version: 66.04
glider: 512
mission: 1
dive: 722
start: 2 15 111 17 36 17
data:
$ID,512
$MISSION,1
$DIVE,722
$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,-21591.412
$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,49
$R_STBD_OVSHOOT,72
$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
$GPS1,172537,2252.066,-15754.712,32,1.0,33,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.8
$GPS2,173525,2252.129,-15754.702,12,1.0,24,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.049,-0.252
$KALMAN_X,-203351.3,934.9,261.5,230232.8,-2002.2
$KALMAN_Y,-511112.5,517.6,734.7,642937.5,656.2
$MHEAD_RNG_PITCHd_Wd,158.9,10873,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,67,0.00,0.00,-45.25,0.000,2,0.000,0.000,49,2751,2888
$GC,72,-0.85,-146.0,3.2,-4.0,6,112,11.60,2.20,-17.25,0.000,4,0.249,0.039,2596,1294,3758
$GC,185,-0.85,-146.0,31.6,-18.4,24,189,0.00,2.22,0.00,0.000,6,0.000,0.068,2587,2645,3759
$GC,456,-0.85,-146.0,98.0,-25.9,49,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2643,3760
$GC,719,-0.85,-146.0,153.8,-16.7,74,723,0.00,1.98,0.00,0.000,4,0.000,0.025,2593,1290,3761
$GC,733,-0.85,-146.0,156.5,-18.0,75,737,0.00,2.17,0.00,0.000,6,0.000,0.058,2585,2648,3761
$GC,1021,-0.85,-146.0,207.3,-17.9,99,1025,0.00,1.95,0.00,0.000,4,0.000,0.070,2575,3842,3762
$GC,1038,-0.85,-146.0,210.4,-17.3,99,1042,0.00,1.67,0.00,0.000,6,0.000,0.023,2580,2672,3762
$GC,1312,-0.85,-146.0,254.9,-16.2,106,1316,0.00,2.00,0.00,0.000,4,0.000,0.027,2587,1302,3763
$GC,1369,-0.85,-146.0,262.6,-11.4,107,1373,0.00,2.17,0.00,0.000,6,0.000,0.057,2578,2649,3763
$GC,1649,-0.85,-146.0,302.5,-14.8,114,1653,0.00,1.95,0.00,0.000,4,0.000,0.067,2569,3830,3763
$GC,1677,-0.85,-146.0,307.0,-14.9,114,1681,0.00,1.62,0.00,0.000,6,0.000,0.023,2574,2701,3763
$GC,1941,-0.85,-146.0,341.4,-13.1,121,1945,0.00,2.03,0.00,0.000,4,0.000,0.027,2574,1302,3763
$GC,1981,-0.85,-146.0,346.9,-12.2,121,1987,0.00,2.20,0.00,0.000,6,0.000,0.063,2574,2651,3763
$GC,2232,-0.85,-146.0,378.1,-12.7,128,2236,0.00,2.05,0.00,0.000,4,0.000,0.073,2564,3896,3762
$GC,2289,-0.85,-146.0,385.1,-10.8,129,2293,0.10,1.75,0.00,0.000,6,0.159,0.025,2594,2681,3761
$GC,2569,-0.85,-146.0,412.4,-9.8,136,2573,0.00,2.03,0.00,0.000,4,0.000,0.028,2598,1306,3760
$GC,2621,-0.85,-146.0,417.5,-8.6,137,2626,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2704,3760
$GC,2901,-0.85,-146.0,446.3,-10.6,144,2904,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1312,3758
$GC,2924,-0.85,-146.0,449.0,-11.0,144,2928,0.00,2.28,0.00,0.000,6,0.000,0.063,2590,2705,3758
$GC,3188,-0.85,-146.0,475.6,-10.1,151,3191,0.00,2.10,0.00,0.000,4,0.000,0.029,2597,1304,3756
$GC,3217,-0.85,-146.0,478.6,-8.9,151,3221,0.00,2.30,0.00,0.000,6,0.000,0.064,2590,2705,3756
$GC,3473,-0.85,-146.0,502.1,-9.4,158,3477,0.00,1.98,0.00,0.000,4,0.000,0.072,2580,3901,3754
$GC,3502,-0.85,-146.0,505.1,-10.3,158,3506,0.00,1.77,0.00,0.000,6,0.000,0.026,2587,2708,3754
$GC,3765,-0.85,-146.0,529.3,-9.3,165,3768,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,1302,3752
$GC,3805,-0.85,-146.0,533.2,-8.6,165,3812,0.00,2.30,0.00,0.000,6,0.000,0.061,2578,2694,3751
$GC,4056,-0.85,-146.0,557.5,-9.7,172,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2694,3749
$GC,4300,-0.85,-146.0,580.1,-9.2,178,4304,0.00,2.03,0.00,0.000,4,0.000,0.078,2568,3898,3748
$GC,4330,-0.85,-146.0,583.0,-10.3,178,4333,0.00,1.77,0.00,0.000,6,0.000,0.028,2574,2691,3748
