version: 66.04
glider: 512
mission: 1
dive: 744
start: 2 18 111 9 49 25
data:
$ID,512
$MISSION,1
$DIVE,744
$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,-21967.619
$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,60
$R_STBD_OVSHOOT,27
$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
$GPS1,094236,2256.174,-15802.396,38,1.2,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.2
$GPS2,094832,2256.208,-15802.366,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,-0.004
$KALMAN_X,-219558.9,508.7,182.5,233758.4,-2538.4
$KALMAN_Y,-500897.7,-177.7,268.2,641447.1,-225.4
$MHEAD_RNG_PITCHd_Wd,80.9,12743,-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,-45.28,0.000,2,0.000,0.000,38,2646,2953
$GC,69,-0.85,-146.0,3.5,-5.3,6,102,10.73,2.03,-15.95,0.000,4,0.223,0.070,2580,3898,3798
$GC,122,-0.85,-146.0,21.4,-34.6,13,130,0.00,1.77,0.00,0.000,6,0.000,0.023,2581,2708,3799
$GC,394,-0.85,-146.0,94.9,-25.3,40,397,0.00,2.10,0.00,0.000,4,0.000,0.029,2583,1289,3800
$GC,528,-0.85,-146.0,121.9,-14.6,52,532,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2676,3801
$GC,794,-0.85,-146.0,172.2,-19.6,76,797,0.00,2.03,0.00,0.000,4,0.000,0.071,2566,3908,3802
$GC,845,-0.85,-146.0,182.6,-15.9,80,852,0.10,1.83,0.00,0.000,6,0.133,0.024,2599,2687,3803
$GC,1132,-0.85,-146.0,225.6,-15.4,96,1136,0.00,2.08,0.00,0.000,4,0.000,0.031,2609,1285,3804
$GC,1201,-0.85,-146.0,234.2,-9.9,97,1205,0.00,2.35,0.00,0.000,6,0.000,0.068,2600,2710,3804
$GC,1470,-0.85,-146.0,266.2,-11.7,104,1474,0.00,2.12,0.00,0.000,4,0.000,0.028,2609,1275,3804
$GC,1510,-0.85,-146.0,270.7,-9.6,104,1516,0.00,2.33,0.00,0.000,6,0.000,0.064,2600,2697,3804
$GC,1762,-0.85,-146.0,296.3,-10.2,111,1766,0.00,2.10,0.00,0.000,4,0.000,0.028,2609,1274,3804
$GC,1792,-0.85,-146.0,299.3,-9.3,111,1796,0.00,2.33,0.00,0.000,6,0.000,0.066,2600,2691,3804
$GC,2054,-0.85,-146.0,325.3,-10.3,118,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2691,3803
$GC,2298,-0.85,-146.0,350.1,-10.1,124,2302,0.00,2.10,0.00,0.000,4,0.000,0.028,2609,1276,3803
$GC,2345,-0.85,-146.0,354.3,-7.8,125,2349,0.00,2.30,0.00,0.000,6,0.000,0.063,2600,2689,3803
$GC,2632,-0.85,-146.0,381.2,-9.6,132,2635,0.00,2.10,0.00,0.000,4,0.000,0.028,2608,1285,3802
$GC,2683,-0.85,-146.0,386.3,-8.0,133,2688,0.00,2.28,0.00,0.000,6,0.000,0.060,2600,2689,3801
$GC,2963,-0.85,-146.0,410.4,-8.5,140,2967,0.00,1.98,0.00,0.000,4,0.000,0.071,2590,3889,3800
$GC,2987,-0.85,-146.0,412.6,-8.6,140,2991,0.00,1.77,0.00,0.000,6,0.000,0.025,2597,2673,3799
$GC,3256,-0.85,-146.0,433.8,-8.0,147,3259,0.00,2.05,0.00,0.000,4,0.000,0.029,2604,1282,3797
$GC,3303,-0.85,-146.0,437.5,-7.2,148,3308,0.00,2.30,0.00,0.000,6,0.000,0.064,2602,2685,3798
$GC,3589,-0.85,-146.0,462.2,-8.9,155,3593,0.00,2.03,0.00,0.000,4,0.000,0.077,2593,3897,3795
$GC,3618,-0.85,-146.0,465.2,-9.9,155,3622,0.00,1.77,0.00,0.000,6,0.000,0.025,2600,2683,3795
$GC,3881,-0.85,-146.0,489.5,-9.5,162,3884,0.00,2.08,0.00,0.000,4,0.000,0.031,2604,1285,3794
$GC,3916,-0.85,-146.0,492.8,-8.8,162,3920,0.00,2.33,0.00,0.000,6,0.000,0.065,2603,2696,3794
$GC,4168,-0.85,-146.0,515.1,-8.8,168,4171,0.00,2.10,0.00,0.000,4,0.000,0.028,2611,1282,3792
$GC,4191,-0.85,-146.0,517.4,-9.3,168,4195,0.00,2.30,0.00,0.000,6,0.000,0.062,2606,2696,3792
$GC,4460,-0.85,-146.0,538.4,-8.0,175,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2696,3789
$GC,4704,-0.85,-146.0,557.2,-7.6,181,4708,0.00,2.10,0.00,0.000,4,0.000,0.028,2613,1289,3788
$GC,4740,-0.85,-146.0,559.9,-6.3,181,4744,0.00,2.30,0.00,0.000,6,0.000,0.061,2606,2697,3788
$GC,4991,-0.85,-146.0,577.7,-7.1,187,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2698,3786
