version: 66.04
glider: 512
mission: 1
dive: 724
start: 2 15 111 23 13 53
data:
$ID,512
$MISSION,1
$DIVE,724
$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,-21627.582
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,230706,2250.441,-15754.786,34,1.3,44,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.0
$GPS2,231301,2250.453,-15754.822,13,1.5,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.104,-0.234
$KALMAN_X,-204144.5,787.6,115.8,231111.8,-1851.9
$KALMAN_Y,-506998.9,1000.0,-528.5,636508.5,2226.7
$MHEAD_RNG_PITCHd_Wd,146.0,8170,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-45.20,0.000,2,0.000,0.000,40,2753,2888
$GC,68,-0.85,-146.0,3.2,-4.8,6,102,10.82,2.28,-17.77,0.000,4,0.227,0.041,2586,1277,3757
$GC,149,-0.85,-146.0,24.2,-24.0,18,157,0.00,2.38,0.00,0.000,6,0.000,0.073,2578,2663,3759
$GC,417,-0.85,-146.0,98.2,-28.1,45,420,0.00,2.05,0.00,0.000,4,0.000,0.074,2568,3899,3759
$GC,475,-0.85,-146.0,113.8,-21.1,50,479,0.12,1.80,0.00,0.000,6,0.149,0.027,2600,2689,3760
$GC,746,-0.85,-146.0,158.2,-17.0,75,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2682,3761
$GC,1011,-0.85,-146.0,197.7,-13.9,100,1015,0.00,2.08,0.00,0.000,4,0.000,0.031,2611,1283,3763
$GC,1096,-0.85,-146.0,207.5,-8.7,103,1102,0.00,2.33,0.00,0.000,6,0.000,0.064,2602,2707,3763
$GC,1347,-0.85,-146.0,239.7,-13.7,110,1351,0.00,2.12,0.00,0.000,4,0.000,0.030,2609,1277,3763
$GC,1370,-0.85,-146.0,243.0,-13.5,110,1375,0.00,2.33,0.00,0.000,6,0.000,0.066,2600,2702,3763
$GC,1638,-0.85,-146.0,274.4,-11.9,117,1642,0.00,2.00,0.00,0.000,4,0.000,0.079,2591,3896,3763
$GC,1685,-0.85,-146.0,279.9,-10.7,118,1689,0.00,1.77,0.00,0.000,6,0.000,0.025,2598,2681,3763
$GC,1976,-0.85,-146.0,310.5,-10.7,125,1980,0.00,2.03,0.00,0.000,4,0.000,0.028,2609,1291,3763
$GC,2038,-0.85,-146.0,316.1,-8.6,126,2042,0.00,2.28,0.00,0.000,6,0.000,0.057,2600,2704,3763
$GC,2305,-0.85,-146.0,342.8,-10.3,133,2309,0.00,1.95,0.00,0.000,4,0.000,0.072,2590,3892,3762
$GC,2334,-0.85,-146.0,345.8,-9.8,133,2338,0.00,1.75,0.00,0.000,6,0.000,0.025,2597,2694,3762
$GC,2597,-0.85,-146.0,371.3,-9.8,140,2600,0.00,2.08,0.00,0.000,4,0.000,0.029,2607,1288,3761
$GC,2648,-0.85,-146.0,376.0,-7.9,141,2653,0.00,2.30,0.00,0.000,6,0.000,0.059,2599,2711,3761
$GC,2928,-0.85,-146.0,403.6,-10.2,148,2932,0.00,2.10,0.00,0.000,4,0.000,0.030,2607,1297,3759
$GC,2946,-0.85,-146.0,405.7,-10.6,148,2950,0.00,2.25,0.00,0.000,6,0.000,0.055,2599,2702,3759
$GC,3213,-0.85,-146.0,432.8,-10.2,155,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2703,3758
$GC,3458,-0.85,-146.0,457.1,-9.9,161,3462,0.00,1.95,0.00,0.000,4,0.000,0.072,2590,3888,3756
$GC,3487,-0.85,-146.0,460.4,-9.8,161,3490,0.00,1.75,0.00,0.000,6,0.000,0.027,2596,2701,3756
$GC,3750,-0.85,-146.0,485.7,-9.6,168,3753,0.00,2.08,0.00,0.000,4,0.000,0.031,2607,1301,3755
$GC,3807,-0.85,-146.0,490.7,-8.1,169,3811,0.00,2.28,0.00,0.000,6,0.000,0.059,2598,2703,3754
$GC,4082,-0.85,-146.0,514.7,-8.8,176,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2703,3752
$GC,4325,-0.85,-146.0,536.3,-9.0,182,4329,0.00,1.98,0.00,0.000,4,0.000,0.074,2589,3889,3750
$GC,4348,-0.85,-146.0,538.7,-9.6,182,4352,0.00,1.77,0.00,0.000,6,0.000,0.028,2594,2691,3750
$GC,4617,-0.85,-146.0,561.8,-8.8,189,4620,0.00,2.08,0.00,0.000,4,0.000,0.032,2604,1296,3749
$GC,4652,-0.85,-146.0,565.0,-8.7,189,4656,0.00,2.28,0.00,0.000,6,0.000,0.060,2596,2699,3748
