version: 66.04
glider: 512
mission: 1
dive: 730
start: 2 16 111 15 45 1
data:
$ID,512
$MISSION,1
$DIVE,730
$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,-21735.572
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,153454,2246.829,-15759.332,27,1.1,45,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.4
$GPS2,154408,2246.946,-15759.354,12,1.2,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.224,-0.125
$KALMAN_X,-206092.2,738.3,87.7,225342.4,-257.7
$KALMAN_Y,-497834.2,-69.3,-526.0,621938.9,3434.1
$MHEAD_RNG_PITCHd_Wd,230.7,6227,-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,-45.28,0.000,2,0.000,0.000,34,2732,2904
$GC,69,-0.85,-146.0,3.4,-4.9,6,103,11.20,2.25,-16.65,0.000,4,0.236,0.040,2595,1276,3758
$GC,192,-0.85,-146.0,34.2,-17.3,24,196,0.00,2.25,0.00,0.000,6,0.000,0.055,2586,2674,3760
$GC,462,-0.85,-146.0,102.7,-25.5,49,466,0.00,2.05,0.00,0.000,4,0.000,0.025,2586,1274,3761
$GC,491,-0.85,-146.0,110.2,-22.9,51,497,0.00,2.35,0.00,0.000,6,0.000,0.060,2577,2693,3761
$GC,755,-0.85,-146.0,168.2,-20.9,76,759,0.00,1.95,0.00,0.000,4,0.000,0.066,2567,3894,3762
$GC,794,-0.85,-146.0,175.8,-19.2,79,798,0.12,1.75,0.00,0.000,6,0.148,0.023,2599,2674,3762
$GC,1077,-0.85,-146.0,218.8,-14.9,97,1081,0.00,1.98,0.00,0.000,4,0.000,0.025,2610,1302,3763
$GC,1151,-0.85,-146.0,227.4,-9.5,98,1155,0.00,2.25,0.00,0.000,6,0.000,0.053,2601,2711,3763
$GC,1409,-0.85,-146.0,258.4,-12.0,105,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2712,3763
$GC,1653,-0.85,-146.0,286.2,-11.3,111,1656,0.00,2.08,0.00,0.000,4,0.000,0.025,2609,1301,3763
$GC,1693,-0.85,-146.0,290.3,-8.4,111,1699,0.00,2.22,0.00,0.000,6,0.000,0.051,2600,2710,3763
$GC,1945,-0.85,-146.0,313.7,-9.6,118,1948,0.00,2.08,0.00,0.000,4,0.000,0.025,2609,1298,3763
$GC,1985,-0.85,-146.0,317.4,-8.3,118,1992,0.00,2.22,0.00,0.000,6,0.000,0.051,2600,2707,3763
$GC,2237,-0.85,-146.0,342.9,-10.6,125,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2707,3762
$GC,2481,-0.85,-146.0,368.6,-10.5,131,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2706,3761
$GC,2724,-0.85,-146.0,392.9,-9.8,137,2728,0.00,2.10,0.00,0.000,4,0.000,0.028,2609,1299,3759
$GC,2753,-0.85,-146.0,395.7,-8.8,137,2757,0.00,2.25,0.00,0.000,6,0.000,0.058,2600,2703,3759
$GC,3016,-0.85,-146.0,419.3,-9.2,144,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2702,3759
$GC,3259,-0.85,-146.0,442.8,-9.8,150,3263,0.00,2.08,0.00,0.000,4,0.000,0.029,2609,1305,3757
$GC,3307,-0.85,-146.0,447.4,-8.8,151,3311,0.00,2.28,0.00,0.000,6,0.000,0.061,2600,2709,3757
$GC,3595,-0.85,-146.0,473.9,-9.2,158,3598,0.00,1.95,0.00,0.000,4,0.000,0.071,2591,3892,3755
$GC,3629,-0.85,-146.0,477.4,-8.7,158,3633,0.00,1.77,0.00,0.000,6,0.000,0.027,2597,2701,3754
$GC,3887,-0.85,-146.0,497.5,-7.8,165,3890,0.00,2.08,0.00,0.000,4,0.000,0.032,2607,1304,3753
$GC,3945,-0.85,-146.0,501.8,-7.1,166,3949,0.00,2.28,0.00,0.000,6,0.000,0.064,2602,2698,3753
$GC,4219,-0.85,-146.0,523.5,-8.2,173,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2698,3750
$GC,4464,-0.85,-146.0,542.8,-7.8,179,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2698,3749
$GC,4706,-0.85,-146.0,561.2,-7.6,185,4710,0.00,2.03,0.00,0.000,4,0.000,0.080,2593,3898,3747
$GC,4730,-0.85,-146.0,563.1,-7.7,185,4734,0.00,1.77,0.00,0.000,6,0.000,0.027,2600,2695,3747
