version: 66.04
glider: 512
mission: 1
dive: 706
start: 2 13 111 20 49 13
data:
$ID,512
$MISSION,1
$DIVE,706
$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,-21277.27
$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,51
$R_STBD_OVSHOOT,28
$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
$GPS1,202924,2254.494,-15803.009,38,1.7,55,10.1
$_CALLS,3
$_XMS_NAKs,33
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.6
$GPS2,204820,2254.632,-15802.977,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.246,-0.070
$KALMAN_X,-181961.5,-131.8,-23.6,195965.7,-1360.4
$KALMAN_Y,-522001.2,445.4,-67.2,659343.1,598.1
$MHEAD_RNG_PITCHd_Wd,95.8,12926,-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,-45.22,0.000,2,0.000,0.000,20,2673,2902
$GC,68,-0.85,-146.0,3.0,-4.3,6,102,11.00,2.10,-17.50,0.000,4,0.229,0.039,2592,1286,3757
$GC,144,-0.85,-146.0,23.2,-25.2,17,153,0.00,2.33,0.00,0.000,6,0.000,0.065,2583,2680,3758
$GC,411,-0.85,-146.0,94.7,-27.4,44,414,0.00,1.95,0.00,0.000,4,0.000,0.061,2573,3893,3759
$GC,494,-0.85,-146.0,114.4,-14.5,51,500,0.00,1.75,0.00,0.000,6,0.000,0.024,2573,2702,3760
$GC,758,-0.85,-146.0,162.7,-18.3,76,762,0.00,2.05,0.00,0.000,4,0.000,0.027,2573,1291,3760
$GC,865,-0.85,-146.0,178.7,-11.9,85,873,0.10,2.30,0.00,0.000,6,0.127,0.058,2597,2706,3760
$GC,1144,-0.85,-146.0,218.3,-14.9,103,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2707,3761
$GC,1387,-0.85,-146.0,251.7,-13.3,109,1391,0.00,2.10,0.00,0.000,4,0.000,0.026,2607,1281,3761
$GC,1456,-0.85,-146.0,258.9,-9.0,110,1460,0.00,2.28,0.00,0.000,6,0.000,0.054,2599,2705,3761
$GC,1718,-0.85,-146.0,288.3,-11.8,117,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2705,3761
$GC,1961,-0.85,-146.0,316.8,-11.4,123,1965,0.00,2.10,0.00,0.000,4,0.000,0.026,2607,1282,3760
$GC,1991,-0.85,-146.0,320.1,-11.2,123,1996,0.00,2.25,0.00,0.000,6,0.000,0.052,2606,2699,3760
$GC,2249,-0.85,-146.0,343.7,-9.2,130,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2699,3759
$GC,2494,-0.85,-146.0,365.0,-8.8,136,2497,0.00,2.08,0.00,0.000,4,0.000,0.027,2614,1284,3758
$GC,2528,-0.85,-146.0,368.1,-7.7,136,2533,0.00,2.25,0.00,0.000,6,0.000,0.052,2605,2706,3758
$GC,2780,-0.85,-146.0,390.0,-8.8,142,2783,0.00,2.10,0.00,0.000,4,0.000,0.028,2614,1281,3756
$GC,2822,-0.85,-146.0,393.6,-7.0,142,2828,0.00,2.25,0.00,0.000,6,0.000,0.053,2606,2696,3755
$GC,3076,-0.85,-146.0,415.9,-8.9,149,3080,0.00,1.95,0.00,0.000,4,0.000,0.071,2596,3890,3753
$GC,3111,-0.85,-146.0,419.6,-9.5,149,3114,0.00,1.77,0.00,0.000,6,0.000,0.026,2598,2683,3753
$GC,3370,-0.85,-146.0,443.2,-9.3,156,3374,0.00,2.03,0.00,0.000,4,0.000,0.028,2598,1297,3751
$GC,3411,-0.85,-146.0,447.3,-8.8,156,3417,0.00,2.25,0.00,0.000,6,0.000,0.053,2592,2711,3750
$GC,3662,-0.85,-146.0,471.2,-9.6,163,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2711,3749
$GC,3906,-0.85,-146.0,493.1,-8.8,169,3910,0.00,2.10,0.00,0.000,4,0.000,0.029,2592,1307,3748
$GC,3941,-0.85,-146.0,496.2,-8.7,169,3945,0.00,2.28,0.00,0.000,6,0.000,0.064,2593,2699,3747
$GC,4193,-0.85,-146.0,516.3,-8.1,175,4197,0.00,1.98,0.00,0.000,4,0.000,0.074,2583,3892,3746
$GC,4233,-0.85,-146.0,519.9,-8.0,175,4240,0.00,1.77,0.00,0.000,6,0.000,0.028,2583,2696,3745
$GC,4484,-0.85,-146.0,542.4,-9.2,182,4488,0.00,2.08,0.00,0.000,4,0.000,0.031,2583,1304,3743
