version: 66.04
glider: 512
mission: 1
dive: 729
start: 2 16 111 12 49 33
data:
$ID,512
$MISSION,1
$DIVE,729
$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,-21722.193
$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,38
$R_STBD_OVSHOOT,63
$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
$GPS1,124258,2246.951,-15757.944,17,3.8,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.1
$GPS2,124838,2247.026,-15757.981,15,1.9,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.221,-0.129
$KALMAN_X,-206025.3,242.7,57.4,228159.2,-351.5
$KALMAN_Y,-498269.4,-705.2,-674.1,623309.9,4760.9
$MHEAD_RNG_PITCHd_Wd,229.6,8570,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,36,2749,2894
$GC,68,-0.85,-146.0,3.3,-5.1,6,102,11.07,2.25,-17.12,0.000,4,0.235,0.041,2590,1281,3757
$GC,227,-0.85,-146.0,39.2,-16.9,28,231,0.00,2.28,0.00,0.000,6,0.000,0.065,2581,2656,3759
$GC,498,-0.85,-146.0,108.5,-25.2,53,501,0.00,2.03,0.00,0.000,4,0.000,0.026,2581,1278,3761
$GC,537,-0.85,-146.0,118.3,-20.1,56,545,0.00,2.35,0.00,0.000,6,0.000,0.063,2570,2693,3761
$GC,801,-0.85,-146.0,172.0,-19.2,81,804,0.00,1.95,0.00,0.000,4,0.000,0.066,2561,3893,3762
$GC,874,-0.85,-146.0,184.9,-13.4,87,882,0.10,1.77,0.00,0.000,6,0.133,0.023,2593,2677,3763
$GC,1149,-0.85,-146.0,225.4,-15.2,102,1153,0.00,2.00,0.00,0.000,4,0.000,0.025,2603,1295,3764
$GC,1206,-0.85,-146.0,232.6,-10.3,103,1211,0.00,2.28,0.00,0.000,6,0.000,0.054,2595,2718,3764
$GC,1480,-0.85,-146.0,268.0,-13.7,110,1484,0.00,2.08,0.00,0.000,4,0.000,0.028,2595,1305,3765
$GC,1498,-0.85,-146.0,270.7,-13.5,110,1502,0.00,2.22,0.00,0.000,6,0.000,0.053,2587,2703,3765
$GC,1766,-0.85,-146.0,306.8,-13.5,117,1769,0.00,2.05,0.00,0.000,4,0.000,0.025,2587,1303,3765
$GC,1823,-0.85,-146.0,313.8,-11.0,118,1827,0.00,2.25,0.00,0.000,6,0.000,0.060,2578,2705,3765
$GC,2102,-0.85,-146.0,350.2,-13.2,125,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2705,3765
$GC,2348,-0.85,-146.0,380.8,-12.4,131,2352,0.00,2.08,0.00,0.000,4,0.000,0.029,2578,1306,3765
$GC,2377,-0.85,-146.0,384.9,-12.2,131,2381,0.00,2.28,0.00,0.000,6,0.000,0.062,2576,2701,3765
$GC,2633,-0.85,-146.0,414.7,-11.6,138,2637,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1302,3764
$GC,2657,-0.85,-146.0,417.6,-11.7,138,2661,0.00,2.28,0.00,0.000,6,0.000,0.061,2576,2700,3764
$GC,2919,-0.85,-146.0,446.2,-11.2,145,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3763
$GC,3164,-0.85,-146.0,475.2,-11.8,151,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3761
$GC,3407,-0.85,-146.0,501.6,-10.7,157,3411,0.00,2.08,0.00,0.000,4,0.000,0.030,2576,1309,3759
$GC,3453,-0.85,-146.0,506.4,-10.0,158,3458,0.12,2.28,0.00,0.000,6,0.133,0.060,2601,2705,3759
$GC,3743,-0.85,-146.0,529.9,-8.0,165,3747,0.00,1.98,0.00,0.000,4,0.000,0.074,2593,3898,3758
$GC,3779,-0.85,-146.0,532.8,-7.9,165,3782,0.00,1.75,0.00,0.000,6,0.000,0.027,2600,2706,3757
$GC,4036,-0.85,-146.0,551.9,-7.4,172,4039,0.00,2.10,0.00,0.000,4,0.000,0.031,2610,1294,3756
$GC,4083,-0.85,-146.0,555.2,-6.7,173,4087,0.00,2.28,0.00,0.000,6,0.000,0.055,2601,2708,3755
$GC,4368,-0.85,-146.0,577.4,-8.0,180,4371,0.00,2.12,0.00,0.000,4,0.000,0.031,2609,1294,3754
$GC,4397,-0.85,-146.0,580.0,-8.7,180,4401,0.00,2.28,0.00,0.000,6,0.000,0.057,2600,2701,3754
