version: 66.04
glider: 512
mission: 1
dive: 721
start: 2 15 111 14 57 37
data:
$ID,512
$MISSION,1
$DIVE,721
$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,-21566.422
$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,51
$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
$GPS1,145054,2252.573,-15754.746,27,1.8,45,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.2
$GPS2,145644,2252.616,-15754.752,16,1.7,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.031,-0.254
$KALMAN_X,-202783.7,476.9,356.9,229939.0,-1838.9
$KALMAN_Y,-512881.4,194.7,426.3,646228.7,289.7
$MHEAD_RNG_PITCHd_Wd,163.0,11630,-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,-45.30,0.000,2,0.000,0.000,51,2759,2908
$GC,69,-0.85,-146.0,3.1,-4.6,6,102,11.57,2.25,-16.92,0.000,4,0.249,0.039,2596,1295,3759
$GC,165,-0.85,-146.0,29.8,-20.9,21,173,0.00,2.25,0.00,0.000,6,0.000,0.061,2587,2652,3760
$GC,429,-0.85,-146.0,99.3,-27.8,46,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2652,3761
$GC,684,-0.85,-146.0,156.4,-17.5,70,688,0.00,1.98,0.00,0.000,4,0.000,0.025,2593,1290,3763
$GC,701,-0.85,-146.0,160.1,-17.8,71,709,0.00,2.30,0.00,0.000,6,0.000,0.055,2585,2707,3763
$GC,972,-0.85,-146.0,207.2,-16.6,94,976,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,1291,3764
$GC,984,-0.85,-146.0,209.5,-16.7,94,988,0.00,2.25,0.00,0.000,6,0.000,0.053,2578,2705,3764
$GC,1259,-0.85,-146.0,256.6,-17.1,101,1262,0.00,2.08,0.00,0.000,4,0.000,0.027,2584,1299,3764
$GC,1327,-0.85,-146.0,266.3,-12.0,102,1331,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2706,3765
$GC,1589,-0.85,-146.0,304.1,-14.7,109,1593,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1298,3764
$GC,1612,-0.85,-146.0,307.7,-15.1,109,1617,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2704,3765
$GC,1876,-0.85,-146.0,340.7,-12.5,116,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2704,3765
$GC,2120,-0.85,-146.0,370.7,-12.1,122,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2704,3763
$GC,2362,-0.85,-146.0,400.0,-12.0,128,2366,0.00,2.10,0.00,0.000,4,0.000,0.028,2576,1295,3763
$GC,2409,-0.85,-146.0,405.6,-11.1,129,2413,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2701,3763
$GC,2695,-0.85,-146.0,441.2,-12.7,136,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3761
$GC,2937,-0.85,-146.0,472.0,-12.6,142,2941,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1301,3760
$GC,2977,-0.85,-146.0,477.1,-11.8,142,2983,0.00,2.30,0.00,0.000,6,0.000,0.064,2576,2702,3759
$GC,3228,-0.85,-146.0,506.9,-12.1,149,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2702,3758
$GC,3472,-0.85,-146.0,534.8,-11.4,155,3475,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1301,3756
$GC,3495,-0.85,-146.0,537.6,-11.8,155,3499,0.00,2.33,0.00,0.000,6,0.000,0.066,2575,2708,3756
$GC,3757,-0.85,-146.0,567.5,-11.5,162,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2708,3754
$GC,4001,-0.85,-146.0,594.0,-10.9,168,4004,0.00,2.10,0.00,0.000,4,0.000,0.030,2576,1304,3751
$GC,4035,-0.85,-146.0,597.8,-10.6,168,4039,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2705,3751
$STATE,4079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4079,begin apogee
$GC,4089,-0.32,0.0,602.4,9.7,169,4216,0.68,0.00,123.93,1.036,6,0.166,0.000,2766,2617,3160
