version: 66.04
glider: 512
mission: 1
dive: 713
start: 2 14 111 16 50 29
data:
$ID,512
$MISSION,1
$DIVE,713
$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,-21392.961
$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,58
$R_STBD_OVSHOOT,24
$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
$GPS1,162507,2252.858,-15758.706,37,1.5,37,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.0
$GPS2,164932,2253.017,-15758.687,13,1.2,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.229,-0.114
$KALMAN_X,-193190.8,255.0,358.5,213795.7,-2548.5
$KALMAN_Y,-513462.6,508.9,-99.2,647789.1,1477.8
$MHEAD_RNG_PITCHd_Wd,106.4,5509,-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,-45.17,0.000,2,0.000,0.000,32,2759,2901
$GC,69,-0.85,-146.0,3.2,-4.0,6,102,10.77,2.25,-17.08,0.000,4,0.224,0.044,2596,1305,3758
$GC,117,-0.85,-146.0,17.4,-30.7,12,125,0.00,2.30,0.00,0.000,6,0.000,0.060,2588,2694,3759
$GC,391,-0.85,-146.0,91.8,-26.4,41,394,0.00,2.08,0.00,0.000,4,0.000,0.032,2590,1308,3760
$GC,449,-0.85,-146.0,105.8,-19.1,46,453,0.00,2.28,0.00,0.000,6,0.000,0.064,2581,2701,3761
$GC,713,-0.85,-146.0,161.1,-21.4,70,717,0.00,1.95,0.00,0.000,4,0.000,0.069,2572,3900,3761
$GC,764,-0.85,-146.0,171.5,-16.6,74,772,0.00,1.77,0.00,0.000,6,0.000,0.025,2572,2709,3761
$GC,1053,-0.85,-146.0,224.6,-18.9,93,1056,0.00,2.10,0.00,0.000,4,0.000,0.034,2572,1298,3762
$GC,1155,-0.85,-146.0,239.8,-11.5,95,1159,0.12,2.33,0.00,0.000,6,0.143,0.067,2596,2712,3762
$GC,1430,-0.85,-146.0,273.2,-12.4,102,1434,0.00,2.12,0.00,0.000,4,0.000,0.031,2606,1290,3762
$GC,1471,-0.85,-146.0,278.1,-10.0,102,1478,0.00,2.30,0.00,0.000,6,0.000,0.064,2597,2707,3762
$GC,1724,-0.85,-146.0,306.0,-11.0,109,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2707,3762
$GC,1967,-0.85,-146.0,332.5,-10.9,115,1970,0.00,2.12,0.00,0.000,4,0.000,0.031,2606,1286,3761
$GC,2007,-0.85,-146.0,336.7,-8.8,115,2014,0.00,2.30,0.00,0.000,6,0.000,0.059,2597,2692,3761
$GC,2258,-0.85,-146.0,362.2,-10.2,122,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2692,3759
$GC,2502,-0.85,-146.0,387.1,-10.1,128,2505,0.00,2.10,0.00,0.000,4,0.000,0.031,2604,1292,3758
$GC,2559,-0.85,-146.0,392.7,-8.8,129,2564,0.00,2.30,0.00,0.000,6,0.000,0.061,2596,2712,3757
$GC,2836,-0.85,-146.0,421.4,-10.6,136,2839,0.00,1.98,0.00,0.000,4,0.000,0.078,2586,3895,3755
$GC,2870,-0.85,-146.0,425.6,-10.6,136,2874,0.00,1.80,0.00,0.000,6,0.000,0.027,2592,2701,3755
$GC,3126,-0.85,-146.0,451.1,-10.1,143,3130,0.00,2.10,0.00,0.000,4,0.000,0.033,2601,1291,3753
$GC,3161,-0.85,-146.0,454.4,-8.7,143,3165,0.00,2.30,0.00,0.000,6,0.000,0.061,2593,2707,3753
$GC,3412,-0.85,-146.0,478.7,-9.8,149,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2707,3750
$GC,3656,-0.85,-146.0,502.3,-9.6,155,3660,0.00,2.12,0.00,0.000,4,0.000,0.033,2601,1297,3749
$GC,3691,-0.85,-146.0,505.7,-8.8,155,3695,0.00,2.28,0.00,0.000,6,0.000,0.061,2593,2700,3749
$GC,3944,-0.85,-146.0,528.9,-9.3,161,3947,0.00,2.00,0.00,0.000,4,0.000,0.079,2583,3892,3747
$GC,3978,-0.85,-146.0,532.5,-9.4,161,3982,0.00,1.77,0.00,0.000,6,0.000,0.028,2589,2697,3747
$GC,4236,-0.85,-146.0,554.8,-8.9,168,4239,0.00,2.10,0.00,0.000,4,0.000,0.033,2599,1295,3745
$GC,4288,-0.85,-146.0,559.3,-7.1,169,4292,0.00,2.30,0.00,0.000,6,0.000,0.062,2593,2701,3745