$GC,4558,-0.85,-146.0,549.5,-8.9,183,4563,0.00,2.30,0.00,0.000,6,0.000,0.064,2577,2707,3743
$GC,4816,-0.85,-146.0,576.2,-10.7,190,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2708,3741
$STATE,5058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5058,begin apogee
$GC,5067,-0.32,0.0,601.2,10.2,196,5192,0.60,0.00,121.82,1.046,6,0.116,0.000,2767,2628,3160
$STATE,5193,end apogee,CONTROL_FINISHED_OK
$STATE,5193,begin climb
$GC,5197,0.85,146.0,607.6,0.0,199,5334,1.02,2.20,128.40,1.030,4,0.040,0.060,3165,3905,2563
$GC,5596,0.85,146.0,574.5,16.9,208,5600,0.00,1.90,0.00,0.000,6,0.000,0.030,3173,2639,2556
$GC,5887,0.85,146.0,530.9,14.5,215,5891,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,1207,2552
$GC,6145,0.85,146.0,496.0,13.3,220,6150,0.12,2.25,0.00,0.000,6,0.223,0.049,3156,2631,2549
$GC,6398,0.85,146.0,465.0,12.1,226,6402,0.00,2.12,0.00,0.000,4,0.000,0.030,3164,1200,2548
$GC,6657,0.85,146.0,436.8,11.9,231,6661,0.00,2.25,0.00,0.000,6,0.000,0.047,3164,2627,2547
$GC,6908,0.85,146.0,410.5,10.2,237,6912,0.00,2.03,0.00,0.000,4,0.000,0.056,3163,3907,2545
$GC,7166,0.85,146.0,380.1,11.8,242,7170,0.00,1.92,0.00,0.000,6,0.000,0.028,3171,2603,2545
$GC,7424,0.85,146.0,354.8,9.7,249,7427,0.00,2.05,0.00,0.000,4,0.000,0.028,3181,1209,2543
$GC,7682,0.94,218.3,333.2,6.4,254,7748,0.00,2.20,60.80,0.883,6,0.000,0.044,3179,2627,2270
$GC,8023,0.94,218.3,266.6,21.6,263,8027,0.00,2.03,0.00,0.000,4,0.000,0.054,3176,3891,2262
$GC,8124,0.94,218.3,240.2,22.6,265,8128,0.00,1.88,0.00,0.000,6,0.000,0.026,3183,2622,2261
$GC,8387,0.94,218.3,186.9,19.1,276,8390,0.00,2.03,0.00,0.000,4,0.000,0.049,3176,3906,2259
$GC,8423,0.94,218.3,179.2,21.9,279,8427,0.00,1.90,0.00,0.000,6,0.000,0.027,3184,2617,2259
$GC,8692,0.94,218.3,129.7,17.6,304,8696,0.00,2.08,0.00,0.000,4,0.000,0.030,3194,1214,2258
$GC,8941,0.94,218.3,97.3,9.7,326,8945,0.00,2.20,0.00,0.000,6,0.000,0.043,3192,2634,2257
$GC,9205,0.94,218.3,67.6,11.8,350,9209,0.00,2.10,0.00,0.000,4,0.000,0.028,3200,1205,2257
$GC,9221,0.94,218.3,66.0,11.0,351,9225,0.00,2.22,0.00,0.000,6,0.000,0.047,3201,2628,2257
$GC,9486,0.94,218.3,35.8,12.8,375,9490,0.00,2.00,0.00,0.000,4,0.000,0.053,3201,3902,2257
$GC,9618,0.94,218.3,16.1,16.1,395,9627,0.10,1.90,0.00,0.000,6,0.238,0.026,3187,2619,2258
$STATE,9702,end climb,SURFACE_DEPTH_REACHED
$STATE,9702,begin surface coast
$FINISH,0.4,1.023711
$STATE,9719,end surface coast,CONTROL_FINISHED_OK
$STATE,9723,begin surface
$SM_CCo,9746,73.12,0.597,0,0,1732,350.04
$SM_GC,2.20,0.00,0.00,73.12,0.000,0.000,0.597,40,2729,1732,-8.86,0.82,350.04
$IRIDIUM_FIX,2248.70,-15805.83,090500,202000
$TT8_MAMPS,0.023777
$HUMID,1841
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,93.574
$10V_AH,10.7,52.482
$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,21.075,91.950,311.025,73.125,0.000,80.942,167.818,623.162,0.000,0.000,0.000,13.857,913.552,6710.300,430.438,1696.631,1208.535,33.371,1137.625,0.000,1685.415,0.000,0.543,0.000
$DEVICE_MAMPS,237.770,74.399,1046.188,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,279.818,621.931,641.270,142.451,583.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35121,413
$CAP_FILE_SIZE,93405,0
$CFSIZE,260165632,233893888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,130211,233407,2254.285,-15802.071,30,1.1,30,10.1