version: 66.04
glider: 512
mission: 1
dive: 738
start: 2 17 111 15 55 55
data:
$ID,512
$MISSION,1
$DIVE,738
$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,-21871.672
$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,59
$R_STBD_OVSHOOT,38
$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
$GPS1,153106,2253.201,-15806.423,10,1.6,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.2
$GPS2,155502,2253.326,-15806.465,13,1.6,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.250,0.057
$KALMAN_X,-208001.8,299.8,-463.6,216020.4,-558.2
$KALMAN_Y,-502013.6,292.9,-223.7,637251.4,-669.0
$MHEAD_RNG_PITCHd_Wd,67.0,18710,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.25,0.000,2,0.000,0.000,34,2729,2927
$GC,69,-0.85,-146.0,3.4,-5.0,6,101,10.68,0.00,-17.02,0.000,6,0.220,0.000,2586,2729,3780
$GC,364,-0.85,-146.0,86.3,-26.5,39,368,0.00,2.10,0.00,0.000,4,0.000,0.027,2590,1304,3781
$GC,435,-0.85,-146.0,103.8,-17.9,45,439,0.00,2.25,0.00,0.000,6,0.000,0.061,2581,2689,3782
$GC,698,-0.85,-146.0,165.2,-22.8,69,702,0.00,1.95,0.00,0.000,4,0.000,0.063,2571,3902,3782
$GC,735,-0.85,-146.0,172.6,-19.4,72,739,0.00,1.73,0.00,0.000,6,0.000,0.022,2571,2701,3782
$GC,1008,-0.85,-146.0,225.2,-20.1,89,1012,0.00,2.03,0.00,0.000,4,0.000,0.025,2571,1297,3783
$GC,1104,-0.85,-146.0,240.3,-13.2,91,1109,0.12,2.28,0.00,0.000,6,0.143,0.057,2596,2706,3783
$GC,1383,-0.85,-146.0,278.7,-13.7,98,1387,0.00,1.92,0.00,0.000,4,0.000,0.064,2588,3904,3783
$GC,1418,-0.85,-146.0,283.3,-12.7,98,1421,0.00,1.75,0.00,0.000,6,0.000,0.023,2588,2682,3783
$GC,1674,-0.85,-146.0,314.5,-12.4,105,1678,0.00,2.00,0.00,0.000,4,0.000,0.025,2588,1298,3783
$GC,1715,-0.85,-146.0,319.4,-10.9,105,1722,0.00,2.28,0.00,0.000,6,0.000,0.054,2578,2693,3783
$GC,1966,-0.85,-146.0,349.4,-12.3,112,1970,0.00,1.98,0.00,0.000,4,0.000,0.073,2570,3894,3782
$GC,2013,-0.85,-146.0,354.8,-10.5,113,2017,0.10,1.70,0.00,0.000,6,0.145,0.023,2595,2697,3782
$GC,2303,-0.85,-146.0,382.5,-9.7,120,2307,0.00,2.03,0.00,0.000,4,0.000,0.030,2605,1319,3780
$GC,2344,-0.85,-146.0,386.4,-9.0,120,2351,0.00,2.28,0.00,0.000,6,0.000,0.063,2597,2700,3780
$GC,2595,-0.85,-146.0,411.2,-10.2,127,2599,0.00,2.00,0.00,0.000,4,0.000,0.078,2589,3905,3777
$GC,2629,-0.85,-146.0,414.7,-9.8,127,2633,0.00,1.73,0.00,0.000,6,0.000,0.025,2591,2708,3777
$GC,2887,-0.85,-146.0,440.5,-10.1,134,2890,0.00,2.08,0.00,0.000,4,0.000,0.031,2590,1307,3776
$GC,2934,-0.85,-146.0,445.1,-8.7,135,2938,0.00,2.28,0.00,0.000,6,0.000,0.063,2590,2703,3776
$GC,3218,-0.85,-146.0,473.1,-9.9,142,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2703,3773
$GC,3463,-0.85,-146.0,495.5,-9.0,148,3467,0.00,2.08,0.00,0.000,4,0.000,0.029,2590,1308,3772
$GC,3491,-0.85,-146.0,498.4,-10.0,148,3495,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2702,3771
$GC,3749,-0.85,-146.0,521.6,-9.2,155,3752,0.00,1.98,0.00,0.000,4,0.000,0.074,2590,3892,3769
$GC,3778,-0.85,-146.0,524.4,-9.3,155,3781,0.00,1.75,0.00,0.000,6,0.000,0.025,2590,2695,3769
$GC,4041,-0.85,-146.0,548.6,-9.4,162,4045,0.00,2.08,0.00,0.000,4,0.000,0.032,2589,1300,3767
$GC,4081,-0.85,-146.0,552.5,-8.6,162,4088,0.00,2.30,0.00,0.000,6,0.000,0.061,2589,2711,3767
$GC,4333,-0.85,-146.0,574.8,-8.9,169,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2711,3765
