version: 66.04
glider: 512
mission: 1
dive: 761
start: 2 20 111 12 52 0
data:
$ID,512
$MISSION,1
$DIVE,761
$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,-22318.293
$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,57
$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,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
$GPS1,124455,2246.609,-15756.712,42,1.2,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.8
$GPS2,125107,2246.594,-15756.801,12,1.3,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.131,-0.220
$KALMAN_X,-240793.2,228.9,187.8,264845.9,-1494.3
$KALMAN_Y,-493032.6,-645.3,-577.3,617102.1,2968.5
$MHEAD_RNG_PITCHd_Wd,200.6,10611,-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,-146.0,0.0,0.0,0,57,0.00,0.00,-37.62,0.000,2,0.000,0.000,52,2715,2739
$GC,62,-0.85,-146.0,3.0,-4.2,5,102,11.18,2.15,-22.73,0.000,4,0.239,0.040,2593,1275,3817
$GC,222,-0.85,-146.0,34.5,-17.1,29,226,0.00,2.25,0.00,0.000,6,0.000,0.063,2584,2648,3819
$GC,487,-0.85,-146.0,106.3,-25.8,53,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2648,3819
$GC,750,-0.85,-146.0,165.4,-18.3,78,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2649,3821
$GC,1032,-0.85,-146.0,215.4,-18.2,99,1036,0.00,2.03,0.00,0.000,4,0.000,0.029,2591,1282,3822
$GC,1089,-0.85,-146.0,223.8,-12.5,100,1093,0.00,2.28,0.00,0.000,6,0.000,0.058,2583,2696,3823
$GC,1369,-0.85,-146.0,265.2,-15.1,107,1372,0.00,2.10,0.00,0.000,4,0.000,0.029,2590,1281,3823
$GC,1416,-0.85,-146.0,271.5,-11.9,108,1420,0.00,2.25,0.00,0.000,6,0.000,0.056,2581,2685,3824
$GC,1701,-0.85,-146.0,311.0,-14.3,115,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2685,3823
$GC,1945,-0.85,-146.0,342.7,-12.6,121,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2685,3822
$GC,2188,-0.85,-146.0,372.9,-12.6,127,2192,0.00,2.10,0.00,0.000,4,0.000,0.032,2590,1286,3821
$GC,2230,-0.85,-146.0,377.9,-10.6,127,2236,0.00,2.25,0.00,0.000,6,0.000,0.057,2581,2685,3821
$GC,2483,-0.85,-146.0,408.9,-12.7,134,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2685,3820
$GC,2725,-0.85,-146.0,438.6,-12.0,140,2729,0.00,2.10,0.00,0.000,4,0.000,0.033,2589,1297,3818
$GC,2765,-0.85,-146.0,443.4,-10.9,140,2772,0.00,2.28,0.00,0.000,6,0.000,0.061,2581,2679,3818
$GC,3017,-0.85,-146.0,472.8,-12.1,147,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2679,3817
$GC,3260,-0.85,-146.0,500.6,-11.4,153,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2679,3815
$GC,3506,-0.85,-146.0,528.2,-11.2,159,3509,0.00,2.12,0.00,0.000,4,0.000,0.036,2589,1285,3812
$GC,3547,-0.85,-146.0,532.8,-9.9,159,3554,0.00,2.28,0.00,0.000,6,0.000,0.060,2580,2678,3812
$GC,3800,-0.85,-146.0,559.2,-10.4,166,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2678,3812
$GC,4042,-0.85,-146.0,584.5,-10.4,172,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2678,3809
$STATE,4203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4203,begin apogee
$GC,4213,-0.32,0.0,601.6,10.6,176,4340,0.68,0.00,123.50,1.051,6,0.189,0.000,2757,2519,3220
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4340,begin climb
$GC,4345,0.85,146.0,608.9,0.0,179,4480,1.33,2.28,128.05,1.044,4,0.146,0.048,3150,1132,2624
$GC,4696,0.85,146.0,601.8,13.0,186,4700,0.00,2.28,0.00,0.000,6,0.000,0.061,3151,2518,2617