$STATE,4650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4650,begin apogee
$GC,4659,-0.32,0.0,601.3,8.4,187,4786,0.52,0.00,123.93,1.045,6,0.120,0.000,2765,2620,3160
$STATE,4787,end apogee,CONTROL_FINISHED_OK
$STATE,4787,begin climb
$GC,4791,0.85,146.0,608.5,0.0,190,4929,1.12,2.25,128.38,1.018,4,0.087,0.034,3157,1243,2563
$GC,5098,0.85,146.0,599.7,14.5,197,5102,0.00,2.20,0.00,0.000,6,0.000,0.051,3149,2622,2556
$GC,5389,0.85,146.0,558.4,13.8,204,5392,0.00,2.12,0.00,0.000,4,0.000,0.035,3158,1221,2552
$GC,5507,0.85,146.0,542.6,12.5,206,5511,0.00,2.25,0.00,0.000,6,0.000,0.050,3150,2635,2552
$GC,5764,0.85,146.0,510.1,12.5,213,5768,0.00,2.03,0.00,0.000,4,0.000,0.057,3140,3906,2550
$GC,5965,0.85,146.0,484.3,11.9,217,5969,0.00,1.90,0.00,0.000,6,0.000,0.031,3148,2646,2548
$GC,6239,0.85,146.0,454.3,10.2,224,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2645,2546
$GC,6482,0.85,146.0,428.5,10.6,230,6486,0.00,2.00,0.00,0.000,4,0.000,0.051,3140,3906,2545
$GC,6506,0.85,146.0,426.1,10.3,230,6510,0.00,1.95,0.00,0.000,6,0.000,0.030,3148,2609,2545
$GC,6774,0.85,146.0,397.9,10.3,237,6778,0.00,2.10,0.00,0.000,4,0.000,0.034,3159,1204,2545
$GC,6893,0.90,185.6,387.6,7.9,239,6932,0.00,2.25,32.97,0.905,6,0.000,0.048,3151,2631,2403
$GC,7198,0.90,185.6,340.7,17.2,247,7202,0.00,2.15,0.00,0.000,4,0.000,0.033,3159,1215,2397
$GC,7457,0.90,185.6,303.0,13.3,252,7461,0.00,2.22,0.00,0.000,6,0.000,0.046,3151,2631,2395
$GC,7714,0.90,185.6,266.9,14.2,259,7717,0.00,2.12,0.00,0.000,4,0.000,0.030,3160,1207,2394
$GC,7972,0.90,185.6,235.9,13.2,264,7977,0.00,2.22,0.00,0.000,6,0.000,0.047,3152,2622,2393
$GC,8224,0.90,185.6,205.1,11.8,270,8228,0.00,2.12,0.00,0.000,4,0.000,0.029,3160,1190,2393
$GC,8484,0.92,202.7,176.9,8.9,290,8510,0.00,2.25,14.75,0.716,6,0.000,0.044,3160,2630,2332
$GC,8768,0.92,202.7,144.2,11.3,316,8771,0.00,2.12,0.00,0.000,4,0.000,0.029,3170,1202,2331
$GC,8965,0.96,235.4,119.9,8.2,333,9000,0.00,2.25,29.17,0.686,6,0.000,0.046,3165,2615,2200
$GC,9266,0.96,235.4,77.7,14.4,361,9270,0.00,2.10,0.00,0.000,4,0.000,0.027,3174,1190,2196
$GC,9465,0.96,235.4,48.8,14.7,379,9469,0.00,2.25,0.00,0.000,6,0.000,0.041,3174,2637,2195
$STATE,9723,end climb,SURFACE_DEPTH_REACHED
$STATE,9723,begin surface coast
$FINISH,0.7,1.023790
$STATE,9741,end surface coast,CONTROL_FINISHED_OK
$STATE,9741,begin surface
$SM_CCo,9764,66.65,0.588,0,0,1732,350.04
$SM_GC,2.48,0.00,0.00,66.65,0.000,0.000,0.588,47,2732,1732,-8.83,0.90,350.04
$IRIDIUM_FIX,2237.01,-15754.99,120500,101011
$TT8_MAMPS,0.023777
$HUMID,1818
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.5,96.543
$10V_AH,10.7,54.444
$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,21.375,94.125,329.200,66.650,0.000,25.902,36.564,146.231,0.250,0.000,0.000,16.112,910.596,6587.846,429.047,1705.854,547.904,33.365,1146.448,0.000,1690.104,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,73.632,1044.654,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.884,631.875,654.409,135.818,563.046,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35205,419
$CAP_FILE_SIZE,82473,0
$CFSIZE,260165632,232927232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,160211,153454,2246.829,-15759.332,27,1.1,45,10.1