version: 66.04
glider: 512
mission: 1
dive: 727
start: 2 16 111 7 58 7
data:
$ID,512
$MISSION,1
$DIVE,727
$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,-21691.402
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,075130,2247.749,-15755.784,37,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.8
$GPS2,075714,2247.796,-15755.819,13,1.2,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.071,-0.246
$KALMAN_X,-205394.6,-600.4,122.8,232027.0,-569.2
$KALMAN_Y,-501482.8,-1152.8,195.6,627502.7,2443.3
$MHEAD_RNG_PITCHd_Wd,186.0,3689,-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,-45.25,0.000,2,0.000,0.000,41,2783,2901
$GC,69,-0.85,-146.0,3.0,-4.1,6,109,11.18,2.28,-17.48,0.000,4,0.236,0.038,2599,1288,3758
$GC,187,-0.85,-146.0,28.8,-13.4,25,195,0.00,2.35,0.00,0.000,6,0.000,0.064,2590,2695,3759
$GC,451,-0.85,-146.0,93.9,-25.6,50,454,0.00,1.95,0.00,0.000,4,0.000,0.064,2580,3900,3760
$GC,466,-0.85,-146.0,97.3,-24.5,51,470,0.00,1.80,0.00,0.000,6,0.000,0.025,2580,2674,3760
$GC,736,-0.85,-146.0,152.4,-19.0,76,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2667,3762
$GC,999,-0.85,-146.0,197.1,-15.9,101,1003,0.00,2.00,0.00,0.000,4,0.000,0.025,2584,1283,3763
$GC,1033,-0.85,-146.0,202.7,-15.3,103,1038,0.00,2.30,0.00,0.000,6,0.000,0.057,2577,2707,3763
$GC,1284,-0.85,-146.0,241.4,-15.7,109,1288,0.00,2.08,0.00,0.000,4,0.000,0.031,2577,1307,3763
$GC,1297,-0.85,-146.0,243.7,-16.0,109,1301,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2708,3763
$GC,1572,-0.85,-146.0,284.3,-14.6,116,1575,0.00,2.05,0.00,0.000,4,0.000,0.026,2576,1310,3764
$GC,1623,-0.85,-146.0,291.5,-11.7,117,1627,0.00,2.30,0.00,0.000,6,0.000,0.068,2576,2703,3764
$GC,1902,-0.85,-146.0,328.2,-13.2,124,1906,0.00,2.05,0.00,0.000,4,0.000,0.028,2576,1316,3763
$GC,1941,-0.85,-146.0,333.3,-11.9,124,1948,0.00,2.28,0.00,0.000,6,0.000,0.067,2576,2701,3764
$GC,2194,-0.85,-146.0,363.4,-12.3,131,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3763
$GC,2436,-0.85,-146.0,393.4,-12.3,137,2440,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1313,3762
$GC,2494,-0.85,-146.0,399.7,-10.0,138,2498,0.00,2.28,0.00,0.000,6,0.000,0.062,2576,2709,3762
$GC,2767,-0.85,-146.0,429.8,-11.1,145,2771,0.00,1.98,0.00,0.000,4,0.000,0.078,2576,3893,3760
$GC,2785,-0.85,-146.0,431.9,-11.0,145,2789,0.00,1.73,0.00,0.000,6,0.000,0.026,2576,2702,3760
$GC,3059,-0.85,-146.0,462.7,-11.6,152,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2696,3759
$GC,3303,-0.85,-146.0,489.8,-11.0,158,3306,0.00,2.08,0.00,0.000,4,0.000,0.032,2576,1307,3758
$GC,3349,-0.85,-146.0,494.7,-9.7,159,3354,0.00,2.28,0.00,0.000,6,0.000,0.061,2576,2704,3757
$GC,3635,-0.85,-146.0,524.3,-10.6,166,3639,0.00,1.98,0.00,0.000,4,0.000,0.071,2567,3903,3755
$GC,3682,-0.85,-146.0,529.6,-10.5,167,3687,0.08,1.77,0.00,0.000,6,0.133,0.027,2593,2717,3754
$GC,3973,-0.85,-146.0,555.5,-8.7,174,3976,0.00,2.12,0.00,0.000,4,0.000,0.032,2603,1292,3752
$GC,4030,-0.85,-146.0,560.3,-7.8,175,4034,0.00,2.30,0.00,0.000,6,0.000,0.059,2594,2713,3751
$GC,4303,-0.85,-146.0,583.3,-8.6,182,4307,0.00,2.12,0.00,0.000,4,0.000,0.031,2601,1299,3750
