version: 66.04
glider: 512
mission: 1
dive: 707
start: 2 13 111 23 46 10
data:
$ID,512
$MISSION,1
$DIVE,707
$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,-21292.084
$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,55
$R_STBD_OVSHOOT,54
$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
$GPS1,233407,2254.285,-15802.071,30,1.1,30,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.6
$GPS2,234513,2254.403,-15802.069,14,1.1,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.228,-0.116
$KALMAN_X,-183572.1,163.6,-230.5,199047.5,-1434.0
$KALMAN_Y,-520757.6,-250.3,-164.0,658471.9,1239.7
$MHEAD_RNG_PITCHd_Wd,106.9,11331,-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,-45.35,0.000,2,0.000,0.000,22,2733,2901
$GC,68,-0.85,-146.0,3.0,-4.4,6,102,10.77,1.88,-17.52,0.000,4,0.223,0.072,2579,3855,3758
$GC,159,-0.85,-146.0,28.5,-25.1,20,167,0.00,1.73,0.00,0.000,6,0.000,0.025,2579,2705,3759
$GC,424,-0.85,-146.0,106.5,-30.2,45,428,0.00,2.08,0.00,0.000,4,0.000,0.030,2579,1299,3760
$GC,486,-0.85,-146.0,123.5,-20.4,50,494,0.00,2.25,0.00,0.000,6,0.000,0.061,2569,2661,3760
$GC,749,-0.85,-146.0,177.0,-19.3,75,753,0.12,2.03,0.00,0.000,4,0.166,0.024,2610,1297,3761
$GC,810,-0.85,-146.0,186.0,-10.5,80,817,0.00,2.30,0.00,0.000,6,0.000,0.057,2601,2705,3762
$GC,1086,-0.85,-146.0,224.5,-14.4,95,1090,0.00,1.90,0.00,0.000,4,0.000,0.064,2592,3887,3762
$GC,1110,-0.85,-146.0,227.8,-13.3,95,1113,0.00,1.73,0.00,0.000,6,0.000,0.025,2592,2680,3762
$GC,1378,-0.85,-146.0,262.7,-13.1,102,1381,0.00,2.00,0.00,0.000,4,0.000,0.025,2596,1297,3762
$GC,1429,-0.85,-146.0,268.4,-9.2,103,1433,0.00,2.25,0.00,0.000,6,0.000,0.052,2590,2707,3762
$GC,1709,-0.85,-146.0,300.5,-11.8,110,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2707,3762
$GC,1953,-0.85,-146.0,328.2,-11.4,116,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2707,3762
$GC,2196,-0.85,-146.0,356.1,-11.2,122,2199,0.00,2.08,0.00,0.000,4,0.000,0.028,2590,1312,3760
$GC,2237,-0.85,-146.0,360.6,-10.1,122,2244,0.00,2.25,0.00,0.000,6,0.000,0.063,2590,2695,3760
$GC,2490,-0.85,-146.0,387.7,-11.0,129,2494,0.00,2.05,0.00,0.000,4,0.000,0.028,2590,1315,3759
$GC,2530,-0.85,-146.0,392.7,-10.7,129,2537,0.00,2.28,0.00,0.000,6,0.000,0.067,2589,2702,3759
$GC,2783,-0.85,-146.0,420.0,-11.1,136,2786,0.00,1.98,0.00,0.000,4,0.000,0.075,2589,3893,3758
$GC,2840,-0.85,-146.0,425.9,-9.1,137,2844,0.00,1.73,0.00,0.000,6,0.000,0.026,2589,2707,3757
$GC,3119,-0.85,-146.0,452.9,-9.8,144,3123,0.00,2.08,0.00,0.000,4,0.000,0.031,2588,1304,3755
$GC,3188,-0.85,-146.0,459.3,-8.8,145,3192,0.00,2.28,0.00,0.000,6,0.000,0.064,2589,2700,3754
$GC,3456,-0.85,-146.0,483.7,-9.1,152,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2701,3753
$GC,3701,-0.85,-146.0,504.2,-8.2,158,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2701,3750
$GC,3944,-0.85,-146.0,524.0,-8.2,164,3947,0.00,2.10,0.00,0.000,4,0.000,0.031,2589,1301,3748
$GC,3978,-0.85,-146.0,527.2,-8.2,164,3982,0.00,2.30,0.00,0.000,6,0.000,0.064,2590,2700,3749
$GC,4230,-0.85,-146.0,550.1,-9.4,170,4233,0.00,2.10,0.00,0.000,4,0.000,0.031,2589,1310,3747
$GC,4264,-0.85,-146.0,553.7,-10.2,170,4268,0.00,2.30,0.00,0.000,6,0.000,0.066,2589,2702,3747
$GC,4517,-0.85,-146.0,578.0,-9.9,176,4521,0.00,2.00,0.00,0.000,4,0.000,0.079,2589,3896,3745
$GC,4540,-0.85,-146.0,580.6,-9.9,176,4544,0.00,1.77,0.00,0.000,6,0.000,0.028,2589,2709,3744
