version: 66.04
glider: 512
mission: 1
dive: 703
start: 2 13 111 11 55 17
data:
$ID,512
$MISSION,1
$DIVE,703
$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,-21230.754
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,113734,2253.179,-15806.658,9,6.0,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.5
$GPS2,115420,2253.601,-15806.694,11,1.8,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.254,-0.036
$KALMAN_X,-178076.3,-447.7,-409.2,186395.4,268.8
$KALMAN_Y,-525749.6,491.7,67.2,661003.8,420.1
$MHEAD_RNG_PITCHd_Wd,88.0,19100,-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,-45.15,0.000,2,0.000,0.000,33,2691,2913
$GC,68,-0.85,-146.0,3.1,-4.0,6,101,10.82,2.15,-17.10,0.000,4,0.226,0.040,2590,1282,3758
$GC,116,-0.85,-146.0,16.5,-30.0,12,125,0.00,2.28,0.00,0.000,6,0.000,0.050,2583,2683,3759
$GC,390,-0.85,-146.0,91.1,-26.3,41,393,0.00,1.95,0.00,0.000,4,0.000,0.061,2573,3906,3760
$GC,448,-0.85,-146.0,105.2,-20.3,46,452,0.00,1.77,0.00,0.000,6,0.000,0.025,2573,2691,3760
$GC,718,-0.85,-146.0,161.6,-20.8,71,721,0.00,2.05,0.00,0.000,4,0.000,0.027,2573,1283,3760
$GC,769,-0.85,-146.0,172.2,-18.3,75,778,0.10,2.33,0.00,0.000,6,0.139,0.059,2594,2697,3761
$GC,1038,-0.85,-146.0,213.6,-15.1,95,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2697,3761
$GC,1283,-0.85,-146.0,248.0,-14.0,101,1286,0.00,2.08,0.00,0.000,4,0.000,0.030,2600,1295,3761
$GC,1363,-0.85,-146.0,256.9,-9.5,102,1367,0.00,2.30,0.00,0.000,6,0.000,0.063,2593,2718,3761
$GC,1615,-0.85,-146.0,288.6,-12.9,108,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2718,3762
$GC,1859,-0.85,-146.0,319.3,-12.5,114,1863,0.00,2.12,0.00,0.000,4,0.000,0.030,2592,1294,3761
$GC,1906,-0.85,-146.0,324.5,-9.9,115,1910,0.00,2.28,0.00,0.000,6,0.000,0.064,2590,2697,3761
$GC,2191,-0.85,-146.0,354.2,-10.3,122,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3760
$GC,2434,-0.85,-146.0,379.0,-10.2,128,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3759
$GC,2678,-0.85,-146.0,403.2,-9.7,134,2681,0.00,2.10,0.00,0.000,4,0.000,0.031,2589,1289,3757
$GC,2701,-0.85,-146.0,405.7,-10.4,134,2705,0.00,2.33,0.00,0.000,6,0.000,0.065,2589,2709,3757
$GC,2964,-0.85,-146.0,430.4,-9.6,141,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2709,3755
$GC,3206,-0.85,-146.0,455.7,-10.6,147,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2709,3753
$GC,3450,-0.85,-146.0,482.6,-11.1,153,3454,0.00,2.12,0.00,0.000,4,0.000,0.032,2590,1295,3751
$GC,3473,-0.85,-146.0,485.4,-12.2,153,3477,0.00,2.33,0.00,0.000,6,0.000,0.066,2589,2711,3751
$GC,3736,-0.85,-146.0,513.7,-10.8,160,3740,0.00,2.15,0.00,0.000,4,0.000,0.033,2589,1291,3749
$GC,3765,-0.85,-146.0,517.0,-10.9,160,3769,0.00,2.30,0.00,0.000,6,0.000,0.064,2589,2701,3749
$GC,4021,-0.85,-146.0,542.1,-9.7,167,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2701,3747
$GC,4267,-0.85,-146.0,564.0,-8.9,173,4271,0.00,2.12,0.00,0.000,4,0.000,0.032,2596,1290,3745
$GC,4297,-0.85,-146.0,566.7,-8.4,173,4301,0.00,2.30,0.00,0.000,6,0.000,0.062,2590,2704,3746
$GC,4559,-0.85,-146.0,587.2,-7.7,180,4563,0.00,2.03,0.00,0.000,4,0.000,0.079,2580,3919,3743
$GC,4583,-0.85,-146.0,589.2,-8.5,180,4586,0.00,1.83,0.00,0.000,6,0.000,0.028,2585,2691,3742
$STATE,4725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4725,begin apogee
$GC,4735,-0.32,0.0,600.6,7.9,184,4860,0.57,0.00,122.50,1.056,6,0.114,0.000,2770,2619,3160
