version: 66.04
glider: 512
mission: 1
dive: 726
start: 2 16 111 5 6 8
data:
$ID,512
$MISSION,1
$DIVE,726
$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,-21677.311
$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,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,045852,2248.468,-15755.085,9,4.1,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.5
$GPS2,050516,2248.526,-15755.139,17,4.7,36,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.069,-0.247
$KALMAN_X,-205335.9,-405.5,98.3,232971.6,-1472.9
$KALMAN_Y,-504034.6,-457.4,322.0,630587.8,1633.4
$MHEAD_RNG_PITCHd_Wd,185.6,5351,-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,16,-0.85,-146.0,0.0,0.0,0,63,0.00,0.00,-45.17,0.000,2,0.000,0.000,46,2761,2896
$GC,68,-0.85,-146.0,3.2,-5.0,6,102,11.10,2.28,-17.42,0.000,4,0.235,0.043,2599,1291,3758
$GC,175,-0.85,-146.0,27.5,-14.8,23,183,0.00,2.40,0.00,0.000,6,0.000,0.074,2591,2691,3760
$GC,443,-0.85,-146.0,93.1,-25.2,49,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2692,3761
$GC,706,-0.85,-146.0,148.1,-18.3,74,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2692,3762
$GC,961,-0.85,-146.0,191.6,-15.9,98,965,0.00,2.05,0.00,0.000,4,0.000,0.028,2591,1292,3763
$GC,1020,-0.85,-146.0,199.8,-11.9,103,1025,0.00,2.33,0.00,0.000,6,0.000,0.068,2580,2708,3763
$GC,1273,-0.85,-146.0,239.3,-16.0,109,1277,0.00,1.95,0.00,0.000,4,0.000,0.074,2571,3892,3763
$GC,1308,-0.85,-146.0,245.3,-15.7,109,1312,0.00,1.77,0.00,0.000,6,0.000,0.024,2571,2688,3764
$GC,1568,-0.85,-146.0,282.4,-14.4,116,1571,0.00,2.05,0.00,0.000,4,0.000,0.030,2571,1301,3764
$GC,1630,-0.85,-146.0,290.7,-10.4,117,1635,0.12,2.28,0.00,0.000,6,0.140,0.061,2596,2705,3764
$GC,1898,-0.85,-146.0,317.3,-10.1,124,1901,0.00,2.08,0.00,0.000,4,0.000,0.029,2606,1304,3764
$GC,1916,-0.85,-146.0,319.2,-10.4,124,1920,0.00,2.28,0.00,0.000,6,0.000,0.063,2597,2702,3765
$GC,2185,-0.85,-146.0,348.1,-11.1,131,2188,0.00,2.08,0.00,0.000,4,0.000,0.029,2604,1303,3763
$GC,2204,-0.85,-146.0,350.3,-11.0,131,2208,0.00,2.28,0.00,0.000,6,0.000,0.061,2595,2705,3764
$GC,2472,-0.85,-146.0,377.9,-10.4,138,2475,0.00,2.10,0.00,0.000,4,0.000,0.029,2601,1291,3762
$GC,2490,-0.85,-146.0,380.0,-10.3,138,2494,0.00,2.30,0.00,0.000,6,0.000,0.061,2593,2708,3763
$GC,2758,-0.85,-146.0,404.9,-9.3,145,2761,0.00,2.10,0.00,0.000,4,0.000,0.029,2599,1297,3760
$GC,2792,-0.85,-146.0,408.2,-9.3,145,2797,0.00,2.30,0.00,0.000,6,0.000,0.063,2590,2704,3761
$GC,3044,-0.85,-146.0,433.7,-10.5,151,3048,0.00,1.95,0.00,0.000,4,0.000,0.069,2581,3892,3759
$GC,3074,-0.85,-146.0,437.1,-11.0,151,3077,0.00,1.75,0.00,0.000,6,0.000,0.025,2581,2692,3759
$GC,3336,-0.85,-146.0,466.2,-11.2,158,3340,0.00,2.05,0.00,0.000,4,0.000,0.077,2576,3892,3758
$GC,3365,-0.85,-146.0,469.5,-11.3,158,3369,0.00,1.75,0.00,0.000,6,0.000,0.026,2576,2695,3757
$GC,3628,-0.85,-146.0,496.9,-10.5,165,3632,0.00,2.05,0.00,0.000,4,0.000,0.032,2576,1307,3756
$GC,3677,-0.85,-146.0,501.7,-9.2,166,3681,0.00,2.28,0.00,0.000,6,0.000,0.062,2576,2701,3756
$GC,3962,-0.85,-146.0,530.3,-10.0,173,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2701,3754
$GC,4205,-0.85,-146.0,555.7,-10.5,179,4209,0.00,1.98,0.00,0.000,4,0.000,0.074,2567,3889,3751
$GC,4223,-0.85,-146.0,557.9,-11.1,179,4227,0.12,1.75,0.00,0.000,6,0.138,0.027,2600,2700,3752
$GC,4499,-0.85,-146.0,582.0,-8.9,186,4502,0.00,2.08,0.00,0.000,4,0.000,0.031,2611,1305,3750