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4556,-0.32,0.0,603.6,9.5,184,4682,0.65,0.00,122.88,1.040,6,0.150,0.000,2765,2683,3160
$STATE,4683,end apogee,CONTROL_FINISHED_OK
$STATE,4683,begin climb
$GC,4687,0.85,146.0,609.8,0.0,187,4824,1.12,2.30,127.45,1.017,4,0.087,0.028,3158,1232,2564
$GC,5020,0.85,146.0,594.8,15.0,194,5024,0.00,2.22,0.00,0.000,6,0.000,0.045,3151,2637,2556
$GC,5277,0.85,146.0,556.4,15.1,201,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2637,2552
$GC,5520,0.85,146.0,520.1,14.6,207,5524,0.00,2.12,0.00,0.000,4,0.000,0.030,3159,1214,2550
$GC,5567,0.85,146.0,513.5,14.2,208,5571,0.00,2.22,0.00,0.000,6,0.000,0.046,3159,2632,2550
$GC,5851,0.85,146.0,477.2,12.2,215,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2632,2549
$GC,6096,0.85,146.0,446.1,13.0,221,6100,0.00,2.10,0.00,0.000,4,0.000,0.030,3168,1214,2547
$GC,6355,0.85,146.0,416.8,10.5,226,6359,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2628,2546
$GC,6608,0.85,146.0,389.8,10.7,232,6612,0.00,2.10,0.00,0.000,4,0.000,0.028,3171,1203,2545
$GC,6867,0.90,179.6,368.4,8.1,237,6901,0.00,2.25,27.38,0.892,6,0.000,0.044,3164,2632,2427
$GC,7165,0.90,179.6,326.0,15.7,245,7169,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1215,2422
$GC,7178,0.90,179.6,323.9,16.1,245,7182,0.00,2.22,0.00,0.000,6,0.000,0.048,3172,2623,2422
$GC,7451,0.90,179.6,284.1,13.6,252,7455,0.00,2.10,0.00,0.000,4,0.000,0.028,3181,1205,2421
$GC,7558,0.90,179.6,270.5,12.7,254,7562,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2632,2421
$GC,7830,0.90,179.6,236.8,12.5,261,7833,0.00,2.00,0.00,0.000,4,0.000,0.054,3176,3897,2419
$GC,7841,0.90,179.6,235.0,12.4,261,7845,0.00,1.88,0.00,0.000,6,0.000,0.026,3184,2621,2419
$GC,8121,0.90,179.6,203.9,11.5,268,8125,0.00,2.00,0.00,0.000,4,0.000,0.048,3176,3901,2419
$GC,8181,0.90,179.6,197.3,11.7,270,8184,0.00,1.88,0.00,0.000,6,0.000,0.028,3184,2630,2419
$GC,8451,0.91,190.1,171.2,9.2,295,8465,0.00,2.08,9.48,0.677,4,0.000,0.048,3176,3900,2385
$GC,8720,0.91,190.1,140.6,11.8,318,8729,0.00,1.92,0.00,0.000,6,0.000,0.026,3185,2607,2384
$GC,8986,0.98,246.5,118.9,7.1,343,9040,0.00,2.08,49.45,0.687,4,0.000,0.025,3195,1221,2155
$GC,9239,0.98,246.5,83.7,16.3,364,9247,0.00,2.22,0.00,0.000,6,0.000,0.042,3192,2623,2149
$GC,9503,0.98,246.5,33.4,20.2,389,9507,0.00,2.00,0.00,0.000,4,0.000,0.048,3192,3907,2149
$GC,9587,0.98,246.5,14.4,23.8,402,9595,0.00,1.90,0.00,0.000,6,0.000,0.025,3199,2642,2148
$STATE,9633,end climb,SURFACE_DEPTH_REACHED
$STATE,9633,begin surface coast
$FINISH,0.5,1.023805
$STATE,9646,end surface coast,CONTROL_FINISHED_OK
$STATE,9646,begin surface
$SM_CCo,9669,50.25,0.583,0,0,1732,350.04
$SM_GC,2.18,0.00,0.00,50.25,0.000,0.000,0.583,49,2755,1732,-8.83,1.55,350.04
$IRIDIUM_FIX,2241.69,-15754.11,110500,171733
$TT8_MAMPS,0.02301
$HUMID,1847
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,95.707
$10V_AH,10.7,53.853
$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,22.375,99.275,336.625,50.250,0.000,54.926,80.164,236.799,0.250,0.000,0.000,24.364,885.141,6670.143,427.864,1616.719,713.209,33.370,1127.518,0.000,1590.398,0.000,0.543,0.000
$DEVICE_MAMPS,248.508,78.234,1040.052,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.604,618.357,637.753,128.653,531.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35390,412
$CAP_FILE_SIZE,85702,0
$CFSIZE,260165632,233222144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,150211,201937,2251.319,-15754.659,36,1.2,36,10.1