$STATE,4763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4763,begin apogee
$GC,4772,-0.32,0.0,600.7,9.0,182,4898,0.55,0.00,122.70,1.058,6,0.110,0.000,2766,2611,3160
$STATE,4899,end apogee,CONTROL_FINISHED_OK
$STATE,4899,begin climb
$GC,4903,0.85,146.0,607.3,0.0,185,5036,1.02,0.00,129.10,1.036,6,0.041,0.000,3168,2611,2564
$GC,5271,0.85,146.0,582.5,17.6,194,5275,0.00,2.10,0.00,0.000,4,0.000,0.031,3178,1217,2555
$GC,5289,0.85,146.0,579.6,17.0,194,5293,0.00,2.25,0.00,0.000,6,0.000,0.049,3178,2635,2555
$GC,5563,0.85,146.0,535.4,16.0,201,5567,0.00,2.12,0.00,0.000,4,0.000,0.031,3189,1215,2552
$GC,5823,0.85,146.0,499.2,12.5,206,5828,0.15,2.22,0.00,0.000,6,0.225,0.047,3157,2634,2550
$GC,6076,0.85,146.0,467.8,12.3,212,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2634,2548
$GC,6318,0.85,146.0,439.4,11.4,218,6322,0.00,2.10,0.00,0.000,4,0.000,0.030,3166,1223,2547
$GC,6493,0.85,146.0,420.3,10.6,221,6500,0.00,2.22,0.00,0.000,6,0.000,0.049,3163,2631,2546
$GC,6747,0.86,149.0,396.4,9.5,228,6751,0.00,2.00,0.00,0.000,4,0.000,0.056,3163,3894,2545
$GC,7006,0.86,149.0,368.3,10.6,233,7010,0.00,1.90,0.00,0.000,6,0.000,0.027,3171,2629,2544
$GC,7262,0.89,175.4,345.7,8.4,240,7298,0.00,2.08,25.58,0.839,4,0.000,0.048,3163,3906,2444
$GC,7339,0.89,175.4,337.6,12.9,240,7346,0.00,1.95,0.00,0.000,6,0.000,0.028,3171,2628,2443
$GC,7590,0.89,175.4,302.9,14.0,247,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2622,2441
$GC,7833,0.89,175.4,270.8,13.2,253,7837,0.00,2.03,0.00,0.000,4,0.000,0.051,3163,3898,2439
$GC,8092,0.89,175.4,234.7,11.5,258,8096,0.00,1.90,0.00,0.000,6,0.000,0.027,3171,2610,2439
$GC,8349,0.95,223.6,214.2,7.5,265,8396,0.00,2.10,42.28,0.803,4,0.000,0.048,3163,3896,2248
$GC,8568,0.95,223.6,173.9,24.0,276,8571,0.00,1.90,0.00,0.000,6,0.000,0.028,3171,2622,2244
$GC,8839,0.95,223.6,122.2,17.1,301,8842,0.00,2.10,0.00,0.000,4,0.000,0.030,3182,1205,2242
$GC,9075,0.95,225.0,96.4,9.6,322,9079,0.00,2.25,0.00,0.000,6,0.000,0.047,3179,2628,2240
$GC,9340,0.95,225.0,68.7,10.1,346,9343,0.00,2.00,0.00,0.000,4,0.000,0.054,3176,3900,2240
$GC,9452,0.95,225.0,54.2,14.1,356,9456,0.00,1.90,0.00,0.000,6,0.000,0.025,3184,2622,2240
$GC,9721,0.95,225.0,15.6,15.7,389,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2614,2240
$STATE,9797,end climb,SURFACE_DEPTH_REACHED
$STATE,9797,begin surface coast
$FINISH,0.3,1.023728
$STATE,9815,end surface coast,CONTROL_FINISHED_OK
$STATE,9815,begin surface
$SM_CCo,9838,68.57,0.614,0,0,1733,350.04
$SM_GC,2.11,0.00,0.00,68.57,0.000,0.000,0.614,35,2736,1733,-8.88,0.99,350.04
$IRIDIUM_FIX,2246.36,-15801.49,090500,202056
$TT8_MAMPS,0.023777
$HUMID,1827
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.5,93.708
$10V_AH,10.7,52.573
$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,20.925,86.750,319.650,68.575,0.000,31.258,35.670,459.774,0.000,0.000,0.000,14.186,886.788,6802.775,449.181,1588.895,852.657,33.365,1113.971,0.000,1576.406,0.000,0.543,0.000
$DEVICE_MAMPS,224.731,79.001,1057.693,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,274.969,593.651,613.053,134.380,556.109,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31976,406
$CAP_FILE_SIZE,84629,0
$CFSIZE,260165632,233861120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,140211,023236,2253.925,-15801.192,35,1.3,35,10.1