$GC,4546,-0.85,-146.0,586.6,-9.0,187,4550,0.00,2.25,0.00,0.000,6,0.000,0.057,2602,2701,3750
$STATE,4706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4706,begin apogee
$GC,4716,-0.32,0.0,602.0,9.4,191,4843,0.52,0.00,124.03,1.039,6,0.119,0.000,2766,2622,3160
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4848,0.85,146.0,609.6,0.0,194,4986,1.10,2.20,128.95,1.011,4,0.076,0.065,3150,3883,2563
$GC,5165,0.85,146.0,592.6,18.2,201,5169,0.00,1.90,0.00,0.000,6,0.000,0.031,3157,2638,2557
$GC,5445,0.85,146.0,546.6,16.1,208,5448,0.00,2.17,0.00,0.000,4,0.000,0.037,3169,1206,2553
$GC,5563,0.85,146.0,529.5,13.7,210,5567,0.00,2.28,0.00,0.000,6,0.000,0.053,3163,2626,2551
$GC,5820,0.85,146.0,495.3,13.4,217,5824,0.00,2.05,0.00,0.000,4,0.000,0.059,3163,3912,2550
$GC,5893,0.85,146.0,485.1,12.9,218,5897,0.00,1.95,0.00,0.000,6,0.000,0.030,3171,2615,2549
$GC,6155,0.85,146.0,455.1,11.1,225,6159,0.00,2.12,0.00,0.000,4,0.000,0.036,3182,1208,2548
$GC,6204,0.85,146.0,449.7,11.8,226,6208,0.00,2.25,0.00,0.000,6,0.000,0.051,3176,2628,2547
$GC,6488,0.85,146.0,419.1,10.2,233,6492,0.00,2.03,0.00,0.000,4,0.000,0.057,3176,3906,2546
$GC,6653,0.85,146.0,401.8,11.1,236,6657,0.15,1.92,0.00,0.000,6,0.294,0.030,3159,2622,2546
$GC,6916,0.86,149.5,375.0,9.5,243,6919,0.00,2.12,0.00,0.000,4,0.000,0.034,3170,1197,2544
$GC,7174,0.86,149.5,353.0,10.1,248,7178,0.00,2.28,0.00,0.000,6,0.000,0.051,3163,2625,2542
$GC,7431,0.91,190.7,332.6,7.8,255,7482,0.00,2.22,39.35,0.838,4,0.000,0.032,3172,1207,2381
$GC,7736,0.91,190.7,286.8,16.0,261,7743,0.00,2.28,0.00,0.000,6,0.000,0.048,3164,2631,2376
$GC,7988,0.91,190.7,247.4,14.8,268,7992,0.00,2.12,0.00,0.000,4,0.000,0.030,3172,1214,2374
$GC,8080,0.91,190.7,234.7,13.3,270,8084,0.00,2.22,0.00,0.000,6,0.000,0.046,3165,2627,2374
$GC,8365,0.91,190.7,200.8,11.7,277,8369,0.00,2.12,0.00,0.000,4,0.000,0.030,3174,1195,2373
$GC,8625,0.91,190.7,170.7,11.1,297,8629,0.00,2.28,0.00,0.000,6,0.000,0.048,3173,2626,2373
$GC,8894,0.91,190.7,140.8,11.1,322,8898,0.00,2.03,0.00,0.000,4,0.000,0.055,3173,3904,2371
$GC,8919,0.91,190.7,138.2,10.1,324,8922,0.00,1.90,0.00,0.000,6,0.000,0.025,3183,2602,2371
$GC,9189,0.99,254.8,116.3,6.8,349,9250,0.00,2.10,54.30,0.686,4,0.000,0.045,3176,3899,2121
$GC,9501,0.99,254.8,56.9,21.0,376,9509,0.00,1.90,0.00,0.000,6,0.000,0.025,3184,2634,2118
$STATE,9754,end climb,SURFACE_DEPTH_REACHED
$STATE,9754,begin surface coast
$FINISH,0.4,1.023796
$STATE,9766,end surface coast,CONTROL_FINISHED_OK
$STATE,9767,begin surface
$SM_CCo,9789,50.58,0.584,0,0,1732,350.04
$SM_GC,2.14,0.00,0.00,50.58,0.000,0.000,0.584,43,2783,1732,-8.85,2.35,350.04
$IRIDIUM_FIX,2239.35,-15754.99,120500,020241
$TT8_MAMPS,0.02301
$HUMID,1860
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.5,96.188
$10V_AH,10.7,54.204
$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,21.475,101.150,346.625,50.575,0.000,30.629,34.497,150.002,0.250,0.000,0.000,37.197,907.530,6625.540,431.984,1692.446,570.146,33.360,1158.320,0.000,1663.505,0.000,0.542,0.000
$DEVICE_MAMPS,293.761,77.467,1038.518,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,279.683,613.197,631.217,129.733,531.760,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35151,413
$CAP_FILE_SIZE,84424,0
$CFSIZE,260165632,233041920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,160211,075130,2247.749,-15755.784,37,1.5,38,10.1