version: 66.04
glider: 512
mission: 1
dive: 743
start: 2 18 111 6 50 55
data:
$ID,512
$MISSION,1
$DIVE,743
$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,-21953.406
$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,2690
$C_ROLL_CLIMB,2540
$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,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
$GPS1,064155,2256.224,-15803.424,42,1.8,42,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.3
$GPS2,065002,2256.317,-15803.391,18,1.8,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.254,-0.031
$KALMAN_X,-217599.3,41.9,71.9,230613.1,-2013.4
$KALMAN_Y,-501315.1,10.7,296.9,641846.4,-57.9
$MHEAD_RNG_PITCHd_Wd,86.9,14437,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.30,0.000,2,0.000,0.000,41,2722,2958
$GC,69,-0.85,-146.0,3.6,-5.6,6,102,10.93,1.92,-16.00,0.000,4,0.229,0.071,2581,3873,3798
$GC,138,-0.85,-146.0,26.9,-35.2,16,146,0.00,1.75,0.00,0.000,6,0.000,0.023,2583,2704,3800
$GC,410,-0.85,-146.0,101.5,-28.4,42,413,0.00,2.10,0.00,0.000,4,0.000,0.029,2583,1281,3800
$GC,516,-0.85,-146.0,124.3,-16.2,51,520,0.00,2.22,0.00,0.000,6,0.000,0.055,2576,2666,3801
$GC,779,-0.85,-146.0,178.8,-20.7,75,782,0.00,1.98,0.00,0.000,4,0.000,0.063,2566,3892,3802
$GC,804,-0.85,-146.0,183.9,-20.5,77,808,0.12,1.77,0.00,0.000,6,0.155,0.022,2598,2658,3802
$GC,1086,-0.85,-146.0,224.0,-14.0,92,1090,0.00,2.00,0.00,0.000,4,0.000,0.026,2608,1285,3804
$GC,1154,-0.85,-146.0,232.2,-9.7,93,1158,0.00,2.28,0.00,0.000,6,0.000,0.058,2599,2693,3804
$GC,1416,-0.85,-146.0,264.3,-12.5,100,1420,0.00,2.05,0.00,0.000,4,0.000,0.025,2608,1290,3804
$GC,1464,-0.85,-146.0,269.4,-8.7,101,1468,0.00,2.25,0.00,0.000,6,0.000,0.058,2606,2691,3804
$GC,1749,-0.85,-146.0,300.4,-11.1,108,1753,0.00,1.98,0.00,0.000,4,0.000,0.069,2596,3895,3804
$GC,1784,-0.85,-146.0,304.3,-10.7,108,1788,0.00,1.75,0.00,0.000,6,0.000,0.023,2603,2679,3804
$GC,2041,-0.85,-146.0,332.5,-11.3,115,2044,0.00,2.03,0.00,0.000,4,0.000,0.028,2613,1298,3804
$GC,2106,-0.85,-146.0,339.0,-9.6,116,2110,0.00,2.25,0.00,0.000,6,0.000,0.058,2605,2692,3803
$GC,2374,-0.85,-146.0,365.6,-9.7,123,2377,0.00,2.08,0.00,0.000,4,0.000,0.028,2613,1296,3802
$GC,2397,-0.85,-146.0,367.9,-9.5,123,2401,0.00,2.28,0.00,0.000,6,0.000,0.061,2606,2697,3802
$GC,2660,-0.85,-146.0,389.2,-8.1,130,2664,0.00,2.08,0.00,0.000,4,0.000,0.028,2613,1296,3801
$GC,2709,-0.85,-146.0,392.5,-6.0,131,2713,0.00,2.28,0.00,0.000,6,0.000,0.061,2606,2696,3801
$GC,3000,-0.85,-146.0,414.5,-7.9,138,3003,0.00,1.98,0.00,0.000,4,0.000,0.071,2596,3894,3799
$GC,3029,-0.85,-146.0,417.2,-9.1,138,3033,0.00,1.75,0.00,0.000,6,0.000,0.024,2596,2686,3799
$GC,3292,-0.85,-146.0,441.2,-9.6,145,3296,0.00,2.05,0.00,0.000,4,0.000,0.030,2598,1300,3797
$GC,3355,-0.85,-146.0,447.4,-9.3,146,3360,0.00,2.28,0.00,0.000,6,0.000,0.063,2590,2688,3797
$GC,3623,-0.85,-146.0,474.4,-10.1,153,3627,0.00,2.03,0.00,0.000,4,0.000,0.077,2589,3898,3795
$GC,3659,-0.85,-146.0,477.9,-9.5,153,3662,0.00,1.75,0.00,0.000,6,0.000,0.024,2589,2696,3795
$GC,3916,-0.85,-146.0,501.3,-9.1,160,3920,0.00,2.08,0.00,0.000,4,0.000,0.031,2590,1298,3793
$GC,3968,-0.85,-146.0,506.0,-8.4,161,3972,0.00,2.33,0.00,0.000,6,0.000,0.068,2589,2700,3793
$GC,4248,-0.85,-146.0,530.9,-9.2,168,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2700,3791
$GC,4491,-0.85,-146.0,554.1,-9.6,174,4495,0.00,2.10,0.00,0.000,4,0.000,0.030,2589,1295,3789
$GC,4521,-0.85,-146.0,557.1,-9.8,174,4525,0.00,2.28,0.00,0.000,6,0.000,0.061,2589,2690,3788
