version: 66.04
glider: 512
mission: 1
dive: 735
start: 2 17 111 6 55 13
data:
$ID,512
$MISSION,1
$DIVE,735
$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,-21827.305
$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,68
$R_STBD_OVSHOOT,33
$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
$GPS1,064507,2250.044,-15804.822,41,1.4,42,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.6
$GPS2,065420,2250.158,-15804.794,11,1.9,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.103,0.235
$KALMAN_X,-204687.6,-934.6,59.3,216281.1,513.9
$KALMAN_Y,-497465.0,-1071.5,-125.4,628112.8,1000.1
$MHEAD_RNG_PITCHd_Wd,326.2,6305,-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,-45.17,0.000,2,0.000,0.000,27,2718,2929
$GC,69,-0.85,-146.0,3.4,-5.2,6,102,11.07,1.98,-16.48,0.000,4,0.231,0.078,2581,3883,3779
$GC,289,-0.85,-146.0,56.4,-16.3,32,293,0.00,1.75,0.00,0.000,6,0.000,0.025,2581,2717,3780
$GC,559,-0.85,-146.0,129.1,-23.5,57,563,0.00,2.10,0.00,0.000,4,0.000,0.028,2581,1286,3781
$GC,675,-0.85,-146.0,149.8,-12.9,67,679,0.00,2.30,0.00,0.000,6,0.000,0.067,2572,2682,3782
$GC,940,-0.85,-146.0,200.2,-19.3,91,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2682,3783
$GC,1181,-0.85,-146.0,245.4,-18.3,97,1184,0.00,2.05,0.00,0.000,4,0.000,0.027,2572,1289,3784
$GC,1221,-0.85,-146.0,251.9,-14.5,97,1227,0.15,2.33,0.00,0.000,6,0.135,0.063,2602,2714,3784
$GC,1472,-0.85,-146.0,279.6,-11.0,104,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2713,3784
$GC,1716,-0.85,-146.0,306.4,-10.9,110,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2713,3784
$GC,1960,-0.85,-146.0,333.1,-10.8,116,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2713,3784
$GC,2203,-0.85,-146.0,357.5,-9.8,122,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2713,3781
$GC,2447,-0.85,-146.0,381.3,-9.9,128,2450,0.00,2.10,0.00,0.000,4,0.000,0.030,2608,1289,3780
$GC,2498,-0.85,-146.0,386.0,-7.4,129,2502,0.00,2.28,0.00,0.000,6,0.000,0.057,2600,2706,3780
$GC,2784,-0.85,-146.0,410.1,-8.3,136,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2706,3778
$GC,3028,-0.85,-146.0,429.2,-7.8,142,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2706,3777
$GC,3270,-0.85,-146.0,451.7,-9.7,148,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2706,3776
$GC,3513,-0.85,-146.0,475.8,-10.0,154,3517,0.00,2.12,0.00,0.000,4,0.000,0.031,2609,1290,3774
$GC,3549,-0.85,-146.0,479.1,-9.3,154,3553,0.00,2.25,0.00,0.000,6,0.000,0.056,2599,2698,3774
$GC,3807,-0.85,-146.0,501.4,-8.6,161,3810,0.00,1.98,0.00,0.000,4,0.000,0.071,2590,3894,3772
$GC,3837,-0.85,-146.0,504.1,-8.6,161,3841,0.00,1.77,0.00,0.000,6,0.000,0.026,2597,2688,3771
$GC,4103,-0.85,-146.0,523.2,-7.3,168,4106,0.00,2.08,0.00,0.000,4,0.000,0.031,2607,1291,3770
$GC,4171,-0.85,-146.0,528.4,-6.5,169,4175,0.00,2.30,0.00,0.000,6,0.000,0.059,2598,2706,3770
$GC,4434,-0.85,-146.0,549.6,-8.3,176,4438,0.00,2.00,0.00,0.000,4,0.000,0.076,2588,3881,3767
$GC,4469,-0.85,-146.0,552.9,-8.9,176,4473,0.00,1.75,0.00,0.000,6,0.000,0.028,2594,2700,3767
$GC,4727,-0.85,-146.0,573.7,-8.1,183,4730,0.00,2.10,0.00,0.000,4,0.000,0.032,2605,1290,3765
