version: 66.04
glider: 512
mission: 1
dive: 734
start: 2 17 111 3 53 55
data:
$ID,512
$MISSION,1
$DIVE,734
$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,-21814.555
$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,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$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,3180
$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
$GPS1,034407,2248.603,-15804.078,32,1.1,32,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.1
$GPS2,035302,2248.752,-15804.087,14,1.3,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.098,0.237
$KALMAN_X,-204814.5,-561.6,-195.6,217508.4,35.9
$KALMAN_Y,-496739.2,-982.6,-500.2,625066.8,1352.6
$MHEAD_RNG_PITCHd_Wd,327.3,9118,-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,-45.22,0.000,2,0.000,0.000,23,2709,2936
$GC,69,-0.85,-146.0,3.2,-4.3,6,103,11.20,1.98,-16.70,0.000,4,0.234,0.071,2582,3895,3779
$GC,280,-0.85,-146.0,50.3,-14.0,31,284,0.00,1.75,0.00,0.000,6,0.000,0.022,2582,2686,3780
$GC,549,-0.85,-146.0,118.8,-25.2,56,553,0.00,2.03,0.00,0.000,4,0.000,0.028,2582,1299,3781
$GC,663,-0.85,-146.0,137.7,-13.7,66,667,0.00,2.28,0.00,0.000,6,0.000,0.063,2576,2696,3781
$GC,926,-0.85,-146.0,186.8,-19.0,90,930,0.00,2.05,0.00,0.000,4,0.000,0.024,2576,1296,3783
$GC,986,-0.85,-146.0,196.7,-15.2,95,990,0.00,2.30,0.00,0.000,6,0.000,0.060,2577,2709,3783
$GC,1258,-0.85,-146.0,244.4,-17.3,103,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2709,3784
$GC,1502,-0.85,-146.0,279.3,-13.7,109,1505,0.00,2.08,0.00,0.000,4,0.000,0.025,2576,1285,3784
$GC,1549,-0.85,-146.0,284.9,-11.3,110,1553,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2707,3784
$GC,1834,-0.85,-146.0,321.8,-13.6,117,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2708,3784
$GC,2078,-0.85,-146.0,353.6,-12.8,123,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2708,3784
$GC,2322,-0.85,-146.0,383.0,-11.8,129,2325,0.00,2.08,0.00,0.000,4,0.000,0.027,2576,1298,3782
$GC,2385,-0.85,-146.0,389.7,-9.5,130,2389,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2706,3782
$GC,2654,-0.85,-146.0,418.5,-10.8,137,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2706,3780
$GC,2896,-0.85,-146.0,444.7,-10.7,143,2900,0.00,2.08,0.00,0.000,4,0.000,0.029,2576,1307,3778
$GC,2943,-0.85,-146.0,449.3,-8.7,144,2947,0.00,2.28,0.00,0.000,6,0.000,0.064,2577,2701,3778
$GC,3229,-0.85,-146.0,480.1,-11.0,151,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3776
$GC,3471,-0.85,-146.0,506.3,-10.6,157,3475,0.00,1.98,0.00,0.000,4,0.000,0.072,2567,3901,3775
$GC,3499,-0.85,-146.0,509.4,-10.5,157,3504,0.12,1.75,0.00,0.000,6,0.130,0.026,2601,2704,3775
$GC,3763,-0.85,-146.0,530.9,-8.3,164,3766,0.00,2.10,0.00,0.000,4,0.000,0.032,2612,1293,3773
$GC,3831,-0.85,-146.0,536.5,-8.0,165,3835,0.00,2.28,0.00,0.000,6,0.000,0.060,2606,2697,3773
$GC,4099,-0.85,-146.0,556.6,-7.5,172,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2697,3771
$GC,4344,-0.85,-146.0,574.2,-7.3,178,4348,0.00,2.10,0.00,0.000,4,0.000,0.030,2613,1292,3769
$GC,4391,-0.85,-146.0,577.5,-6.5,179,4395,0.00,2.30,0.00,0.000,6,0.000,0.060,2606,2706,3769
$GC,4677,-0.85,-146.0,600.0,-8.1,186,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2707,3766
$STATE,4712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4712,begin apogee
