version: 66.04
glider: 512
mission: 1
dive: 760
start: 2 20 111 9 47 25
data:
$ID,512
$MISSION,1
$DIVE,760
$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,-22305.234
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2680
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3220
$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
$GPS1,094030,2247.893,-15756.052,35,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-81.3
$GPS2,094632,2247.877,-15756.086,15,1.5,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.037,-0.254
$KALMAN_X,-240510.7,399.7,450.9,265357.8,-1482.1
$KALMAN_Y,-494854.3,-236.8,133.5,620174.8,2089.3
$MHEAD_RNG_PITCHd_Wd,178.2,3347,-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,-146.0,0.0,0.0,0,56,0.00,0.00,-37.55,0.000,2,0.000,0.000,44,2709,2752
$GC,61,-0.85,-146.0,3.1,-5.6,5,102,11.40,2.15,-22.62,0.000,4,0.243,0.040,2594,1274,3815
$GC,223,-0.85,-146.0,37.4,-16.8,28,231,0.00,2.30,0.00,0.000,6,0.000,0.064,2585,2654,3816
$GC,488,-0.85,-146.0,108.5,-26.9,53,492,0.00,2.05,0.00,0.000,4,0.000,0.025,2588,1269,3818
$GC,538,-0.85,-146.0,119.7,-18.6,57,542,0.00,2.30,0.00,0.000,6,0.000,0.060,2577,2681,3818
$GC,802,-0.85,-146.0,177.2,-24.1,81,806,0.00,1.95,0.00,0.000,4,0.000,0.058,2566,3908,3819
$GC,853,-0.85,-146.0,187.4,-14.9,85,860,0.00,1.83,0.00,0.000,6,0.000,0.022,2573,2668,3819
$GC,1138,-0.85,-146.0,237.6,-18.5,98,1141,0.00,2.03,0.00,0.000,4,0.000,0.026,2574,1273,3820
$GC,1206,-0.85,-146.0,248.3,-12.3,99,1211,0.12,2.30,0.00,0.000,6,0.160,0.059,2595,2693,3821
$GC,1471,-0.85,-146.0,279.0,-12.1,106,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2693,3821
$GC,1712,-0.85,-146.0,305.6,-10.7,112,1716,0.00,2.10,0.00,0.000,4,0.000,0.028,2605,1274,3821
$GC,1763,-0.85,-146.0,310.6,-7.4,113,1767,0.00,2.30,0.00,0.000,6,0.000,0.063,2596,2683,3822
$GC,2049,-0.85,-146.0,339.6,-10.3,120,2052,0.00,2.00,0.00,0.000,4,0.000,0.072,2586,3895,3821
$GC,2097,-0.85,-146.0,344.3,-9.3,121,2101,0.00,1.77,0.00,0.000,6,0.000,0.023,2591,2663,3821
$GC,2389,-0.85,-146.0,373.5,-10.4,128,2393,0.00,2.03,0.00,0.000,4,0.000,0.028,2600,1278,3819
$GC,2442,-0.85,-146.0,378.7,-8.4,129,2446,0.00,2.28,0.00,0.000,6,0.000,0.058,2591,2693,3820
$GC,2722,-0.85,-146.0,407.3,-10.4,136,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2693,3818
$GC,2964,-0.85,-146.0,431.5,-9.9,142,2968,0.00,2.10,0.00,0.000,4,0.000,0.028,2600,1288,3816
$GC,2989,-0.85,-146.0,433.9,-10.3,142,2993,0.00,2.25,0.00,0.000,6,0.000,0.055,2591,2690,3817
$GC,3253,-0.85,-146.0,458.5,-9.5,149,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2690,3815
$GC,3496,-0.85,-146.0,481.1,-9.4,155,3499,0.00,2.10,0.00,0.000,4,0.000,0.028,2599,1280,3813
$GC,3519,-0.85,-146.0,483.5,-9.7,155,3523,0.00,2.28,0.00,0.000,6,0.000,0.058,2591,2684,3813
$GC,3782,-0.85,-146.0,506.4,-8.9,162,3785,0.00,2.00,0.00,0.000,4,0.000,0.070,2581,3900,3811
$GC,3805,-0.85,-146.0,508.8,-9.4,162,3809,0.00,1.77,0.00,0.000,6,0.000,0.025,2588,2680,3811
$GC,4074,-0.85,-146.0,533.0,-9.3,169,4078,0.00,2.05,0.00,0.000,4,0.000,0.029,2598,1287,3810
$GC,4126,-0.85,-146.0,537.7,-7.6,170,4130,0.00,2.28,0.00,0.000,6,0.000,0.058,2590,2682,3809
$GC,4407,-0.85,-146.0,562.7,-9.0,177,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2682,3807
$GC,4649,-0.85,-146.0,582.5,-8.0,183,4652,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1287,3806
$GC,4667,-0.85,-146.0,584.3,-8.2,183,4671,0.00,2.30,0.00,0.000,6,0.000,0.061,2590,2690,3805