$STATE,4217,end apogee,CONTROL_FINISHED_OK
$STATE,4217,begin climb
$GC,4221,0.85,146.0,609.3,0.0,172,4354,1.12,0.00,128.43,1.011,6,0.075,0.000,3153,2617,2564
$GC,4570,0.85,146.0,591.2,16.2,181,4573,0.00,2.10,0.00,0.000,4,0.000,0.029,3163,1209,2556
$GC,4582,0.85,146.0,589.0,16.3,181,4586,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2634,2556
$GC,4855,0.85,146.0,546.9,15.3,188,4859,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1203,2553
$GC,4867,0.85,146.0,545.1,15.2,188,4871,0.00,2.25,0.00,0.000,6,0.000,0.050,3172,2625,2553
$GC,5140,0.85,146.0,505.1,14.6,195,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2624,2550
$GC,5385,0.85,146.0,475.4,11.8,201,5388,0.00,2.03,0.00,0.000,4,0.000,0.052,3163,3907,2548
$GC,5436,0.85,146.0,469.3,12.0,202,5440,0.00,1.90,0.00,0.000,6,0.000,0.027,3171,2618,2548
$GC,5722,0.85,146.0,438.0,10.6,209,5726,0.00,2.08,0.00,0.000,4,0.000,0.028,3181,1213,2546
$GC,5864,0.85,146.0,423.5,10.1,212,5868,0.00,2.20,0.00,0.000,6,0.000,0.044,3176,2628,2546
$GC,6148,0.85,146.0,393.5,11.0,219,6152,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1211,2545
$GC,6406,0.86,150.9,369.6,9.4,224,6410,0.00,2.20,0.00,0.000,6,0.000,0.044,3176,2630,2544
$GC,6666,0.92,202.9,349.8,7.3,231,6721,0.00,2.12,47.70,0.883,4,0.000,0.054,3175,3901,2332
$GC,6728,0.92,202.9,342.9,15.0,232,6732,0.00,1.92,0.00,0.000,6,0.000,0.028,3184,2635,2332
$GC,6996,0.92,202.9,289.1,19.4,239,7000,0.00,2.12,0.00,0.000,4,0.000,0.028,3195,1191,2325
$GC,7014,0.92,202.9,285.8,17.6,239,7018,0.00,2.25,0.00,0.000,6,0.000,0.044,3192,2624,2325
$GC,7284,0.92,202.9,235.7,18.0,246,7288,0.00,2.03,0.00,0.000,4,0.000,0.053,3192,3903,2323
$GC,7296,0.92,202.9,233.4,16.6,246,7300,0.00,1.90,0.00,0.000,6,0.000,0.026,3199,2621,2323
$GC,7559,0.92,202.9,188.6,17.1,257,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2615,2322
$GC,7823,0.92,202.9,146.8,15.6,282,7826,0.00,2.03,0.00,0.000,4,0.000,0.051,3200,3900,2321
$GC,8080,0.92,202.9,109.8,14.2,305,8084,0.17,1.88,0.00,0.000,6,0.262,0.027,3177,2621,2322
$GC,8352,1.03,286.8,90.3,5.9,330,8427,0.00,2.12,70.78,0.663,4,0.000,0.048,3176,3899,1989
$GC,8562,1.03,286.8,48.6,25.7,348,8566,0.00,1.90,0.00,0.000,6,0.000,0.025,3184,2624,1985
$STATE,8731,end climb,SURFACE_DEPTH_REACHED
$STATE,8732,begin surface coast
$FINISH,0.3,1.023829
$STATE,8749,end surface coast,CONTROL_FINISHED_OK
$STATE,8749,begin surface
$SM_CCo,8773,29.58,0.575,0,0,1732,350.04
$SM_GC,1.23,0.00,0.00,29.58,0.000,0.000,0.575,51,2751,1732,-8.82,1.44,350.04
$IRIDIUM_FIX,2244.02,-15756.28,110500,121255
$TT8_MAMPS,0.023777
$HUMID,1865
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.60
$XPDR_PINGS,4
$24V_AH,23.6,95.588
$10V_AH,10.7,53.763
$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,22.425,81.250,370.825,29.575,0.000,23.945,35.215,143.792,1.000,0.000,0.000,16.448,788.371,6074.222,430.896,1344.354,518.920,33.373,1018.046,0.000,1338.897,0.000,0.542,0.000
$DEVICE_MAMPS,262.314,67.496,1036.217,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,253.493,559.859,577.502,116.759,479.640,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31969,375
$CAP_FILE_SIZE,71177,0
$CFSIZE,260165632,233279488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,150211,172537,2252.066,-15754.712,32,1.0,33,10.1