$STATE,4861,end apogee,CONTROL_FINISHED_OK
$STATE,4861,begin climb
$GC,4865,0.85,146.0,606.2,0.0,187,5002,1.05,2.25,128.25,1.027,4,0.067,0.035,3159,1239,2564
$GC,5126,0.85,146.0,600.9,16.0,193,5130,0.00,2.22,0.00,0.000,6,0.000,0.049,3150,2632,2557
$GC,5410,0.85,146.0,557.4,14.9,200,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2632,2553
$GC,5655,0.85,146.0,523.3,14.0,206,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2632,2551
$GC,5900,0.85,146.0,494.9,11.4,212,5903,0.00,2.15,0.00,0.000,4,0.000,0.037,3159,1225,2549
$GC,5979,0.85,146.0,486.0,9.8,213,5983,0.00,2.22,0.00,0.000,6,0.000,0.053,3159,2623,2549
$GC,6230,0.85,146.0,459.3,10.5,219,6234,0.00,2.03,0.00,0.000,4,0.000,0.058,3159,3899,2547
$GC,6349,0.85,146.0,445.9,11.3,221,6353,0.00,1.92,0.00,0.000,6,0.000,0.030,3167,2632,2546
$GC,6611,0.85,146.0,418.0,10.8,228,6615,0.00,2.12,0.00,0.000,4,0.000,0.035,3177,1216,2545
$GC,6679,0.85,146.0,410.6,10.5,229,6683,0.00,2.22,0.00,0.000,6,0.000,0.048,3176,2630,2546
$GC,6942,0.85,146.0,384.4,9.6,236,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2629,2544
$GC,7187,0.89,172.8,363.5,8.4,242,7213,0.00,2.17,21.45,0.889,4,0.000,0.032,3184,1220,2455
$GC,7220,0.89,178.1,360.5,9.4,242,7231,0.00,2.22,6.53,0.726,6,0.000,0.048,3177,2625,2433
$GC,7511,0.89,178.1,316.9,15.2,250,7515,0.00,2.12,0.00,0.000,4,0.000,0.032,3185,1221,2429
$GC,7624,0.89,178.1,300.9,13.7,252,7628,0.00,2.22,0.00,0.000,6,0.000,0.048,3179,2632,2429
$GC,7886,0.89,178.1,263.5,14.5,259,7890,0.00,2.12,0.00,0.000,4,0.000,0.032,3187,1218,2428
$GC,8027,0.89,178.1,247.1,11.9,262,8031,0.00,2.22,0.00,0.000,6,0.000,0.048,3187,2633,2428
$GC,8312,0.89,178.1,215.3,11.0,269,8315,0.00,2.12,0.00,0.000,4,0.000,0.031,3197,1202,2427
$GC,8452,0.89,178.1,199.7,10.3,272,8456,0.00,2.28,0.00,0.000,6,0.000,0.052,3192,2628,2427
$GC,8720,0.92,200.5,175.1,8.6,294,8749,0.00,0.00,22.10,0.686,6,0.000,0.000,3193,2627,2342
$GC,9005,0.92,200.5,139.0,14.5,321,9009,0.00,2.12,0.00,0.000,4,0.000,0.030,3200,1207,2338
$GC,9022,0.92,200.5,136.2,13.3,322,9031,0.10,2.30,0.00,0.000,6,0.217,0.052,3177,2629,2338
$GC,9291,0.98,249.7,104.0,7.4,347,9338,0.00,2.05,42.75,0.682,4,0.000,0.057,3176,3888,2142
$GC,9507,0.98,249.7,68.5,20.5,366,9511,0.00,1.90,0.00,0.000,6,0.000,0.025,3183,2630,2139
$GC,9772,0.98,249.7,20.4,20.5,395,9780,0.00,2.05,0.00,0.000,4,0.000,0.050,3176,3893,2137
$STATE,9850,end climb,SURFACE_DEPTH_REACHED
$STATE,9850,begin surface coast
$FINISH,0.3,1.023746
$STATE,9862,end surface coast,CONTROL_FINISHED_OK
$STATE,9862,begin surface
$SM_CCo,9886,49.72,0.591,0,0,1732,350.04
$SM_GC,2.37,0.00,0.00,49.72,0.000,0.000,0.591,44,2664,1732,-8.85,-1.02,350.04
$IRIDIUM_FIX,2244.02,-15806.70,090500,111127
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,93.122
$10V_AH,10.7,52.202
$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,21.075,89.825,343.575,49.725,0.000,53.259,69.259,677.877,0.500,0.000,0.000,11.962,861.606,7051.557,425.457,1472.267,1141.168,33.367,1070.807,0.000,1471.622,0.000,0.543,0.000
$DEVICE_MAMPS,226.265,137.293,1056.159,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.212,600.375,618.808,123.943,513.759,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35003,411
$CAP_FILE_SIZE,86564,0
$CFSIZE,260165632,234029056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,130211,144254,2253.856,-15805.512,59,1.5,76,10.1