$STATE,4890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4890,begin apogee
$GC,4900,-0.32,0.0,601.2,7.5,189,5027,0.57,0.00,123.15,1.063,6,0.138,0.000,2762,2550,3220
$STATE,5027,end apogee,CONTROL_FINISHED_OK
$STATE,5027,begin climb
$GC,5032,0.85,146.0,606.6,0.0,192,5168,1.12,2.28,128.90,1.054,4,0.093,0.028,3149,1079,2624
$GC,5432,0.85,146.0,591.7,12.1,201,5436,0.00,2.30,0.00,0.000,6,0.000,0.046,3149,2524,2616
$GC,5722,0.85,146.0,556.5,11.8,208,5726,0.00,2.12,0.00,0.000,4,0.000,0.029,3159,1093,2613
$GC,5982,0.86,151.6,530.7,9.4,213,5993,0.00,2.28,3.92,0.630,6,0.000,0.050,3159,2522,2602
$GC,6239,0.86,153.1,506.7,9.5,220,6242,0.00,2.12,0.00,0.000,4,0.000,0.028,3168,1092,2600
$GC,6319,0.88,164.8,499.5,9.1,221,6338,0.00,2.28,13.23,0.939,6,0.000,0.047,3163,2521,2548
$GC,6621,0.88,164.8,461.2,13.4,229,6625,0.00,2.15,0.00,0.000,4,0.000,0.029,3172,1079,2544
$GC,6639,0.88,164.8,458.8,13.1,229,6643,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2526,2543
$GC,6909,0.88,164.8,426.3,12.1,236,6913,0.00,2.17,0.00,0.000,4,0.000,0.055,3163,3899,2542
$GC,7140,0.88,164.8,399.0,10.2,241,7144,0.00,2.10,0.00,0.000,6,0.000,0.028,3172,2485,2541
$GC,7427,0.91,189.8,374.0,8.5,248,7461,0.00,2.28,24.55,0.863,4,0.000,0.051,3163,3899,2446
$GC,7637,0.91,189.8,343.0,15.6,252,7641,0.00,2.08,0.00,0.000,6,0.000,0.027,3171,2512,2443
$GC,7895,0.91,189.8,304.0,15.3,259,7899,0.00,2.22,0.00,0.000,4,0.000,0.048,3164,3906,2441
$GC,8155,0.91,189.8,265.9,13.8,264,8159,0.00,2.08,0.00,0.000,6,0.000,0.026,3172,2506,2441
$GC,8414,0.91,189.8,237.0,10.7,271,8418,0.00,2.05,0.00,0.000,4,0.000,0.028,3182,1104,2440
$GC,8629,0.94,215.0,217.2,8.5,275,8657,0.00,2.20,22.77,0.800,6,0.000,0.041,3176,2522,2343
$GC,8916,0.94,215.0,178.1,15.5,293,8919,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1109,2339
$GC,9177,0.94,216.3,143.5,9.6,316,9181,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2526,2338
$GC,9442,0.96,228.2,117.9,9.1,340,9459,0.00,2.17,12.35,0.673,4,0.000,0.051,3176,3899,2289
$GC,9716,0.96,228.2,84.3,12.3,364,9720,0.00,2.03,0.00,0.000,6,0.000,0.025,3185,2515,2288
$GC,9987,0.96,228.2,54.0,10.6,389,9990,0.00,2.20,0.00,0.000,4,0.000,0.047,3177,3906,2287
$GC,10091,0.96,228.2,42.0,11.6,398,10094,0.00,2.03,0.00,0.000,6,0.000,0.024,3186,2517,2287
$GC,10358,0.96,228.2,10.8,11.5,437,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2512,2287
$STATE,10435,end climb,SURFACE_DEPTH_REACHED
$STATE,10435,begin surface coast
$FINISH,0.4,1.023945
$STATE,10463,end surface coast,CONTROL_FINISHED_OK
$STATE,10463,begin surface
$SM_CCo,10487,74.15,0.595,0,0,1793,350.04
$SM_GC,2.66,0.00,0.00,74.15,0.000,0.000,0.595,51,2715,1793,-8.81,0.99,350.04
$IRIDIUM_FIX,2241.69,-15757.16,160500,070736
$TT8_MAMPS,0.023777
$HUMID,1811
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.5,100.459
$10V_AH,10.6,57.270
$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,22.100,98.800,328.875,74.150,0.000,23.953,37.592,154.615,0.000,0.000,0.000,15.638,1014.125,6961.468,443.759,1918.067,593.633,33.373,1225.938,0.000,1900.260,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,72.098,1063.062,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,309.427,690.282,710.680,161.222,663.823,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38202,456
$CAP_FILE_SIZE,90745,0
$CFSIZE,260165632,231510016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,200211,124455,2246.609,-15756.712,42,1.2,42,10.1