version: 66.04
glider: 512
mission: 1
dive: 731
start: 2 16 111 18 41 12
data:
$ID,512
$MISSION,1
$DIVE,731
$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,-21771.049
$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,42
$R_STBD_OVSHOOT,54
$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
$GPS1,183407,2246.700,-15800.498,30,1.9,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.8
$GPS2,184020,2246.733,-15800.525,16,1.9,34,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.216,-0.137
$KALMAN_X,-205688.7,1007.8,244.9,222493.5,-595.4
$KALMAN_Y,-497395.4,195.9,-195.3,620504.9,2083.2
$MHEAD_RNG_PITCHd_Wd,227.5,4254,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.28,0.000,2,0.000,0.000,38,2742,2875
$GC,68,-0.85,-146.0,3.2,-4.2,6,102,10.80,2.22,-17.70,0.000,4,0.228,0.040,2590,1283,3758
$GC,202,-0.85,-146.0,34.2,-15.6,26,207,0.00,2.28,0.00,0.000,6,0.000,0.063,2581,2670,3760
$GC,466,-0.85,-146.0,101.0,-24.7,50,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2670,3761
$GC,721,-0.85,-146.0,157.6,-19.6,74,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2671,3762
$GC,1005,-0.85,-146.0,207.8,-16.6,98,1009,0.00,2.03,0.00,0.000,4,0.000,0.025,2581,1281,3763
$GC,1040,-0.85,-146.0,213.5,-15.3,98,1044,0.00,2.30,0.00,0.000,6,0.000,0.058,2577,2701,3763
$GC,1291,-0.85,-146.0,252.6,-15.6,104,1294,0.00,1.92,0.00,0.000,4,0.000,0.064,2567,3890,3764
$GC,1320,-0.85,-146.0,257.1,-15.0,104,1325,0.12,1.75,0.00,0.000,6,0.137,0.022,2601,2665,3764
$GC,1584,-0.85,-146.0,286.0,-10.8,111,1587,0.00,1.98,0.00,0.000,4,0.000,0.026,2611,1308,3764
$GC,1635,-0.85,-146.0,291.0,-8.0,112,1640,0.00,2.22,0.00,0.000,6,0.000,0.056,2603,2703,3765
$GC,1915,-0.85,-146.0,319.6,-10.7,119,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2703,3764
$GC,2159,-0.85,-146.0,344.9,-10.2,125,2162,0.00,2.05,0.00,0.000,4,0.000,0.028,2611,1317,3764
$GC,2194,-0.85,-146.0,348.3,-8.9,125,2198,0.00,2.22,0.00,0.000,6,0.000,0.058,2603,2695,3764
$GC,2447,-0.85,-146.0,369.9,-8.6,131,2450,0.00,1.98,0.00,0.000,4,0.000,0.072,2593,3893,3762
$GC,2488,-0.85,-146.0,373.3,-7.4,131,2494,0.00,1.73,0.00,0.000,6,0.000,0.024,2600,2700,3762
$GC,2741,-0.85,-146.0,393.9,-8.5,138,2744,0.00,2.08,0.00,0.000,4,0.000,0.031,2610,1297,3761
$GC,2809,-0.85,-146.0,399.8,-7.8,139,2814,0.00,2.28,0.00,0.000,6,0.000,0.059,2602,2703,3761
$GC,3073,-0.85,-146.0,421.9,-8.5,146,3077,0.00,1.92,0.00,0.000,4,0.000,0.066,2592,3891,3759
$GC,3096,-0.85,-146.0,424.2,-9.2,146,3100,0.00,1.73,0.00,0.000,6,0.000,0.024,2594,2700,3759
$GC,3365,-0.85,-146.0,448.2,-9.3,153,3368,0.00,2.08,0.00,0.000,4,0.000,0.031,2595,1299,3758
$GC,3416,-0.85,-146.0,453.1,-8.0,154,3421,0.00,2.28,0.00,0.000,6,0.000,0.061,2590,2700,3758
$GC,3698,-0.85,-146.0,480.7,-10.0,161,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2700,3756
$GC,3939,-0.85,-146.0,504.4,-9.7,167,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2700,3755
$GC,4183,-0.85,-146.0,527.4,-9.5,173,4187,0.00,2.10,0.00,0.000,4,0.000,0.029,2596,1307,3753
$GC,4219,-0.85,-146.0,530.9,-9.4,173,4223,0.00,2.28,0.00,0.000,6,0.000,0.060,2590,2706,3753
$GC,4472,-0.85,-146.0,555.8,-10.1,179,4475,0.00,1.98,0.00,0.000,4,0.000,0.073,2580,3898,3751
$GC,4512,-0.85,-146.0,560.2,-9.7,179,4518,0.00,1.75,0.00,0.000,6,0.000,0.025,2586,2709,3750
$GC,4765,-0.85,-146.0,583.3,-9.0,186,4769,0.00,2.10,0.00,0.000,4,0.000,0.031,2594,1295,3749
$GC,4817,-0.85,-146.0,587.7,-7.1,187,4821,0.00,2.28,0.00,0.000,6,0.000,0.054,2585,2711,3749
$STATE,4972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4973,begin apogee
