version: 66.04
glider: 512
mission: 1
dive: 746
start: 2 18 111 15 50 13
data:
$ID,512
$MISSION,1
$DIVE,746
$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,-22021.588
$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,2690
$C_ROLL_CLIMB,2540
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,154258,2255.562,-15800.938,11,3.3,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-79.0
$GPS2,154922,2255.574,-15800.891,17,3.3,36,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,-0.063
$KALMAN_X,-223380.8,658.2,74.3,240075.0,-3234.3
$KALMAN_Y,-501124.1,-209.7,-332.5,641135.9,843.3
$MHEAD_RNG_PITCHd_Wd,94.2,9967,-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,-45.33,0.000,2,0.000,0.000,37,2717,2949
$GC,69,-0.85,-146.0,3.3,-4.9,6,103,10.85,1.95,-16.67,0.000,4,0.227,0.077,2581,3866,3797
$GC,173,-0.85,-146.0,32.2,-19.3,22,181,0.00,1.77,0.00,0.000,6,0.000,0.027,2581,2699,3799
$GC,438,-0.85,-146.0,98.2,-24.6,47,442,0.00,2.12,0.00,0.000,4,0.000,0.035,2581,1285,3800
$GC,585,-0.85,-146.0,128.8,-17.7,60,589,0.00,2.28,0.00,0.000,6,0.000,0.065,2571,2669,3801
$GC,849,-0.85,-146.0,185.2,-19.0,84,852,0.00,2.00,0.00,0.000,4,0.000,0.067,2562,3901,3802
$GC,910,-0.85,-146.0,196.9,-15.1,89,917,0.10,1.83,0.00,0.000,6,0.133,0.024,2595,2678,3803
$GC,1183,-0.85,-146.0,234.8,-14.2,98,1186,0.00,2.08,0.00,0.000,4,0.000,0.030,2605,1278,3804
$GC,1280,-0.85,-146.0,245.3,-9.0,100,1284,0.00,2.30,0.00,0.000,6,0.000,0.064,2596,2684,3804
$GC,1559,-0.85,-146.0,279.5,-12.6,107,1562,0.00,2.10,0.00,0.000,4,0.000,0.030,2604,1276,3804
$GC,1587,-0.85,-146.0,283.2,-11.5,107,1592,0.00,2.33,0.00,0.000,6,0.000,0.061,2596,2714,3804
$GC,1845,-0.85,-146.0,311.3,-11.0,114,1849,0.00,2.15,0.00,0.000,4,0.000,0.029,2604,1276,3804
$GC,1885,-0.85,-146.0,315.6,-8.7,114,1892,0.00,2.30,0.00,0.000,6,0.000,0.064,2595,2683,3804
$GC,2138,-0.85,-146.0,339.4,-9.7,121,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2683,3804
$GC,2382,-0.85,-146.0,362.8,-9.7,127,2386,0.00,2.10,0.00,0.000,4,0.000,0.029,2603,1273,3803
$GC,2423,-0.85,-146.0,366.9,-8.7,127,2429,0.00,2.30,0.00,0.000,6,0.000,0.060,2595,2689,3803
$GC,2674,-0.85,-146.0,393.0,-10.7,134,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2689,3801
$GC,2918,-0.85,-146.0,418.9,-10.5,140,2921,0.00,2.10,0.00,0.000,4,0.000,0.029,2603,1278,3800
$GC,2958,-0.85,-146.0,423.0,-9.1,140,2965,0.00,2.33,0.00,0.000,6,0.000,0.058,2594,2697,3800
$GC,3210,-0.85,-146.0,447.5,-10.0,147,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2697,3798
$GC,3455,-0.85,-146.0,471.9,-9.9,153,3458,0.00,2.10,0.00,0.000,4,0.000,0.029,2603,1285,3796
$GC,3502,-0.85,-146.0,476.0,-7.4,154,3506,0.00,2.28,0.00,0.000,6,0.000,0.055,2594,2701,3796
$GC,3787,-0.85,-146.0,503.4,-9.7,161,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2701,3795
$GC,4030,-0.85,-146.0,527.4,-9.9,167,4034,0.00,2.12,0.00,0.000,4,0.000,0.031,2602,1283,3793
$GC,4071,-0.85,-146.0,531.5,-9.0,167,4077,0.00,2.28,0.00,0.000,6,0.000,0.058,2594,2688,3793
$GC,4322,-0.85,-146.0,554.6,-9.2,174,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2688,3791
$GC,4566,-0.85,-146.0,575.2,-8.3,180,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2688,3789
$GC,4811,-0.85,-146.0,594.7,-7.9,186,4815,0.00,2.12,0.00,0.000,4,0.000,0.033,2602,1283,3787
$GC,4852,-0.85,-146.0,597.8,-6.6,186,4858,0.00,2.28,0.00,0.000,6,0.000,0.057,2593,2692,3787