$GC,4333,-0.85,-146.0,586.0,-9.3,182,4337,0.00,2.28,0.00,0.000,6,0.000,0.058,2593,2705,3750
$STATE,4504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4504,begin apogee
$GC,4514,-0.32,0.0,601.5,8.9,187,4640,0.55,0.00,123.72,1.039,6,0.114,0.000,2767,2612,3160
$STATE,4641,end apogee,CONTROL_FINISHED_OK
$STATE,4641,begin climb
$GC,4645,0.85,146.0,608.3,0.0,190,4783,1.08,2.20,128.82,1.011,4,0.071,0.059,3139,3896,2563
$GC,4973,0.85,146.0,590.6,17.2,197,4977,0.00,1.90,0.00,0.000,6,0.000,0.031,3147,2643,2557
$GC,5241,0.85,146.0,547.9,15.6,204,5245,0.00,2.17,0.00,0.000,4,0.000,0.036,3158,1210,2552
$GC,5354,0.85,146.0,531.5,13.9,206,5359,0.00,2.25,0.00,0.000,6,0.000,0.048,3150,2630,2551
$GC,5617,0.85,146.0,495.8,13.3,213,5620,0.00,2.03,0.00,0.000,4,0.000,0.059,3149,3896,2548
$GC,5876,0.85,146.0,460.6,12.6,218,5880,0.00,1.90,0.00,0.000,6,0.000,0.028,3158,2620,2548
$GC,6133,0.85,146.0,434.3,9.9,225,6136,0.00,2.08,0.00,0.000,4,0.000,0.056,3150,3894,2547
$GC,6392,0.85,146.0,406.2,11.1,230,6396,0.00,1.90,0.00,0.000,6,0.000,0.028,3159,2617,2546
$GC,6649,0.86,151.7,381.9,9.4,237,6652,0.00,2.08,0.00,0.000,4,0.000,0.055,3152,3898,2544
$GC,6661,0.88,166.4,380.6,9.0,237,6682,0.00,1.92,16.12,0.870,6,0.000,0.028,3158,2622,2481
$GC,6933,0.88,166.4,347.7,12.7,244,6937,0.00,2.10,0.00,0.000,4,0.000,0.032,3170,1223,2478
$GC,7192,0.88,166.4,317.6,11.6,249,7196,0.00,2.22,0.00,0.000,6,0.000,0.047,3163,2634,2476
$GC,7444,0.88,166.4,289.3,10.5,255,7447,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1213,2475
$GC,7703,0.98,244.2,266.9,6.2,260,7778,0.00,2.20,68.20,0.822,6,0.000,0.045,3163,2626,2164
$GC,8041,0.98,244.2,198.0,23.8,269,8045,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1217,2156
$GC,8303,0.98,244.2,142.1,20.1,292,8307,0.00,2.22,0.00,0.000,6,0.000,0.047,3168,2630,2153
$GC,8566,0.98,244.2,91.6,18.1,316,8570,0.00,2.00,0.00,0.000,4,0.000,0.051,3163,3896,2153
$GC,8702,0.98,244.2,66.6,17.4,328,8706,0.00,1.88,0.00,0.000,6,0.000,0.026,3171,2618,2152
$GC,8971,0.98,244.2,20.4,17.0,357,8979,0.00,2.08,0.00,0.000,4,0.000,0.027,3181,1220,2152
$STATE,9064,end climb,SURFACE_DEPTH_REACHED
$STATE,9064,begin surface coast
$FINISH,0.2,1.023807
$STATE,9081,end surface coast,CONTROL_FINISHED_OK
$STATE,9081,begin surface
$SM_CCo,9107,59.92,0.596,0,0,1732,350.04
$SM_GC,2.00,0.00,0.00,59.92,0.000,0.000,0.596,44,2719,1732,-8.85,0.54,350.04
$IRIDIUM_FIX,2239.35,-15751.94,120500,050554
$TT8_MAMPS,0.023777
$HUMID,1855
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.5,96.302
$10V_AH,10.6,54.286
$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,21.250,92.575,336.875,59.925,0.000,28.307,32.625,136.975,0.250,0.000,0.000,13.462,840.130,6129.129,433.573,1588.646,523.393,33.367,1121.495,0.000,1575.850,0.000,0.542,0.000
$DEVICE_MAMPS,236.236,78.234,1038.518,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,255.459,548.654,564.202,124.780,514.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32069,377
$CAP_FILE_SIZE,78977,0
$CFSIZE,260165632,233005056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,160211,103206,2247.093,-15756.560,27,1.6,28,10.1