$GC,4577,-0.85,-146.0,596.6,-9.0,175,4581,0.00,2.12,0.00,0.000,4,0.000,0.032,2589,1298,3763
$GC,4606,-0.85,-146.0,599.6,-9.2,175,4611,0.00,2.25,0.00,0.000,3,0.000,0.066,2589,2664,3763
$STATE,4611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4611,begin apogee
$GC,4621,-0.32,0.0,600.1,8.8,175,4746,0.52,0.00,122.55,1.036,6,0.110,0.000,2765,2577,3180
$STATE,4747,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4751,0.85,146.0,605.9,0.0,178,4889,1.05,2.22,128.23,1.014,4,0.051,0.035,3172,1182,2583
$GC,5150,0.85,146.0,585.7,14.0,187,5156,0.00,2.20,0.00,0.000,6,0.000,0.050,3164,2568,2575
$GC,5402,0.85,146.0,549.2,13.9,194,5405,0.00,2.12,0.00,0.000,4,0.000,0.035,3173,1168,2571
$GC,5660,0.85,146.0,517.6,10.7,199,5664,0.00,2.22,0.00,0.000,6,0.000,0.048,3173,2581,2570
$GC,5911,0.85,146.0,489.4,10.8,205,5915,0.00,2.12,0.00,0.000,4,0.000,0.032,3184,1163,2568
$GC,6171,0.90,181.3,466.2,8.0,210,6206,0.00,2.22,29.48,0.943,6,0.000,0.046,3176,2582,2441
$GC,6471,0.90,181.3,419.1,17.0,218,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2582,2435
$GC,6714,0.90,181.3,378.2,16.5,224,6718,0.00,2.10,0.00,0.000,4,0.000,0.056,3176,3904,2432
$GC,6822,0.90,181.3,359.8,16.2,226,6825,0.00,1.98,0.00,0.000,6,0.000,0.028,3184,2580,2431
$GC,7095,0.90,181.3,319.1,14.6,233,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2574,2430
$GC,7340,0.90,181.3,284.7,14.0,239,7343,0.00,2.12,0.00,0.000,4,0.000,0.049,3176,3908,2430
$GC,7542,0.90,181.3,259.0,12.2,243,7546,0.00,1.98,0.00,0.000,6,0.000,0.025,3184,2560,2430
$GC,7816,0.92,196.4,232.8,8.9,250,7831,0.00,0.00,13.10,0.756,6,0.000,0.000,3185,2553,2379
$GC,8061,0.92,196.4,199.7,14.4,256,8064,0.00,2.05,0.00,0.000,4,0.000,0.028,3195,1154,2376
$GC,8175,0.92,196.4,185.8,12.4,266,8180,0.00,2.22,0.00,0.000,6,0.000,0.044,3192,2582,2377
$GC,8439,0.92,196.4,150.5,12.9,290,8443,0.00,2.10,0.00,0.000,4,0.000,0.026,3200,1158,2376
$GC,8523,0.95,223.9,142.1,8.4,297,8556,0.00,2.22,25.08,0.702,6,0.000,0.043,3201,2569,2266
$GC,8815,0.95,223.9,102.7,14.8,324,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2569,2263
$GC,9080,0.95,223.9,71.1,11.5,349,9083,0.00,2.08,0.00,0.000,4,0.000,0.050,3200,3894,2262
$GC,9332,0.95,223.9,32.1,15.6,372,9336,0.00,1.92,0.00,0.000,6,0.000,0.023,3210,2560,2263
$STATE,9522,end climb,SURFACE_DEPTH_REACHED
$STATE,9522,begin surface coast
$FINISH,0.4,1.023800
$STATE,9540,end surface coast,CONTROL_FINISHED_OK
$STATE,9541,begin surface
$SM_CCo,9564,71.22,0.584,0,0,1752,350.04
$SM_GC,2.17,0.00,0.00,71.22,0.000,0.000,0.584,38,2718,1752,-8.87,0.51,350.04
$IRIDIUM_FIX,2244.02,-15806.70,130500,151509
$TT8_MAMPS,0.023777
$HUMID,1820
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.6,97.671
$10V_AH,10.7,55.270
$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,20.875,87.425,318.425,71.225,0.000,141.369,193.182,698.228,0.250,0.000,0.000,13.401,885.986,6728.380,430.315,1637.246,1395.199,33.379,1118.882,0.000,1624.046,0.000,0.544,0.000
$DEVICE_MAMPS,220.129,78.234,1036.217,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,276.780,613.839,631.689,134.787,559.595,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35091,409
$CAP_FILE_SIZE,94581,0
$CFSIZE,260165632,232509440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,170211,183806,2253.834,-15805.839,50,1.4,50,10.1