$GC,4780,-0.85,-146.0,579.9,-8.8,181,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2690,3787
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5028,-0.32,0.0,601.3,8.8,187,5154,0.55,0.00,122.90,1.047,6,0.105,0.000,2768,2540,3200
$STATE,5155,end apogee,CONTROL_FINISHED_OK
$STATE,5155,begin climb
$GC,5159,0.85,146.0,608.1,0.0,190,5296,1.05,2.35,127.85,1.022,4,0.053,0.062,3160,3895,2603
$GC,5555,0.85,146.0,588.0,14.1,199,5559,0.00,2.05,0.00,0.000,6,0.000,0.028,3171,2533,2596
$GC,5847,0.85,146.0,551.0,12.7,206,5851,0.00,2.20,0.00,0.000,4,0.000,0.050,3163,3903,2592
$GC,5910,0.85,146.0,542.7,12.4,207,5914,0.00,2.05,0.00,0.000,6,0.000,0.028,3171,2538,2591
$GC,6184,0.85,146.0,511.0,11.3,214,6187,0.00,2.20,0.00,0.000,4,0.000,0.051,3163,3905,2589
$GC,6443,0.85,146.0,482.1,9.6,219,6447,0.00,2.05,0.00,0.000,6,0.000,0.028,3172,2535,2588
$GC,6701,0.90,182.1,460.6,8.0,226,6736,0.00,2.22,30.15,0.965,4,0.000,0.049,3163,3902,2456
$GC,6911,0.90,182.1,428.8,17.8,229,6918,0.00,2.08,0.00,0.000,6,0.000,0.029,3172,2524,2453
$GC,7166,0.90,182.1,389.7,15.1,236,7170,0.00,2.25,0.00,0.000,4,0.000,0.056,3164,3901,2449
$GC,7258,0.90,182.1,374.9,15.5,238,7262,0.00,2.03,0.00,0.000,6,0.000,0.028,3172,2540,2449
$GC,7548,0.90,182.1,334.7,13.5,245,7552,0.00,2.10,0.00,0.000,4,0.000,0.028,3183,1120,2447
$GC,7807,0.90,182.1,300.8,13.7,250,7812,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2543,2446
$GC,8066,0.90,182.1,266.9,12.8,257,8070,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1123,2445
$GC,8078,0.90,182.1,265.1,12.4,257,8082,0.00,2.22,0.00,0.000,6,0.000,0.045,3176,2541,2445
$GC,8352,0.90,182.1,236.3,10.5,264,8356,0.00,2.10,0.00,0.000,4,0.000,0.027,3185,1121,2445
$GC,8612,0.96,228.4,215.9,7.6,269,8657,0.00,2.22,38.90,0.782,6,0.000,0.041,3176,2558,2270
$GC,8923,0.96,228.4,161.8,18.6,289,8927,0.00,2.15,0.00,0.000,4,0.000,0.025,3185,1118,2265
$GC,8948,0.96,228.4,155.8,19.3,291,8953,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2546,2264
$GC,9214,0.96,228.4,112.0,15.2,315,9218,0.00,2.12,0.00,0.000,4,0.000,0.051,3176,3893,2264
$GC,9474,0.96,228.4,80.4,9.8,338,9478,0.00,2.00,0.00,0.000,6,0.000,0.022,3184,2517,2263
$GC,9744,0.96,228.4,54.4,11.4,363,9748,0.00,2.17,0.00,0.000,4,0.000,0.045,3176,3902,2263
$GC,9814,0.96,228.4,45.4,13.3,369,9817,0.00,2.00,0.00,0.000,6,0.000,0.023,3184,2534,2264
$GC,10081,0.96,228.4,7.7,14.9,407,10089,0.00,2.15,0.00,0.000,4,0.000,0.041,3176,3890,2264
$STATE,10108,end climb,SURFACE_DEPTH_REACHED
$STATE,10108,begin surface coast
$FINISH,0.3,1.023824
$STATE,10125,end surface coast,CONTROL_FINISHED_OK
$STATE,10125,begin surface
$SM_CCo,10149,67.95,0.589,0,0,1772,350.04
$SM_GC,2.30,0.00,0.00,67.95,0.000,0.000,0.589,42,2648,1772,-8.85,-1.19,350.04
$IRIDIUM_FIX,2246.36,-15803.66,140500,030340
$TT8_MAMPS,0.023777
$HUMID,1824
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.5,98.293
$10V_AH,10.6,55.728
$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,20.750,108.925,319.800,67.950,0.000,29.019,42.889,263.469,0.000,0.000,0.000,18.526,942.059,6895.408,429.368,1745.161,696.841,33.369,1172.119,0.000,1725.204,0.000,0.543,0.000
$DEVICE_MAMPS,229.333,77.467,1046.955,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,281.008,598.144,618.792,136.880,563.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35162,414
$CAP_FILE_SIZE,90243,0
$CFSIZE,260165632,232292352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,180211,094236,2256.174,-15802.396,38,1.2,39,10.1