version: 66.04
glider: 512
mission: 1
dive: 749
start: 2 19 111 0 29 55
data:
$ID,512
$MISSION,1
$DIVE,749
$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,-22083.922
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2890
$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,50
$R_STBD_OVSHOOT,42
$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
$GPS1,002006,2255.357,-15758.654,36,1.5,36,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.9
$GPS2,002902,2255.317,-15758.682,14,1.5,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,0.002
$KALMAN_X,-227948.2,-180.0,146.0,249208.3,-2648.2
$KALMAN_Y,-502078.3,121.2,-225.9,641177.2,-368.1
$MHEAD_RNG_PITCHd_Wd,79.3,6387,-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,-45.30,0.000,2,0.000,0.000,43,2738,2935
$GC,70,-0.85,-146.0,3.3,-4.6,6,103,10.90,1.92,-16.88,0.000,4,0.226,0.077,2594,3875,3799
$GC,228,-0.85,-146.0,39.0,-13.9,27,232,0.00,1.75,0.00,0.000,6,0.000,0.024,2601,2688,3800
$GC,498,-0.85,-146.0,101.5,-23.6,52,501,0.00,2.08,0.00,0.000,4,0.000,0.031,2612,1288,3802
$GC,581,-0.85,-146.0,117.2,-13.0,59,588,0.00,2.28,0.00,0.000,6,0.000,0.064,2603,2657,3802
$GC,844,-0.85,-146.0,163.0,-15.8,84,848,0.00,2.03,0.00,0.000,4,0.000,0.071,2594,3894,3803
$GC,938,-0.85,-146.0,174.3,-11.1,92,941,0.00,1.77,0.00,0.000,6,0.000,0.023,2600,2677,3803
$GC,1212,-0.85,-146.0,212.9,-14.4,112,1216,0.00,2.05,0.00,0.000,4,0.000,0.029,2611,1285,3804
$GC,1275,-0.85,-146.0,220.1,-10.2,113,1279,0.00,2.28,0.00,0.000,6,0.000,0.059,2602,2690,3804
$GC,1543,-0.85,-146.0,252.5,-12.4,120,1547,0.00,2.08,0.00,0.000,4,0.000,0.028,2609,1283,3805
$GC,1583,-0.85,-146.0,257.2,-10.3,120,1590,0.00,2.33,0.00,0.000,6,0.000,0.062,2600,2692,3805
$GC,1834,-0.85,-146.0,286.6,-12.1,127,1838,0.00,2.08,0.00,0.000,4,0.000,0.028,2609,1280,3804
$GC,1898,-0.85,-146.0,293.0,-8.8,128,1902,0.00,2.30,0.00,0.000,6,0.000,0.060,2600,2701,3804
$GC,2166,-0.85,-146.0,321.3,-10.7,135,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2701,3804
$GC,2412,-0.85,-146.0,347.3,-10.6,141,2416,0.00,2.10,0.00,0.000,4,0.000,0.028,2609,1286,3803
$GC,2435,-0.85,-146.0,350.4,-11.6,141,2439,0.00,2.25,0.00,0.000,6,0.000,0.054,2600,2685,3803
$GC,2698,-0.85,-146.0,378.7,-11.1,148,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2686,3802
$GC,2941,-0.85,-146.0,404.9,-10.5,154,2945,0.00,2.10,0.00,0.000,4,0.000,0.030,2608,1279,3801
$GC,2976,-0.85,-146.0,408.2,-9.1,154,2980,0.00,2.28,0.00,0.000,6,0.000,0.056,2600,2697,3801
$GC,3235,-0.85,-146.0,432.1,-9.3,161,3238,0.00,2.10,0.00,0.000,4,0.000,0.029,2608,1289,3798
$GC,3276,-0.85,-146.0,435.7,-7.7,161,3282,0.00,2.28,0.00,0.000,6,0.000,0.058,2599,2699,3799
$GC,3529,-0.85,-146.0,458.6,-9.3,168,3533,0.00,1.98,0.00,0.000,4,0.000,0.073,2590,3888,3796
$GC,3553,-0.85,-146.0,461.1,-9.3,168,3557,0.00,1.80,0.00,0.000,6,0.000,0.024,2596,2680,3796
$GC,3821,-0.85,-146.0,484.6,-8.8,175,3825,0.00,2.05,0.00,0.000,4,0.000,0.031,2607,1298,3795
$GC,3874,-0.85,-146.0,488.7,-6.7,176,3878,0.00,2.25,0.00,0.000,6,0.000,0.059,2598,2688,3795
$GC,4153,-0.85,-146.0,512.4,-8.7,183,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2688,3793
$GC,4397,-0.85,-146.0,534.1,-9.0,189,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2688,3791
