version: 66.04
glider: 512
mission: 1
dive: 741
start: 2 18 111 0 52 57
data:
$ID,512
$MISSION,1
$DIVE,741
$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,-21918.863
$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,42
$R_STBD_OVSHOOT,23
$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
$GPS1,004136,2255.490,-15805.108,41,1.0,41,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.7
$GPS2,005202,2255.598,-15805.256,11,1.7,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.245,0.075
$KALMAN_X,-214409.3,-347.5,203.5,224470.6,-2901.9
$KALMAN_Y,-502300.1,535.1,-19.3,641284.5,-971.7
$MHEAD_RNG_PITCHd_Wd,62.9,17092,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.25,0.000,2,0.000,0.000,38,2673,2926
$GC,69,-0.85,-146.0,3.2,-4.6,6,102,10.80,2.03,-16.75,0.000,4,0.225,0.071,2582,3888,3779
$GC,181,-0.85,-146.0,32.2,-19.3,23,184,0.00,1.77,0.00,0.000,6,0.000,0.023,2588,2698,3780
$GC,450,-0.85,-146.0,99.9,-23.5,48,454,0.00,2.05,0.00,0.000,4,0.000,0.026,2589,1293,3781
$GC,523,-0.85,-146.0,114.5,-15.4,54,531,0.00,2.33,0.00,0.000,6,0.000,0.063,2588,2687,3782
$GC,788,-0.85,-146.0,161.3,-18.2,79,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2688,3783
$GC,1059,-0.85,-146.0,207.3,-15.8,102,1063,0.00,2.08,0.00,0.000,4,0.000,0.026,2588,1284,3784
$GC,1105,-0.85,-146.0,213.7,-12.4,103,1109,0.00,2.35,0.00,0.000,6,0.000,0.064,2588,2715,3783
$GC,1390,-0.85,-146.0,250.6,-12.8,110,1393,0.00,2.10,0.00,0.000,4,0.000,0.025,2588,1280,3784
$GC,1452,-0.85,-146.0,258.2,-10.6,111,1457,0.00,2.33,0.00,0.000,6,0.000,0.062,2588,2698,3784
$GC,1720,-0.85,-146.0,291.4,-12.8,118,1724,0.00,2.08,0.00,0.000,4,0.000,0.027,2588,1289,3784
$GC,1755,-0.85,-146.0,295.6,-11.3,118,1759,0.00,2.30,0.00,0.000,6,0.000,0.060,2588,2704,3784
$GC,2012,-0.85,-146.0,325.3,-11.8,125,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2704,3784
$GC,2256,-0.85,-146.0,354.5,-12.0,131,2260,0.00,2.08,0.00,0.000,4,0.000,0.026,2588,1290,3782
$GC,2303,-0.85,-146.0,359.9,-10.6,132,2307,0.00,2.35,0.00,0.000,6,0.000,0.064,2588,2710,3783
$GC,2589,-0.85,-146.0,392.6,-11.5,139,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2711,3780
$GC,2832,-0.85,-146.0,420.2,-11.3,145,2835,0.00,2.10,0.00,0.000,4,0.000,0.028,2588,1291,3778
$GC,2889,-0.85,-146.0,426.2,-9.7,146,2893,0.00,2.33,0.00,0.000,6,0.000,0.064,2588,2708,3778
$GC,3162,-0.85,-146.0,453.7,-10.1,153,3166,0.00,2.10,0.00,0.000,4,0.000,0.029,2588,1298,3776
$GC,3198,-0.85,-146.0,457.1,-9.4,153,3202,0.00,2.30,0.00,0.000,6,0.000,0.064,2588,2702,3776
$GC,3451,-0.85,-146.0,479.4,-9.0,159,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2702,3775
$GC,3693,-0.85,-146.0,502.0,-9.3,165,3696,0.00,2.10,0.00,0.000,4,0.000,0.030,2588,1297,3774
$GC,3741,-0.85,-146.0,506.3,-8.6,166,3745,0.00,2.30,0.00,0.000,6,0.000,0.066,2588,2698,3773
$GC,4032,-0.85,-146.0,532.9,-9.1,173,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2699,3772
$GC,4277,-0.85,-146.0,554.6,-8.9,179,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2699,3770
$GC,4519,-0.85,-146.0,575.6,-8.6,185,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2699,3768
$GC,4763,-0.85,-146.0,596.9,-8.7,191,4767,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,1299,3767
$STATE,4794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4794,begin apogee