$STATE,4896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4896,begin apogee
$GC,4905,-0.32,0.0,601.0,6.7,188,5032,0.57,0.00,123.47,1.042,6,0.138,0.000,2766,2548,3200
$STATE,5033,end apogee,CONTROL_FINISHED_OK
$STATE,5033,begin climb
$GC,5037,0.85,146.0,606.2,0.0,191,5174,1.12,2.30,128.38,1.015,4,0.098,0.041,3149,1132,2604
$GC,5392,0.85,146.0,593.9,12.9,199,5397,0.00,2.28,0.00,0.000,6,0.000,0.057,3149,2533,2596
$GC,5673,0.85,146.0,559.0,12.3,206,5677,0.00,2.15,0.00,0.000,4,0.000,0.036,3158,1121,2592
$GC,5775,0.85,146.0,547.7,10.0,208,5779,0.00,2.25,0.00,0.000,6,0.000,0.049,3150,2543,2592
$GC,6049,0.85,146.0,518.9,10.3,215,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2543,2590
$GC,6294,0.85,146.0,494.5,9.8,221,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2543,2589
$GC,6537,0.89,175.1,474.7,8.3,227,6563,0.00,0.00,24.52,0.950,6,0.000,0.000,3149,2543,2486
$GC,6780,0.89,175.1,443.2,14.1,233,6784,0.00,2.17,0.00,0.000,4,0.000,0.036,3158,1119,2480
$GC,6792,0.89,175.1,441.4,14.1,233,6796,0.00,2.28,0.00,0.000,6,0.000,0.050,3149,2543,2480
$GC,7065,0.89,175.1,402.5,14.1,240,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2543,2478
$GC,7310,0.89,175.1,369.1,13.3,246,7313,0.00,2.20,0.00,0.000,4,0.000,0.060,3150,3908,2477
$GC,7569,0.89,175.1,332.8,13.5,251,7573,0.00,2.08,0.00,0.000,6,0.000,0.030,3158,2537,2476
$GC,7826,0.89,175.1,302.3,11.6,258,7829,0.00,2.20,0.00,0.000,4,0.000,0.054,3150,3902,2475
$GC,7967,0.92,202.8,289.1,8.4,261,7996,0.00,2.08,24.23,0.835,6,0.000,0.028,3159,2511,2373
$GC,8249,0.92,202.8,255.6,13.3,268,8253,0.00,2.25,0.00,0.000,4,0.000,0.056,3150,3899,2368
$GC,8373,0.92,202.8,236.0,15.7,270,8380,0.00,2.05,0.00,0.000,6,0.000,0.026,3158,2550,2367
$GC,8626,0.92,202.8,201.2,13.5,277,8629,0.00,2.12,0.00,0.000,4,0.000,0.031,3169,1125,2366
$GC,8824,0.92,202.8,176.9,14.2,291,8828,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2544,2366
$GC,9087,1.01,270.4,152.5,6.6,315,9153,0.12,2.25,58.47,0.721,4,0.115,0.057,3192,3892,2096
$GC,9339,1.01,270.4,102.4,21.8,337,9342,0.00,2.03,0.00,0.000,6,0.000,0.025,3199,2521,2092
$GC,9609,1.01,270.4,47.4,21.3,362,9612,0.00,2.03,0.00,0.000,4,0.000,0.025,3210,1126,2090
$GC,9705,1.01,270.4,27.2,21.1,371,9713,0.00,2.22,0.00,0.000,6,0.000,0.041,3205,2541,2089
$STATE,9809,end climb,SURFACE_DEPTH_REACHED
$STATE,9809,begin surface coast
$FINISH,0.5,1.023814
$STATE,9821,end surface coast,CONTROL_FINISHED_OK
$STATE,9821,begin surface
$SM_CCo,9845,42.53,0.588,0,0,1772,350.04
$SM_GC,1.94,0.00,0.00,42.53,0.000,0.000,0.588,41,2706,1772,-8.86,0.45,350.04
$IRIDIUM_FIX,2244.02,-15801.49,140500,131317
$TT8_MAMPS,0.023777
$HUMID,1866
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,98.650
$10V_AH,10.7,55.988
$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,21.075,86.775,359.075,42.525,0.000,23.745,35.133,154.111,0.500,0.000,0.000,37.217,843.238,6935.076,442.522,1504.805,547.951,33.373,1096.157,0.000,1471.984,0.000,0.542,0.000
$DEVICE_MAMPS,227.032,77.467,1042.353,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.875,545.987,565.394,114.688,472.690,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32121,392
$CAP_FILE_SIZE,79095,0
$CFSIZE,260165632,232165376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,180211,183625,2255.338,-15800.035,39,1.8,39,10.1