version: 66.04
glider: 512
mission: 1
dive: 751
start: 2 19 111 6 39 14
data:
$ID,512
$MISSION,1
$DIVE,751
$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,-22156.219
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,063007,2254.832,-15757.381,39,2.0,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.2
$GPS2,063822,2254.840,-15757.379,13,2.1,32,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,0.003
$KALMAN_X,-232373.6,263.3,59.8,255525.1,-2491.1
$KALMAN_Y,-502952.9,13.5,228.6,640820.3,-583.2
$MHEAD_RNG_PITCHd_Wd,79.2,4054,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,67,0.00,0.00,-45.28,0.000,2,0.000,0.000,44,2713,2790
$GC,72,-0.85,-146.0,3.1,-4.0,6,111,11.15,1.92,-21.27,0.000,4,0.232,0.084,2597,3872,3795
$GC,249,-0.85,-146.0,37.4,-14.1,32,252,0.00,1.75,0.00,0.000,6,0.000,0.025,2604,2684,3797
$GC,519,-0.85,-146.0,98.0,-24.7,57,523,0.00,2.10,0.00,0.000,4,0.000,0.034,2615,1279,3798
$GC,591,-0.85,-146.0,111.3,-14.5,63,595,0.00,2.30,0.00,0.000,6,0.000,0.067,2606,2672,3798
$GC,856,-0.85,-146.0,157.0,-14.7,87,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2673,3799
$GC,1121,-0.85,-146.0,196.6,-15.6,112,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2673,3800
$GC,1395,-0.85,-146.0,235.8,-14.2,121,1399,0.00,2.05,0.00,0.000,4,0.000,0.028,2614,1285,3800
$GC,1435,-0.85,-146.0,240.9,-10.4,121,1441,0.00,2.30,0.00,0.000,6,0.000,0.061,2606,2703,3801
$GC,1686,-0.85,-146.0,270.1,-11.9,128,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2703,3801
$GC,1931,-0.85,-146.0,297.1,-11.2,134,1935,0.00,2.10,0.00,0.000,4,0.000,0.028,2612,1285,3801
$GC,1984,-0.85,-146.0,302.2,-8.1,135,1988,0.00,2.28,0.00,0.000,6,0.000,0.060,2605,2683,3801
$GC,2263,-0.85,-146.0,330.5,-10.5,142,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2683,3801
$GC,2507,-0.85,-146.0,354.1,-9.3,148,2511,0.00,2.10,0.00,0.000,4,0.000,0.029,2613,1273,3800
$GC,2537,-0.85,-146.0,356.8,-8.7,148,2542,0.00,2.33,0.00,0.000,6,0.000,0.060,2605,2707,3800
$GC,2795,-0.85,-146.0,378.4,-8.7,155,2799,0.00,2.12,0.00,0.000,4,0.000,0.029,2613,1273,3798
$GC,2824,-0.85,-146.0,381.3,-9.4,155,2828,0.00,2.30,0.00,0.000,6,0.000,0.058,2604,2695,3798
$GC,3080,-0.85,-146.0,402.8,-8.4,162,3084,0.00,2.08,0.00,0.000,4,0.000,0.028,2613,1282,3797
$GC,3116,-0.85,-146.0,405.6,-7.3,162,3120,0.00,2.28,0.00,0.000,6,0.000,0.055,2604,2699,3797
$GC,3367,-0.85,-146.0,425.5,-8.2,168,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2700,3795
$GC,3613,-0.85,-146.0,445.6,-8.2,174,3617,0.00,2.12,0.00,0.000,4,0.000,0.028,2611,1274,3794
$GC,3665,-0.85,-146.0,449.9,-7.0,175,3669,0.00,2.28,0.00,0.000,6,0.000,0.054,2603,2692,3794
$GC,3944,-0.85,-146.0,473.6,-8.7,182,3948,0.00,2.00,0.00,0.000,4,0.000,0.071,2594,3888,3792
$GC,3979,-0.85,-146.0,476.7,-8.8,182,3983,0.00,1.77,0.00,0.000,6,0.000,0.025,2600,2673,3791
$GC,4236,-0.85,-146.0,499.0,-8.7,189,4240,0.00,2.05,0.00,0.000,4,0.000,0.029,2611,1284,3790
$GC,4289,-0.85,-146.0,503.4,-7.4,190,4293,0.00,2.28,0.00,0.000,6,0.000,0.058,2602,2686,3790
$GC,4568,-0.85,-146.0,526.2,-8.1,197,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2686,3787
$GC,4812,-0.85,-146.0,546.0,-8.2,203,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2686,3786
$GC,5056,-0.85,-146.0,566.0,-8.3,209,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2686,3785