$GC,4722,-0.32,0.0,603.4,8.2,187,4848,0.50,0.00,123.43,1.042,6,0.100,0.000,2770,2576,3180
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4849,begin climb
$GC,4853,0.85,146.0,610.5,0.0,190,4997,1.05,2.25,130.77,1.002,4,0.055,0.035,3170,1164,2583
$GC,5258,0.85,146.0,592.1,13.4,199,5262,0.00,2.25,0.00,0.000,6,0.000,0.048,3163,2585,2575
$GC,5533,0.85,146.0,552.1,14.3,206,5537,0.00,2.15,0.00,0.000,4,0.000,0.035,3172,1167,2571
$GC,5793,0.85,146.0,519.4,11.4,211,5797,0.00,2.22,0.00,0.000,6,0.000,0.046,3163,2587,2569
$GC,6049,0.85,146.0,489.4,11.8,218,6053,0.00,2.15,0.00,0.000,4,0.000,0.034,3172,1168,2568
$GC,6123,0.85,146.0,481.6,10.4,219,6127,0.00,2.22,0.00,0.000,6,0.000,0.047,3163,2581,2568
$GC,6381,0.85,146.0,454.8,10.5,226,6384,0.00,2.10,0.00,0.000,4,0.000,0.057,3163,3897,2566
$GC,6600,0.86,148.1,432.3,9.5,230,6607,0.00,2.03,0.00,0.000,6,0.000,0.028,3171,2559,2565
$GC,6852,0.89,171.4,410.1,8.6,237,6886,0.00,2.17,22.40,0.846,4,0.000,0.032,3181,1166,2481
$GC,6911,0.89,171.4,404.0,11.5,238,6915,0.00,2.22,0.00,0.000,6,0.000,0.047,3176,2577,2479
$GC,7179,0.89,171.4,368.7,12.7,245,7182,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,1158,2477
$GC,7196,0.89,171.4,366.4,12.8,245,7201,0.00,2.25,0.00,0.000,6,0.000,0.047,3176,2587,2477
$GC,7465,0.89,171.4,333.1,12.5,252,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2587,2475
$GC,7710,0.89,171.4,305.6,10.9,258,7714,0.00,2.10,0.00,0.000,4,0.000,0.058,3176,3899,2474
$GC,7969,0.89,171.4,273.9,11.6,263,7973,0.00,2.00,0.00,0.000,6,0.000,0.026,3184,2562,2473
$GC,8226,0.89,171.4,247.9,10.1,270,8230,0.00,2.12,0.00,0.000,4,0.000,0.049,3176,3899,2473
$GC,8485,0.95,224.5,226.0,7.3,275,8539,0.00,1.95,46.03,0.788,6,0.000,0.026,3184,2562,2265
$GC,8795,0.95,224.5,174.9,19.9,292,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2562,2260
$GC,9060,0.95,224.5,132.3,14.1,317,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2563,2258
$GC,9324,0.95,224.5,100.3,12.5,342,9328,0.00,2.05,0.00,0.000,4,0.000,0.028,3194,1167,2258
$GC,9437,0.95,224.5,87.2,10.8,352,9441,0.00,2.17,0.00,0.000,6,0.000,0.039,3192,2580,2258
$GC,9702,0.95,224.5,54.8,13.5,376,9706,0.00,2.05,0.00,0.000,4,0.000,0.026,3200,1169,2257
$GC,9956,0.95,224.5,20.5,14.3,405,9964,0.00,2.20,0.00,0.000,6,0.000,0.042,3200,2570,2258
$STATE,10072,end climb,SURFACE_DEPTH_REACHED
$STATE,10072,begin surface coast
$FINISH,0.4,1.023805
$STATE,10093,end surface coast,CONTROL_FINISHED_OK
$STATE,10093,begin surface
$SM_CCo,10116,69.60,0.584,0,0,1752,350.04
$SM_GC,2.13,0.00,0.00,69.60,0.000,0.000,0.584,34,2717,1752,-8.88,0.48,350.04
$IRIDIUM_FIX,2237.01,-15800.20,130500,000038
$TT8_MAMPS,0.023777
$HUMID,1812
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.5,97.140
$10V_AH,10.6,54.911
$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,21.225,81.100,322.625,69.600,0.000,28.136,39.304,312.806,0.000,0.000,0.000,14.839,929.697,6891.697,437.863,1728.338,735.707,33.367,1148.503,0.000,1715.902,0.000,0.543,0.000
$DEVICE_MAMPS,233.935,72.098,1041.586,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,291.107,634.110,653.491,144.908,594.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35101,429
$CAP_FILE_SIZE,84553,0
$CFSIZE,260165632,232693760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,2,0
$GPS,170211,064507,2250.044,-15804.822,41,1.4,42,10.1