$GC,4947,0.85,146.0,571.6,11.9,192,4951,0.00,2.17,0.00,0.000,4,0.000,0.050,3158,1132,2614
$GC,4994,0.85,146.0,566.1,11.4,193,4998,0.00,2.25,0.00,0.000,6,0.000,0.060,3152,2519,2613
$GC,5279,0.85,146.0,534.9,10.7,200,5283,0.00,2.17,0.00,0.000,4,0.000,0.048,3160,1129,2611
$GC,5348,0.87,159.6,528.1,9.0,201,5363,0.00,2.25,10.82,0.907,6,0.000,0.057,3152,2520,2569
$GC,5610,0.87,159.6,497.3,12.0,207,5613,0.00,2.17,0.00,0.000,4,0.000,0.048,3160,1135,2566
$GC,5746,0.87,159.6,482.0,10.5,210,5751,0.00,2.25,0.00,0.000,6,0.000,0.060,3152,2519,2566
$GC,6038,0.88,166.3,453.8,9.3,217,6051,0.00,2.33,6.85,0.802,4,0.000,0.066,3142,3903,2541
$GC,6115,0.88,166.3,445.8,11.3,218,6119,0.00,2.12,0.00,0.000,6,0.000,0.040,3150,2539,2540
$GC,6372,0.88,166.3,420.6,9.9,225,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2539,2540
$GC,6617,0.91,193.8,400.1,8.4,231,6645,0.00,0.00,25.75,0.943,6,0.000,0.000,3150,2539,2429
$GC,6860,0.91,193.8,365.7,15.0,237,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2539,2423
$GC,7105,0.91,193.8,329.2,14.7,243,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2539,2422
$GC,7347,0.91,193.8,297.7,12.9,249,7351,0.00,2.22,0.00,0.000,4,0.000,0.058,3142,3903,2421
$GC,7517,0.91,193.8,274.0,12.9,252,7521,0.00,2.12,0.00,0.000,6,0.000,0.034,3151,2512,2421
$GC,7773,0.91,193.8,244.4,11.7,259,7777,0.00,2.15,0.00,0.000,4,0.000,0.038,3162,1106,2420
$GC,7937,0.93,206.7,229.3,9.0,262,7954,0.00,2.28,11.50,0.755,6,0.000,0.050,3153,2533,2377
$GC,8199,0.93,206.7,197.9,13.0,269,8203,0.00,2.17,0.00,0.000,4,0.000,0.035,3162,1100,2374
$GC,8358,0.93,206.7,178.7,12.5,283,8362,0.00,2.25,0.00,0.000,6,0.000,0.048,3154,2528,2374
$GC,8628,0.93,206.7,146.4,10.5,308,8632,0.00,2.17,0.00,0.000,4,0.000,0.034,3162,1095,2373
$GC,8697,0.99,254.1,140.6,7.5,314,8747,0.00,2.25,41.65,0.727,6,0.000,0.048,3162,2520,2183
$GC,9005,0.99,254.1,99.7,13.2,342,9009,0.00,2.25,0.00,0.000,4,0.000,0.062,3162,3901,2178
$GC,9211,0.99,254.1,64.7,17.8,360,9215,0.00,2.10,0.00,0.000,6,0.000,0.030,3170,2513,2177
$GC,9479,0.99,254.1,22.3,16.7,389,9488,0.00,2.12,0.00,0.000,4,0.000,0.031,3181,1099,2178
$GC,9577,0.99,254.1,6.0,15.4,406,9586,0.00,2.25,0.00,0.000,6,0.000,0.046,3176,2514,2177
$STATE,9592,end climb,SURFACE_DEPTH_REACHED
$STATE,9592,begin surface coast
$FINISH,0.4,1.023774
$STATE,9609,end surface coast,CONTROL_FINISHED_OK
$STATE,9610,begin surface
$SM_CCo,9633,56.62,0.598,0,0,1793,350.04
$SM_GC,2.63,0.00,0.00,56.62,0.000,0.000,0.598,43,2714,1793,-8.84,0.96,350.04
$IRIDIUM_FIX,2239.35,-15757.16,160500,090929
$TT8_MAMPS,0.023777
$HUMID,1842
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.6,100.578
$10V_AH,10.7,57.357
$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,21.675,75.275,348.125,56.625,0.000,30.480,39.718,153.383,0.000,0.000,0.000,12.429,857.170,6703.791,447.980,1501.348,555.000,33.374,1070.738,0.000,1493.592,0.000,0.543,0.000
$DEVICE_MAMPS,238.537,65.962,1050.790,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.190,613.767,631.949,135.317,559.575,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35101,411
$CAP_FILE_SIZE,74671,0
$CFSIZE,260165632,231481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,200211,153446,2245.585,-15757.683,9,3.3,29,10.1