$GC,5299,-0.85,-146.0,585.2,-7.8,215,5303,0.00,2.10,0.00,0.000,4,0.000,0.031,2610,1282,3783
$GC,5329,-0.85,-146.0,587.5,-7.8,215,5333,0.00,2.28,0.00,0.000,6,0.000,0.055,2601,2692,3783
$STATE,5542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5542,begin apogee
$GC,5552,-0.32,0.0,602.5,6.9,221,5677,0.57,0.00,122.88,1.048,6,0.120,0.000,2781,2545,3200
$STATE,5678,end apogee,CONTROL_FINISHED_OK
$STATE,5678,begin climb
$GC,5683,0.85,146.0,607.8,0.0,224,5821,1.10,2.33,128.25,1.022,4,0.084,0.056,3150,3904,2603
$GC,6083,0.85,146.0,584.4,14.9,233,6087,0.00,2.08,0.00,0.000,6,0.000,0.031,3158,2547,2596
$GC,6373,0.85,146.0,550.5,10.8,240,6377,0.00,2.22,0.00,0.000,4,0.000,0.058,3150,3904,2592
$GC,6632,0.85,146.0,522.0,11.8,245,6636,0.00,2.08,0.00,0.000,6,0.000,0.031,3158,2524,2590
$GC,6889,0.85,146.0,495.8,10.2,252,6893,0.00,2.22,0.00,0.000,4,0.000,0.055,3150,3903,2588
$GC,7078,0.85,146.0,474.6,11.6,256,7082,0.00,2.05,0.00,0.000,6,0.000,0.030,3158,2547,2588
$GC,7364,0.86,150.9,446.3,9.4,263,7368,0.00,2.20,0.00,0.000,4,0.000,0.055,3150,3901,2587
$GC,7382,0.89,171.6,444.6,8.7,263,7409,0.00,2.05,20.90,0.934,6,0.000,0.029,3159,2530,2500
$GC,7653,0.89,171.6,409.9,13.8,270,7657,0.00,2.10,0.00,0.000,4,0.000,0.033,3169,1140,2495
$GC,7684,0.89,171.6,406.3,12.2,270,7688,0.00,2.20,0.00,0.000,6,0.000,0.044,3162,2540,2495
$GC,7940,0.89,171.6,377.9,10.9,277,7944,0.00,2.12,0.00,0.000,4,0.000,0.032,3171,1132,2494
$GC,8200,0.89,171.6,352.0,10.0,282,8204,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2550,2493
$GC,8453,0.89,171.6,325.1,10.5,288,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2550,2492
$GC,8695,0.89,176.4,300.8,9.4,294,8703,0.00,0.00,4.55,0.617,6,0.000,0.000,3162,2550,2480
$GC,8986,0.92,198.6,273.6,8.6,301,9020,0.00,2.22,23.33,0.768,4,0.000,0.056,3162,3899,2389
$GC,9276,0.92,198.6,231.7,14.3,307,9280,0.00,2.03,0.00,0.000,6,0.000,0.026,3170,2547,2387
$GC,9544,0.92,198.6,202.8,10.9,314,9547,0.00,2.20,0.00,0.000,4,0.000,0.054,3163,3905,2385
$GC,9806,0.92,198.6,171.5,12.5,334,9810,0.00,2.05,0.00,0.000,6,0.000,0.026,3172,2519,2384
$GC,10076,0.92,198.6,142.5,10.4,359,10080,0.00,2.20,0.00,0.000,4,0.000,0.049,3163,3901,2384
$GC,10271,1.05,300.8,123.7,5.1,376,10365,0.12,2.03,87.32,0.696,6,0.095,0.025,3222,2530,1973
$GC,10622,1.05,300.8,43.9,27.8,408,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2530,1966
$STATE,10765,end climb,SURFACE_DEPTH_REACHED
$STATE,10765,begin surface coast
$FINISH,0.3,1.023795
$STATE,10777,end surface coast,CONTROL_FINISHED_OK
$STATE,10777,begin surface
$SM_CCo,10802,29.17,0.591,0,0,1772,350.04
$SM_GC,1.13,0.00,0.00,29.17,0.000,0.000,0.591,40,2703,1772,-8.91,0.34,350.04
$IRIDIUM_FIX,2246.36,-15758.45,150500,030359
$TT8_MAMPS,0.023777
$HUMID,1884
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.5,99.295
$10V_AH,10.6,56.446
$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,21.350,85.925,387.225,29.175,0.000,29.099,41.356,260.130,0.250,0.000,0.000,33.737,931.865,7536.413,438.097,1717.943,702.875,33.372,1186.192,0.000,1687.629,0.000,0.542,0.000
$DEVICE_MAMPS,231.634,84.370,1047.722,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,292.922,613.023,632.857,125.185,516.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34912,433
$CAP_FILE_SIZE,87098,0
$CFSIZE,260165632,231927808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,190211,094106,2254.707,-15756.191,36,1.3,36,10.1