$GC,4911,-0.85,-146.0,586.8,-8.5,196,4914,0.00,2.03,0.00,0.000,4,0.000,0.083,2589,3892,3746
$GC,4934,-0.85,-146.0,589.1,-8.5,196,4938,0.00,1.80,0.00,0.000,6,0.000,0.028,2594,2697,3746
$STATE,5077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5077,begin apogee
$GC,5087,-0.32,0.0,600.5,7.8,200,5213,0.55,0.00,123.18,1.039,6,0.120,0.000,2768,2617,3160
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5214,begin climb
$GC,5219,0.85,146.0,606.5,0.0,203,5356,1.10,2.25,128.52,1.012,4,0.088,0.035,3155,1235,2563
$GC,5618,0.85,146.0,579.7,16.0,212,5622,0.00,2.22,0.00,0.000,6,0.000,0.049,3150,2630,2555
$GC,5903,0.85,146.0,537.8,14.2,219,5907,0.00,2.12,0.00,0.000,4,0.000,0.035,3158,1233,2552
$GC,5915,0.85,146.0,536.0,14.1,219,5919,0.00,2.22,0.00,0.000,6,0.000,0.053,3158,2624,2552
$GC,6190,0.85,146.0,501.2,12.5,226,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2624,2550
$GC,6435,0.85,146.0,473.3,11.1,232,6438,0.00,2.12,0.00,0.000,4,0.000,0.035,3168,1214,2548
$GC,6693,0.85,146.0,445.1,12.0,237,6697,0.00,2.25,0.00,0.000,6,0.000,0.048,3163,2634,2548
$GC,6951,0.85,146.0,416.7,10.8,244,6954,0.00,2.03,0.00,0.000,4,0.000,0.059,3163,3900,2546
$GC,7087,0.85,146.0,400.9,12.5,247,7091,0.00,1.90,0.00,0.000,6,0.000,0.029,3170,2622,2545
$GC,7377,0.87,158.8,372.0,9.0,254,7391,0.00,2.17,9.10,0.810,4,0.000,0.035,3182,1213,2512
$GC,7630,0.87,158.8,347.1,9.8,259,7634,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2624,2511
$GC,7887,0.87,158.8,320.6,10.2,266,7891,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,1211,2510
$GC,8147,0.90,182.4,298.3,8.6,271,8176,0.00,2.22,22.42,0.830,6,0.000,0.047,3176,2625,2416
$GC,8445,0.90,182.4,259.8,13.4,279,8449,0.00,2.12,0.00,0.000,4,0.000,0.030,3185,1207,2411
$GC,8609,0.90,182.4,239.1,11.8,282,8613,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2624,2410
$GC,8872,0.90,182.4,210.9,10.7,289,8875,0.00,2.10,0.00,0.000,4,0.000,0.029,3185,1210,2410
$GC,9133,0.91,192.8,186.2,9.2,303,9148,0.00,2.22,9.88,0.690,6,0.000,0.043,3177,2635,2373
$GC,9406,0.91,192.8,158.3,11.6,328,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2635,2371
$GC,9671,1.03,284.4,137.8,5.5,353,9757,0.00,2.08,79.00,0.702,4,0.000,0.056,3175,3903,2000
$GC,10006,1.03,284.4,65.7,23.4,382,10014,0.00,1.95,0.00,0.000,6,0.000,0.028,3183,2624,1995
$STATE,10261,end climb,SURFACE_DEPTH_REACHED
$STATE,10261,begin surface coast
$FINISH,0.4,1.023794
$STATE,10273,end surface coast,CONTROL_FINISHED_OK
$STATE,10273,begin surface
$SM_CCo,10297,32.03,0.578,0,0,1732,350.04
$SM_GC,1.20,0.00,0.00,32.03,0.000,0.000,0.578,42,2763,1732,-8.86,1.78,350.04
$IRIDIUM_FIX,2241.69,-15754.11,110500,202004
$TT8_MAMPS,0.023777
$HUMID,1879
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.5,95.941
$10V_AH,10.7,54.030
$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,21.025,96.600,372.100,32.025,0.000,22.922,34.169,148.348,0.500,0.000,0.000,18.903,926.062,7041.693,426.106,1734.276,558.876,33.367,1193.049,0.000,1714.899,0.000,0.542,0.000
$DEVICE_MAMPS,227.032,82.836,1039.285,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.023,595.914,615.867,116.950,483.126,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35003,417
$CAP_FILE_SIZE,86784,0
$CFSIZE,260165632,233127936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,160211,020730,2249.350,-15754.839,37,1.1,43,10.1