$GC,4774,-0.85,-146.0,577.4,-7.3,184,4778,0.00,2.30,0.00,0.000,6,0.000,0.060,2596,2704,3765
$STATE,5056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5056,begin apogee
$GC,5066,-0.32,0.0,601.0,8.5,191,5192,0.55,0.00,123.03,1.042,6,0.125,0.000,2766,2576,3180
$STATE,5193,end apogee,CONTROL_FINISHED_OK
$STATE,5193,begin climb
$GC,5197,0.85,146.0,607.5,0.0,194,5335,1.12,2.30,128.93,1.015,4,0.091,0.071,3144,3889,2582
$GC,5597,0.85,146.0,582.7,15.8,203,5601,0.00,2.00,0.00,0.000,6,0.000,0.030,3154,2567,2576
$GC,5887,0.85,146.0,543.5,12.7,210,5891,0.00,2.17,0.00,0.000,4,0.000,0.057,3150,3903,2572
$GC,6146,0.85,146.0,505.1,15.7,215,6150,0.00,2.00,0.00,0.000,6,0.000,0.031,3159,2577,2570
$GC,6403,0.85,146.0,470.3,12.9,222,6407,0.00,2.10,0.00,0.000,4,0.000,0.052,3151,3903,2569
$GC,6662,0.85,146.0,440.9,10.9,227,6666,0.00,2.00,0.00,0.000,6,0.000,0.030,3160,2565,2568
$GC,6919,0.89,171.1,418.7,8.5,234,6943,0.00,0.00,20.62,0.903,6,0.000,0.000,3160,2565,2483
$GC,7210,0.89,171.1,380.8,14.0,241,7214,0.00,2.17,0.00,0.000,4,0.000,0.055,3152,3905,2477
$GC,7324,0.89,171.1,364.6,14.4,243,7328,0.00,2.00,0.00,0.000,6,0.000,0.029,3160,2583,2477
$GC,7592,0.89,171.1,330.3,12.9,250,7596,0.00,2.15,0.00,0.000,4,0.000,0.033,3171,1148,2476
$GC,7684,0.89,171.1,319.4,12.2,252,7688,0.00,2.28,0.00,0.000,6,0.000,0.048,3163,2587,2475
$GC,7969,0.89,171.1,286.2,11.1,259,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2588,2474
$GC,8212,0.89,171.1,260.6,10.5,265,8216,0.00,2.10,0.00,0.000,4,0.000,0.058,3162,3900,2473
$GC,8471,0.89,171.1,231.5,10.0,270,8475,0.00,2.03,0.00,0.000,6,0.000,0.027,3171,2532,2474
$GC,8730,0.97,239.9,213.3,6.6,277,8792,0.00,0.00,59.92,0.777,6,0.000,0.000,3171,2526,2201
$GC,9025,0.97,239.9,157.2,23.1,296,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2525,2194
$GC,9280,0.97,239.9,110.4,16.4,320,9283,0.00,2.03,0.00,0.000,4,0.000,0.028,3180,1158,2193
$GC,9414,0.97,239.9,91.4,14.4,332,9418,0.00,2.22,0.00,0.000,6,0.000,0.041,3178,2591,2191
$GC,9679,0.97,239.9,52.5,15.9,356,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2591,2191
$GC,9948,0.97,239.9,9.3,16.5,393,9956,0.00,2.12,0.00,0.000,4,0.000,0.026,3187,1165,2192
$STATE,9983,end climb,SURFACE_DEPTH_REACHED
$STATE,9983,begin surface coast
$FINISH,0.2,1.012640
$STATE,10000,end surface coast,CONTROL_FINISHED_OK
$STATE,10001,begin surface
$SM_CCo,10026,58.53,0.591,0,0,1753,350.04
$SM_GC,2.10,0.00,0.00,58.53,0.000,0.000,0.591,39,2700,1753,-8.86,0.00,350.04
$IRIDIUM_FIX,2244.02,-15804.53,130500,030321
$TT8_MAMPS,0.023777
$HUMID,1855
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,97.266
$10V_AH,10.7,54.997
$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,21.250,71.850,332.500,58.525,0.000,23.713,38.187,349.549,0.000,0.000,0.000,12.121,876.013,7041.326,424.215,1566.618,733.291,33.372,1082.198,0.000,1558.045,0.000,0.543,0.000
$DEVICE_MAMPS,230.867,78.234,1042.353,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,273.076,562.147,579.648,126.416,521.339,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32040,402
$CAP_FILE_SIZE,79836,0
$CFSIZE,260165632,232656896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,170211,094436,2251.142,-15805.651,33,1.2,33,10.1