0.85,-146.0,254.6,-9.4,105,1367,0.00,2.25,0.00,0.000,6,0.000,0.057,2591,2704,3763
$GC,1615,-0.85,-146.0,286.7,-13.5,111,1619,0.00,2.05,0.00,0.000,4,0.000,0.026,2599,1303,3764
$GC,1650,-0.85,-146.0,291.7,-12.9,111,1654,0.00,2.25,0.00,0.000,6,0.000,0.056,2590,2701,3764
$GC,1901,-0.85,-146.0,322.1,-12.1,117,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2701,3764
$GC,2144,-0.85,-146.0,349.8,-11.4,123,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2701,3763
$GC,2388,-0.85,-146.0,377.9,-11.4,129,2392,0.00,2.05,0.00,0.000,4,0.000,0.027,2598,1314,3762
$GC,2400,-0.85,-146.0,379.4,-11.6,129,2404,0.00,2.20,0.00,0.000,6,0.000,0.051,2589,2701,3762
$GC,2674,-0.85,-146.0,410.2,-11.3,136,2678,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1315,3761
$GC,2711,-0.85,-146.0,414.0,-9.9,136,2715,0.00,2.22,0.00,0.000,6,0.000,0.054,2589,2701,3760
$GC,2964,-0.85,-146.0,439.3,-10.0,142,2967,0.00,2.05,0.00,0.000,4,0.000,0.027,2598,1314,3759
$GC,2981,-0.85,-146.0,441.2,-9.7,142,2985,0.00,2.22,0.00,0.000,6,0.000,0.054,2590,2705,3759
$GC,3250,-0.85,-146.0,466.1,-9.5,149,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2706,3757
$GC,3493,-0.85,-146.0,488.0,-8.7,155,3497,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1312,3755
$GC,3528,-0.85,-146.0,491.1,-8.2,155,3532,0.00,2.25,0.00,0.000,6,0.000,0.054,2589,2705,3755
$GC,3781,-0.85,-146.0,511.4,-8.2,161,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2706,3753
$GC,4023,-0.85,-146.0,530.3,-7.8,167,4027,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1312,3752
$GC,4058,-0.85,-146.0,533.2,-7.4,167,4062,0.00,2.25,0.00,0.000,6,0.000,0.056,2589,2701,3752
$GC,4309,-0.85,-146.0,552.9,-8.0,173,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2701,3750
$GC,4554,-0.85,-146.0,573.4,-8.5,179,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2701,3748
$GC,4797,-0.85,-146.0,594.4,-8.6,185,4800,0.00,2.08,0.00,0.000,4,0.000,0.029,2598,1311,3747
$GC,4826,-0.85,-146.0,596.9,-8.7,185,4830,0.00,2.28,0.00,0.000,6,0.000,0.058,2590,2706,3747
$STATE,4875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4875,begin apogee
$GC,4884,-0.32,0.0,601.0,7.8,187,5010,0.60,0.00,123.03,1.039,6,0.143,0.000,2767,2706,3160
$STATE,5011,end apogee,CONTROL_FINISHED_OK
$STATE,5011,begin climb
$GC,5015,0.85,146.0,606.7,0.0,190,5152,1.08,2.05,128.15,1.017,4,0.074,0.059,3137,3900,2563
$GC,5414,0.85,146.0,576.2,16.9,199,5418,0.00,1.88,0.00,0.000,6,0.000,0.028,3145,2637,2556
$GC,5706,0.85,146.0,532.3,14.7,206,5710,0.00,2.03,0.00,0.000,4,0.000,0.055,3146,3902,2552
$GC,5965,0.85,146.0,493.6,13.2,211,5969,0.00,1.90,0.00,0.000,6,0.000,0.028,3155,2614,2551
$GC,6224,0.85,146.0,463.3,11.5,218,6228,0.00,2.10,0.00,0.000,4,0.000,0.055,3150,3909,2549