$GC,5236,-0.85,-146.0,595.3,-7.2,193,5240,0.00,2.10,0.00,0.000,4,0.000,0.030,2614,1294,3785
$GC,5277,-0.85,-146.0,598.5,-7.0,193,5283,0.00,2.28,0.00,0.000,6,0.000,0.058,2606,2696,3785
$STATE,5321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5321,begin apogee
$GC,5331,-0.32,0.0,601.9,7.2,195,5457,0.50,0.00,122.82,1.052,6,0.102,0.000,2770,2548,3200
$STATE,5458,end apogee,CONTROL_FINISHED_OK
$STATE,5458,begin climb
$GC,5462,0.85,146.0,608.6,0.0,198,5599,1.05,2.33,127.97,1.026,4,0.064,0.058,3149,3899,2603
$GC,5861,0.85,146.0,585.9,15.4,207,5865,0.00,2.08,0.00,0.000,6,0.000,0.029,3158,2534,2596
$GC,6154,0.85,146.0,544.4,13.7,214,6157,0.00,2.20,0.00,0.000,4,0.000,0.051,3150,3903,2592
$GC,6177,0.85,146.0,540.8,14.0,214,6181,0.00,2.05,0.00,0.000,6,0.000,0.028,3158,2532,2592
$GC,6447,0.85,146.0,510.6,10.9,221,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2524,2590
$GC,6689,0.86,150.5,487.1,9.4,227,6692,0.00,2.10,0.00,0.000,4,0.000,0.032,3170,1126,2589
$GC,6876,0.89,173.2,470.8,8.6,231,6905,0.00,2.22,22.73,0.951,6,0.000,0.047,3162,2541,2492
$GC,7163,0.89,173.2,431.8,14.3,238,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2542,2488
$GC,7407,0.89,173.2,394.5,15.3,244,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2541,2487
$GC,7651,0.89,173.2,360.2,14.2,250,7654,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1125,2485
$GC,7669,0.89,173.2,357.8,13.6,250,7673,0.00,2.22,0.00,0.000,6,0.000,0.046,3162,2542,2485
$GC,7937,0.89,173.2,324.1,12.2,257,7940,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1123,2484
$GC,8196,0.89,173.2,295.9,9.8,262,8200,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2549,2484
$GC,8447,0.90,184.4,271.7,9.1,268,8461,0.00,2.15,9.62,0.770,4,0.000,0.030,3171,1125,2448
$GC,8718,0.92,198.7,247.1,9.0,274,8737,0.00,2.22,14.40,0.782,6,0.000,0.043,3162,2547,2388
$GC,9007,0.92,198.7,217.1,11.7,281,9011,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1118,2385
$GC,9269,0.92,198.7,185.1,12.2,292,9273,0.00,2.25,0.00,0.000,6,0.000,0.049,3163,2536,2385
$GC,9538,0.92,198.7,153.5,10.0,317,9542,0.00,2.10,0.00,0.000,4,0.000,0.026,3172,1116,2384
$GC,9564,0.92,198.7,150.9,10.7,319,9568,0.00,2.22,0.00,0.000,6,0.000,0.043,3163,2545,2384
$GC,9830,1.00,261.3,131.6,6.8,343,9891,0.00,2.20,54.15,0.706,4,0.000,0.054,3162,3904,2133
$GC,10132,1.00,261.3,79.2,18.9,369,10139,0.00,2.08,0.00,0.000,6,0.000,0.025,3170,2533,2129
$GC,10397,1.00,261.3,31.9,19.4,394,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2527,2127
$STATE,10542,end climb,SURFACE_DEPTH_REACHED
$STATE,10542,begin surface coast
$FINISH,0.3,1.023839
$STATE,10558,end surface coast,CONTROL_FINISHED_OK
$STATE,10558,begin surface
$SM_CCo,10582,45.97,0.588,0,0,1773,350.04
$SM_GC,2.05,0.00,0.00,45.97,0.000,0.000,0.588,44,2729,1773,-8.85,1.13,350.04
$IRIDIUM_FIX,2248.70,-15800.62,140500,060604
$TT8_MAMPS,0.024544
$HUMID,1862
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.5,98.409
$10V_AH,10.6,55.817
$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,20.575,103.100,351.700,45.975,0.000,29.193,39.834,140.657,0.250,0.000,0.000,13.583,936.204,7356.029,433.550,1690.719,570.986,33.371,1172.546,0.000,1671.985,0.000,0.543,0.000
$DEVICE_MAMPS,223.197,76.700,1051.557,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,286.498,602.118,621.153,124.821,517.202,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35140,423
$CAP_FILE_SIZE,88607,0
$CFSIZE,260165632,232247296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,180211,124800,2255.730,-15801.672,36,1.3,42,10.1