$GC,4806,-0.32,0.0,600.1,8.4,191,4932,0.52,0.00,123.05,1.043,6,0.107,0.000,2765,2570,3180
$STATE,4933,end apogee,CONTROL_FINISHED_OK
$STATE,4933,begin climb
$GC,4937,0.85,146.0,605.1,0.0,194,5074,1.05,2.33,128.02,1.018,4,0.053,0.062,3152,3908,2582
$GC,5336,0.85,146.0,578.0,16.4,203,5340,0.00,2.00,0.00,0.000,6,0.000,0.030,3160,2585,2575
$GC,5627,0.85,146.0,539.0,12.5,210,5631,0.00,2.15,0.00,0.000,4,0.000,0.054,3160,3913,2571
$GC,5886,0.85,146.0,505.1,12.8,215,5889,0.00,2.03,0.00,0.000,6,0.000,0.028,3170,2557,2570
$GC,6142,0.85,146.0,476.1,11.1,222,6146,0.00,2.08,0.00,0.000,4,0.000,0.034,3181,1164,2569
$GC,6166,0.85,146.0,473.5,10.7,222,6170,0.00,2.25,0.00,0.000,6,0.000,0.047,3176,2595,2569
$GC,6428,0.85,146.0,447.1,10.3,229,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2594,2567
$GC,6672,0.88,166.1,425.4,8.7,235,6701,0.00,2.20,17.98,0.828,4,0.000,0.032,3185,1174,2502
$GC,6956,0.88,166.1,394.5,10.9,241,6960,0.00,2.22,0.00,0.000,6,0.000,0.048,3177,2581,2499
$GC,7224,0.88,166.1,365.4,10.8,248,7227,0.00,2.12,0.00,0.000,4,0.000,0.030,3185,1162,2497
$GC,7483,0.88,166.1,337.5,10.2,253,7487,0.00,2.25,0.00,0.000,6,0.000,0.046,3177,2586,2497
$GC,7735,0.88,166.1,309.3,11.4,259,7739,0.00,2.10,0.00,0.000,4,0.000,0.056,3176,3907,2496
$GC,7865,0.88,166.1,294.7,11.0,261,7871,0.00,1.98,0.00,0.000,6,0.000,0.027,3184,2571,2495
$GC,8117,0.91,186.9,272.1,8.7,268,8141,0.00,2.15,18.60,0.811,4,0.000,0.050,3176,3890,2418
$GC,8288,0.91,186.9,251.2,14.3,271,8291,0.00,1.95,0.00,0.000,6,0.000,0.025,3184,2570,2416
$GC,8545,0.91,186.9,219.3,11.5,278,8549,0.00,2.05,0.00,0.000,4,0.000,0.028,3195,1166,2414
$GC,8630,0.91,186.9,209.9,10.1,279,8636,0.00,2.22,0.00,0.000,6,0.000,0.044,3192,2588,2414
$GC,8889,0.91,186.9,183.7,11.0,295,8893,0.00,2.10,0.00,0.000,4,0.000,0.028,3200,1167,2413
$GC,8918,0.91,186.9,180.0,11.7,297,8927,0.12,2.25,0.00,0.000,6,0.224,0.046,3171,2578,2413
$GC,9187,0.91,186.9,154.7,9.7,322,9190,0.00,2.05,0.00,0.000,4,0.000,0.048,3163,3897,2413
$GC,9445,1.01,272.4,134.0,5.8,345,9524,0.00,1.95,73.70,0.701,6,0.000,0.025,3172,2546,2069
$GC,9783,1.01,272.4,69.3,19.9,375,9787,0.00,2.12,0.00,0.000,4,0.000,0.047,3163,3894,2061
$GC,10039,1.01,272.4,13.5,22.2,404,10047,0.00,1.95,0.00,0.000,6,0.000,0.024,3171,2600,2060
$STATE,10086,end climb,SURFACE_DEPTH_REACHED
$STATE,10086,begin surface coast
$FINISH,0.4,1.023796
$STATE,10098,end surface coast,CONTROL_FINISHED_OK
$STATE,10098,begin surface
$SM_CCo,10121,41.97,0.586,0,0,1753,350.04
$SM_GC,1.76,0.00,0.00,41.97,0.000,0.000,0.586,40,2731,1753,-8.86,0.88,350.04
$IRIDIUM_FIX,2248.70,-15803.66,140500,000036
$TT8_MAMPS,0.023777
$HUMID,1867
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.5,98.052
$10V_AH,10.7,55.545
$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,20.750,89.975,361.350,41.975,0.000,55.612,73.885,289.565,0.500,0.000,0.000,15.181,902.927,6991.681,431.326,1690.972,779.099,33.368,1166.426,0.000,1675.974,0.000,0.543,0.000
$DEVICE_MAMPS,224.731,70.564,1043.120,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,280.147,602.620,620.883,121.974,506.778,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35200,414
$CAP_FILE_SIZE,86913,0
$CFSIZE,260165632,232382464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,180211,034336,2255.999,-15804.442,30,1.2,30,10.1