$GC,6253,0.85,146.0,459.7,11.9,218,6257,0.00,1.92,0.00,0.000,6,0.000,0.028,3158,2631,2549
$GC,6515,0.85,146.0,430.1,11.3,225,6519,0.00,2.10,0.00,0.000,4,0.000,0.030,3169,1209,2547
$GC,6572,0.85,146.0,424.2,10.3,226,6576,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2634,2547
$GC,6846,0.85,146.0,393.5,11.4,233,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2634,2546
$GC,7089,0.88,169.6,371.1,8.6,239,7113,0.00,2.17,19.05,0.878,4,0.000,0.031,3172,1221,2468
$GC,7205,0.88,169.6,358.0,12.4,241,7209,0.00,2.22,0.00,0.000,6,0.000,0.049,3172,2622,2466
$GC,7461,0.88,169.6,325.0,13.2,248,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2622,2463
$GC,7705,0.88,169.6,295.2,11.9,254,7708,0.00,2.00,0.00,0.000,4,0.000,0.053,3162,3898,2462
$GC,7745,0.88,169.6,290.9,10.6,254,7751,0.00,1.90,0.00,0.000,6,0.000,0.028,3171,2609,2462
$GC,7997,0.88,169.6,264.5,10.9,261,8001,0.00,2.08,0.00,0.000,4,0.000,0.051,3163,3905,2461
$GC,8187,0.88,169.6,244.7,10.5,265,8191,0.00,1.90,0.00,0.000,6,0.000,0.027,3171,2615,2461
$GC,8472,0.93,204.7,220.6,8.1,272,8508,0.00,2.08,31.20,0.779,4,0.000,0.048,3163,3900,2324
$GC,8515,0.93,204.7,216.9,10.1,272,8519,0.00,1.90,0.00,0.000,6,0.000,0.027,3171,2628,2322
$GC,8777,0.93,204.7,172.8,16.6,288,8781,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1213,2319
$GC,8791,0.93,204.7,170.9,15.7,289,8796,0.00,2.22,0.00,0.000,6,0.000,0.043,3179,2635,2318
$GC,9057,0.93,204.7,128.9,12.1,313,9060,0.00,1.98,0.00,0.000,4,0.000,0.052,3176,3896,2318
$GC,9315,0.96,233.1,106.2,8.4,336,9345,0.00,1.88,24.95,0.669,6,0.000,0.025,3184,2603,2209
$GC,9604,0.96,233.1,66.2,17.1,362,9607,0.00,2.05,0.00,0.000,4,0.000,0.049,3176,3901,2205
$GC,9718,0.96,233.1,44.7,20.4,372,9727,0.00,1.90,0.00,0.000,6,0.000,0.026,3184,2632,2205
$STATE,9950,end climb,SURFACE_DEPTH_REACHED
$STATE,9950,begin surface coast
$FINISH,0.4,1.023813
$STATE,9968,end surface coast,CONTROL_FINISHED_OK
$STATE,9968,begin surface
$SM_CCo,9991,60.22,0.582,0,0,1732,350.04
$SM_GC,2.18,0.00,0.00,60.22,0.000,0.000,0.582,51,2760,1732,-8.82,1.70,350.04
$IRIDIUM_FIX,2244.02,-15756.28,110500,090944
$TT8_MAMPS,0.023777
$HUMID,1826
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.6,95.473
$10V_AH,10.7,53.685
$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,22.200,92.150,326.375,60.225,0.000,31.042,32.345,132.519,0.000,0.000,0.000,42.472,888.305,6986.888,428.734,1578.114,540.743,33.378,1093.993,0.000,1541.791,0.000,0.542,0.000
$DEVICE_MAMPS,252.343,66.729,1039.285,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.652,602.645,621.067,132.916,545.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35130,411
$CAP_FILE_SIZE,81621,0
$CFSIZE,260165632,233308160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,150211,145054,2252.573,-15754.746,27,1.8,45,10.1