$GC,4568,-0.85,-146.0,582.8,-8.4,176,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2702,3743
$STATE,4767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4767,begin apogee
$GC,4777,-0.32,0.0,600.5,8.8,181,4902,0.57,0.00,122.35,1.053,6,0.125,0.000,2770,2609,3160
$STATE,4903,end apogee,CONTROL_FINISHED_OK
$STATE,4903,begin climb
$GC,4907,0.85,146.0,606.9,0.0,184,5041,1.08,0.00,128.68,1.030,6,0.079,0.000,3146,2609,2564
$GC,5279,0.85,146.0,586.2,15.4,193,5283,0.00,2.12,0.00,0.000,4,0.000,0.067,3145,3902,2554
$GC,5432,0.85,146.0,561.7,14.6,196,5436,0.00,1.92,0.00,0.000,6,0.000,0.034,3154,2641,2553
$GC,5706,0.85,146.0,525.6,12.9,203,5709,0.00,2.05,0.00,0.000,4,0.000,0.061,3150,3903,2550
$GC,5964,0.85,146.0,490.1,13.4,208,5968,0.00,1.95,0.00,0.000,6,0.000,0.033,3158,2612,2549
$GC,6221,0.85,146.0,461.7,11.3,215,6225,0.00,2.10,0.00,0.000,4,0.000,0.056,3150,3903,2546
$GC,6480,0.85,146.0,430.3,12.2,220,6484,0.00,1.92,0.00,0.000,6,0.000,0.032,3158,2628,2546
$GC,6737,0.85,146.0,403.4,10.3,227,6741,0.00,2.05,0.00,0.000,4,0.000,0.053,3151,3901,2544
$GC,6996,0.85,146.0,374.9,10.3,232,6999,0.00,1.92,0.00,0.000,6,0.000,0.030,3159,2617,2544
$GC,7253,0.87,158.9,350.2,9.0,239,7267,0.00,2.17,8.90,0.805,4,0.000,0.035,3170,1219,2512
$GC,7434,0.87,158.9,331.4,10.7,243,7438,0.00,2.22,0.00,0.000,6,0.000,0.048,3162,2630,2510
$GC,7718,0.87,158.9,301.5,10.1,250,7722,0.00,2.12,0.00,0.000,4,0.000,0.032,3171,1211,2510
$GC,7977,0.91,191.1,278.4,8.2,255,8013,0.00,2.22,29.85,0.841,6,0.000,0.045,3163,2636,2380
$GC,8277,0.91,191.1,237.8,15.3,263,8281,0.00,2.15,0.00,0.000,4,0.000,0.032,3171,1214,2374
$GC,8535,0.91,191.1,204.5,12.0,268,8539,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2633,2373
$GC,8798,0.91,191.1,172.3,14.7,289,8802,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1216,2372
$GC,8882,0.91,191.1,161.6,11.8,296,8890,0.00,2.22,0.00,0.000,6,0.000,0.045,3163,2615,2372
$GC,9147,0.91,191.1,131.4,11.4,321,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2614,2372
$GC,9411,1.06,309.5,108.1,4.4,346,9523,0.15,2.12,100.12,0.700,4,0.108,0.050,3205,3899,1896
$GC,9751,1.06,309.5,29.5,30.6,375,9760,0.00,1.92,0.00,0.000,6,0.000,0.026,3213,2624,1892
$STATE,9840,end climb,SURFACE_DEPTH_REACHED
$STATE,9840,begin surface coast
$FINISH,0.3,1.023755
$STATE,9847,end surface coast,CONTROL_FINISHED_OK
$STATE,9847,begin surface
$SM_CCo,9870,20.05,0.591,0,0,1732,350.04
$SM_GC,1.45,0.00,0.00,20.05,0.000,0.000,0.591,46,2763,1732,-8.84,1.78,350.04
$IRIDIUM_FIX,2246.36,-15801.49,100500,161635
$TT8_MAMPS,0.023777
$HUMID,1892
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.6,94.626
$10V_AH,10.7,53.088
$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,21.175,88.875,389.900,20.050,0.000,78.194,123.830,980.301,0.000,0.000,0.000,13.715,876.269,6870.972,429.941,1652.695,1534.216,33.376,1171.255,0.000,1636.760,0.000,0.543,0.000
$DEVICE_MAMPS,223.964,79.001,1053.091,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.637,559.953,576.999,108.776,451.850,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32067,392
$CAP_FILE_SIZE,94542,0
$CFSIZE,260165632,233590784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,140211,193634,2252.687,-15757.812,10,5.6,29,10.1