$GC,4641,-0.85,-146.0,556.6,-9.4,195,4644,0.00,2.10,0.00,0.000,4,0.000,0.032,2606,1299,3789
$GC,4689,-0.85,-146.0,560.9,-8.1,196,4693,0.00,2.25,0.00,0.000,6,0.000,0.061,2598,2691,3789
$GC,4980,-0.85,-146.0,587.6,-9.0,203,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2691,3787
$STATE,5138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5138,begin apogee
$GC,5148,-0.32,0.0,601.3,8.4,207,5274,0.62,0.00,123.12,1.045,6,0.150,0.000,2779,2542,3200
$STATE,5275,end apogee,CONTROL_FINISHED_OK
$STATE,5275,begin climb
$GC,5280,0.85,146.0,607.5,0.0,210,5417,1.17,2.38,128.05,1.020,4,0.115,0.061,3143,3902,2603
$GC,5679,0.85,146.0,585.0,15.8,219,5683,0.00,2.10,0.00,0.000,6,0.000,0.035,3153,2539,2596
$GC,5972,0.85,146.0,549.4,11.4,226,5976,0.00,2.20,0.00,0.000,4,0.000,0.060,3144,3898,2591
$GC,6232,0.85,146.0,519.9,11.1,231,6236,0.00,2.08,0.00,0.000,6,0.000,0.031,3153,2532,2590
$GC,6490,0.86,148.5,495.3,9.5,238,6494,0.00,2.22,0.00,0.000,4,0.000,0.054,3145,3904,2588
$GC,6750,0.86,148.5,470.5,9.6,243,6754,0.00,2.08,0.00,0.000,6,0.000,0.031,3153,2537,2587
$GC,7007,0.93,205.4,451.4,7.1,250,7063,0.10,2.25,50.78,0.955,4,0.153,0.056,3176,3898,2361
$GC,7250,0.93,205.4,405.5,21.4,255,7254,0.00,2.10,0.00,0.000,6,0.000,0.031,3184,2526,2357
$GC,7518,0.93,205.4,354.7,18.8,262,7522,0.00,2.12,0.00,0.000,4,0.000,0.036,3195,1127,2353
$GC,7536,0.93,205.4,351.6,18.0,262,7540,0.00,2.25,0.00,0.000,6,0.000,0.051,3189,2540,2353
$GC,7811,0.93,205.4,298.7,19.6,269,7814,0.00,2.20,0.00,0.000,4,0.000,0.057,3189,3908,2352
$GC,7918,0.93,205.4,278.4,18.1,271,7922,0.00,2.08,0.00,0.000,6,0.000,0.030,3197,2528,2351
$GC,8192,0.93,205.4,233.1,15.6,278,8196,0.00,2.10,0.00,0.000,4,0.000,0.034,3207,1131,2350
$GC,8456,0.93,205.4,194.8,13.8,286,8460,0.00,2.25,0.00,0.000,6,0.000,0.048,3205,2548,2349
$GC,8721,0.93,205.4,158.3,11.9,310,8725,0.00,2.12,0.00,0.000,4,0.000,0.030,3213,1123,2348
$GC,8975,1.01,273.3,138.6,6.6,332,9037,0.00,2.25,57.47,0.716,6,0.000,0.042,3205,2540,2085
$GC,9298,1.01,273.3,76.5,23.3,361,9301,0.00,2.17,0.00,0.000,4,0.000,0.056,3205,3898,2078
$GC,9548,1.01,273.3,14.8,24.9,388,9556,0.00,2.05,0.00,0.000,6,0.000,0.024,3213,2531,2076
$STATE,9599,end climb,SURFACE_DEPTH_REACHED
$STATE,9599,begin surface coast
$FINISH,0.4,1.023795
$STATE,9611,end surface coast,CONTROL_FINISHED_OK
$STATE,9611,begin surface
$SM_CCo,9635,42.83,0.595,0,0,1772,350.04
$SM_GC,1.65,0.00,0.00,42.83,0.000,0.000,0.595,49,2702,1772,-8.88,0.34,350.04
$IRIDIUM_FIX,2246.36,-15800.62,140500,212121
$TT8_MAMPS,0.023777
$HUMID,1899
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,99.025
$10V_AH,10.6,56.259
$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,21.175,89.900,359.425,42.825,0.000,28.683,33.413,325.051,0.000,0.000,0.000,14.146,888.397,6512.186,419.371,1663.799,732.286,33.371,1140.167,0.000,1648.710,0.000,0.543,0.000
$DEVICE_MAMPS,226.265,76.700,1045.421,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,270.201,586.812,604.366,121.008,497.049,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31892,399
$CAP_FILE_SIZE,83924,0
$CFSIZE,260165632,232030208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,190211,031228,2255.105,-15758.131,9,3.4,29,10.1