$GC,4998,-0.85,-146.0,581.7,-6.8,192,5002,0.00,2.08,0.00,0.000,4,0.000,0.032,2610,1300,3746
$GC,5039,-0.85,-146.0,584.4,-6.1,192,5045,0.00,2.30,0.00,0.000,6,0.000,0.063,2601,2704,3745
$STATE,5286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5286,begin apogee
$GC,5296,-0.32,0.0,600.5,6.4,199,5421,0.52,0.00,122.45,1.041,6,0.106,0.000,2772,2613,3160
$STATE,5422,end apogee,CONTROL_FINISHED_OK
$STATE,5422,begin climb
$GC,5426,0.85,146.0,605.0,0.0,202,5563,1.05,2.20,128.25,1.011,4,0.067,0.059,3139,3894,2563
$GC,5614,0.85,146.0,609.1,14.6,206,5618,0.00,1.92,0.00,0.000,6,0.000,0.029,3148,2638,2559
$GC,5888,0.85,146.0,565.1,16.0,213,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2636,2554
$GC,6131,0.85,146.0,532.4,13.1,219,6135,0.00,2.03,0.00,0.000,4,0.000,0.053,3139,3902,2552
$GC,6171,0.85,146.0,526.7,14.4,219,6177,0.00,1.92,0.00,0.000,6,0.000,0.030,3148,2623,2551
$GC,6423,0.85,146.0,494.0,13.6,226,6427,0.00,2.05,0.00,0.000,4,0.000,0.051,3148,3910,2549
$GC,6520,0.85,146.0,479.7,14.1,228,6523,0.00,1.92,0.00,0.000,6,0.000,0.028,3157,2622,2549
$GC,6804,0.85,146.0,445.1,12.2,235,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2617,2548
$GC,7049,0.85,146.0,418.9,10.6,241,7053,0.00,2.12,0.00,0.000,4,0.000,0.033,3169,1203,2547
$GC,7309,0.89,174.1,395.1,8.4,246,7338,0.00,2.25,22.90,0.900,6,0.000,0.049,3162,2627,2450
$GC,7608,0.89,174.1,353.2,15.4,254,7612,0.00,2.15,0.00,0.000,4,0.000,0.031,3171,1204,2446
$GC,7867,0.89,174.1,316.5,14.5,259,7871,0.00,2.25,0.00,0.000,6,0.000,0.049,3163,2624,2444
$GC,8118,0.89,174.1,284.1,12.5,265,8122,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1200,2443
$GC,8376,0.89,174.1,256.1,10.3,270,8381,0.00,2.28,0.00,0.000,6,0.000,0.046,3164,2633,2442
$GC,8629,0.89,174.1,230.2,10.5,276,8633,0.00,2.12,0.00,0.000,4,0.000,0.030,3172,1207,2441
$GC,8692,0.92,201.5,225.1,8.4,277,8722,0.00,2.25,24.38,0.778,6,0.000,0.048,3164,2632,2337
$GC,8983,0.92,201.5,185.5,13.3,291,8987,0.00,2.12,0.00,0.000,4,0.000,0.030,3172,1208,2333
$GC,9243,0.92,201.5,150.4,13.3,314,9247,0.00,2.22,0.00,0.000,6,0.000,0.046,3168,2624,2332
$GC,9506,1.03,290.5,123.5,5.7,338,9587,0.12,0.00,76.30,0.693,6,0.117,0.000,3206,2624,1974
$GC,9843,1.03,290.5,48.0,26.7,369,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2624,1968
$STATE,10002,end climb,SURFACE_DEPTH_REACHED
$STATE,10002,begin surface coast
$FINISH,0.4,1.011392
$STATE,10014,end surface coast,CONTROL_FINISHED_OK
$STATE,10014,begin surface
$SM_CCo,10038,32.67,0.587,0,0,1732,350.04
$SM_GC,0.87,0.00,0.00,32.67,0.000,0.000,0.587,46,2740,1732,-8.84,1.13,350.04
$IRIDIUM_FIX,2237.01,-15758.03,120500,151559
$TT8_MAMPS,0.023777
$HUMID,1882
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.5,96.666
$10V_AH,10.7,54.527
$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,21.475,84.550,374.275,32.675,0.000,56.092,71.992,218.818,0.500,0.000,0.000,12.750,853.443,7160.698,429.311,1505.735,678.947,33.377,1099.473,0.000,1493.273,0.000,0.544,0.000
$DEVICE_MAMPS,236.236,79.768,1040.819,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,266.852,550.964,565.942,112.130,462.258,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32023,395
$CAP_FILE_SIZE,83011,0
$CFSIZE,260165632,232882176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,160211,183407,2246.700,-15800.498,30,1.9,30,10.1