$GC,4982,-0.32,0.0,600.1,8.0,191,5109,0.57,0.00,123.35,1.039,6,0.120,0.000,2765,2613,3160
$STATE,5109,end apogee,CONTROL_FINISHED_OK
$STATE,5110,begin climb
$GC,5114,0.85,146.0,604.4,0.0,194,5251,1.12,2.25,128.23,1.011,4,0.085,0.032,3158,1224,2564
$GC,5513,0.85,146.0,575.4,14.1,203,5517,0.00,2.22,0.00,0.000,6,0.000,0.048,3150,2626,2555
$GC,5798,0.85,146.0,535.0,13.1,210,5802,0.00,2.10,0.00,0.000,4,0.000,0.033,3159,1228,2552
$GC,5816,0.85,146.0,533.0,12.4,210,5820,0.00,2.22,0.00,0.000,6,0.000,0.048,3151,2639,2552
$GC,6084,0.85,146.0,504.0,10.5,217,6088,0.00,2.12,0.00,0.000,4,0.000,0.033,3160,1226,2550
$GC,6202,0.85,146.0,490.7,11.8,219,6206,0.00,2.20,0.00,0.000,6,0.000,0.047,3152,2629,2549
$GC,6467,0.85,146.0,459.9,12.0,226,6470,0.00,2.10,0.00,0.000,4,0.000,0.031,3161,1230,2548
$GC,6564,0.85,146.0,448.4,11.9,228,6569,0.00,2.20,0.00,0.000,6,0.000,0.049,3160,2623,2548
$GC,6844,0.85,146.0,414.4,11.6,235,6847,0.00,2.10,0.00,0.000,4,0.000,0.031,3171,1226,2546
$GC,7103,0.88,167.1,387.8,8.7,240,7125,0.00,2.20,16.92,0.877,6,0.000,0.045,3163,2629,2478
$GC,7399,0.88,167.1,351.6,13.2,248,7403,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1220,2474
$GC,7658,0.88,167.1,317.4,12.3,253,7662,0.00,2.20,0.00,0.000,6,0.000,0.044,3164,2625,2473
$GC,7909,0.88,167.1,286.4,12.0,259,7913,0.00,2.10,0.00,0.000,4,0.000,0.030,3172,1213,2472
$GC,8168,0.88,167.1,260.3,10.0,264,8172,0.00,2.20,0.00,0.000,6,0.000,0.043,3164,2626,2472
$GC,8427,0.93,210.0,239.2,7.7,271,8470,0.00,2.20,37.85,0.801,4,0.000,0.029,3173,1226,2303
$GC,8587,0.93,210.0,216.9,17.0,274,8591,0.00,2.25,0.00,0.000,6,0.000,0.048,3165,2634,2299
$GC,8854,0.93,210.0,171.2,17.4,292,8857,0.00,2.12,0.00,0.000,4,0.000,0.031,3173,1217,2296
$GC,8882,0.93,210.0,166.1,15.6,294,8891,0.00,2.25,0.00,0.000,6,0.000,0.048,3173,2616,2296
$GC,9148,0.93,210.0,126.3,15.2,319,9152,0.00,2.08,0.00,0.000,4,0.000,0.028,3183,1214,2295
$GC,9242,0.93,210.0,114.0,13.3,327,9246,0.00,2.22,0.00,0.000,6,0.000,0.044,3179,2636,2295
$GC,9507,0.93,210.0,87.4,12.1,351,9511,0.00,2.10,0.00,0.000,4,0.000,0.027,3187,1205,2295
$GC,9634,0.93,210.0,73.8,10.8,362,9642,0.00,2.25,0.00,0.000,6,0.000,0.044,3187,2625,2295
$GC,9899,0.93,210.0,46.3,11.7,387,9903,0.00,2.00,0.00,0.000,4,0.000,0.050,3187,3889,2295
$GC,9958,0.93,210.0,38.8,13.1,392,9962,0.00,1.83,0.00,0.000,6,0.000,0.023,3196,2618,2295
$GC,10225,0.93,210.0,6.8,10.5,434,10234,0.00,2.05,0.00,0.000,4,0.000,0.025,3206,1223,2295
$STATE,10261,end climb,SURFACE_DEPTH_REACHED
$STATE,10261,begin surface coast
$FINISH,0.5,1.023788
$STATE,10289,end surface coast,CONTROL_FINISHED_OK
$STATE,10289,begin surface
$SM_CCo,10314,78.12,0.584,0,0,1732,350.04
$SM_GC,1.98,0.00,0.00,78.12,0.000,0.000,0.584,43,2718,1732,-8.85,0.51,350.04
$IRIDIUM_FIX,2237.01,-15800.20,120500,151540
$TT8_MAMPS,0.023777
$HUMID,1809
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,23.5,96.776
$10V_AH,10.6,54.625
$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,21.100,105.725,306.350,78.125,0.000,22.686,36.207,147.140,0.500,0.000,0.000,34.846,976.235,6954.877,438.354,1833.975,565.411,33.374,1179.237,0.000,1798.419,0.000,0.543,0.000
$DEVICE_MAMPS,227.799,72.865,1039.285,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,301.873,676.785,698.409,159.773,656.877,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35132,445
$CAP_FILE_SIZE,89502,0
$CFSIZE,260165632,232828928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,160211,213537,2246.282,-15801.702,28,1.8,28,10.1