version: 66.04
glider: 512
mission: 1
dive: 733
start: 2 17 111 0 42 37
data:
$ID,512
$MISSION,1
$DIVE,733
$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,-21799.084
$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,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3180
$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
$GPS1,003536,2247.363,-15803.008,32,1.5,33,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.8
$GPS2,004144,2247.426,-15803.063,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.080,0.243
$KALMAN_X,-204799.3,89.6,-79.2,218485.4,-472.1
$KALMAN_Y,-496606.8,-573.3,-358.0,621931.2,894.4
$MHEAD_RNG_PITCHd_Wd,331.8,11992,-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,-45.17,0.000,2,0.000,0.000,26,2742,2900
$GC,69,-0.85,-146.0,3.2,-4.6,6,102,11.15,1.88,-17.67,0.000,4,0.234,0.070,2578,3869,3778
$GC,289,-0.85,-146.0,52.2,-17.4,33,293,0.00,1.73,0.00,0.000,6,0.000,0.023,2578,2708,3780
$GC,558,-0.85,-146.0,121.2,-27.1,58,561,0.00,2.08,0.00,0.000,4,0.000,0.028,2578,1291,3781
$GC,641,-0.85,-146.0,137.9,-14.1,65,648,0.00,2.28,0.00,0.000,6,0.000,0.060,2576,2675,3782
$GC,904,-0.85,-146.0,185.9,-18.5,90,908,0.00,1.95,0.00,0.000,4,0.000,0.061,2566,3893,3783
$GC,996,-0.85,-146.0,200.2,-13.1,98,1000,0.12,1.73,0.00,0.000,6,0.143,0.021,2599,2679,3783
$GC,1286,-0.85,-146.0,239.5,-13.7,105,1290,0.00,2.00,0.00,0.000,4,0.000,0.025,2610,1287,3784
$GC,1366,-0.85,-146.0,248.0,-8.6,106,1370,0.00,2.25,0.00,0.000,6,0.000,0.051,2601,2711,3784
$GC,1617,-0.85,-146.0,277.2,-11.9,112,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2712,3784
$GC,1863,-0.85,-146.0,305.8,-11.6,118,1867,0.00,2.05,0.00,0.000,4,0.000,0.025,2609,1305,3784
$GC,1920,-0.85,-146.0,311.6,-8.6,119,1925,0.00,2.20,0.00,0.000,6,0.000,0.051,2606,2698,3784
$GC,2195,-0.85,-146.0,338.4,-10.0,126,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2698,3784
$GC,2438,-0.85,-146.0,361.4,-9.2,132,2442,0.00,1.95,0.00,0.000,4,0.000,0.068,2597,3892,3782
$GC,2462,-0.85,-146.0,363.6,-9.3,132,2466,0.00,1.73,0.00,0.000,6,0.000,0.024,2603,2693,3782
$GC,2731,-0.85,-146.0,387.5,-9.0,139,2734,0.00,2.03,0.00,0.000,4,0.000,0.026,2604,1297,3780
$GC,2788,-0.85,-146.0,392.3,-7.1,140,2792,0.00,2.22,0.00,0.000,6,0.000,0.050,2596,2705,3780
$GC,3062,-0.85,-146.0,415.4,-8.4,147,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2705,3778
$GC,3305,-0.85,-146.0,433.6,-7.4,153,3309,0.00,2.08,0.00,0.000,4,0.000,0.027,2604,1309,3777
$GC,3340,-0.85,-146.0,436.4,-7.1,153,3345,0.00,2.22,0.00,0.000,6,0.000,0.054,2595,2698,3777
$GC,3594,-0.85,-146.0,456.7,-8.5,159,3597,0.00,1.95,0.00,0.000,4,0.000,0.067,2590,3893,3776
$GC,3636,-0.85,-146.0,460.7,-8.3,159,3642,0.00,1.73,0.00,0.000,6,0.000,0.025,2595,2696,3776
$GC,3889,-0.85,-146.0,483.1,-9.1,166,3893,0.00,2.05,0.00,0.000,4,0.000,0.028,2603,1301,3774
$GC,3936,-0.85,-146.0,487.2,-7.3,167,3940,0.00,2.28,0.00,0.000,6,0.000,0.061,2603,2699,3774
$GC,4221,-0.85,-146.0,511.1,-8.4,174,4225,0.00,1.95,0.00,0.000,4,0.000,0.067,2593,3897,3772
$GC,4250,-0.85,-146.0,513.9,-9.1,174,4254,0.00,1.73,0.00,0.000,6,0.000,0.025,2600,2708,3772
$GC,4514,-0.85,-146.0,536.5,-8.6,181,4518,0.00,2.08,0.00,0.000,4,0.000,0.030,2601,1306,3770
$GC,4577,-0.85,-146.0,542.0,-7.9,182,4581,0.00,2.25,0.00,0.000,6,0.000,0.058,2592,2702,3770
$GC,4853,-0.85,-146.0,565.9,-8.7,189,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2702,3767
$GC,5094,-0.85,-146.0,586.7,-8.5,195,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2702,3766
$STATE,5254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5254,begin apogee
$GC,5263,-0.32,0.0,601.0,8.8,199,5390,0.55,0.00,123.22,1.042,6,0.107,0.000,2770,2580,3180
$STATE,5390,end apogee,CONTROL_FINISHED_OK
$STATE,5390,begin climb
$GC,5395,0.85,146.0,608.0,0.0,202,5532,1.05,2.28,128.57,1.016,4,0.065,0.035,3159,1184,2584
$GC,5791,0.85,146.0,588.1,13.4,211,5796,0.00,2.22,0.00,0.000,6,0.000,0.051,3151,2576,2576
$GC,6078,0.85,146.0,548.4,13.7,218,6082,0.00,2.12,0.00,0.000,4,0.000,0.034,3159,1165,2571
$GC,6231,0.85,146.0,528.7,12.9,221,6235,0.00,2.22,0.00,0.000,6,0.000,0.046,3151,2581,2571
$GC,6499,0.85,146.0,496.4,11.7,228,6502,0.00,2.12,0.00,0.000,4,0.000,0.033,3160,1172,2569
$GC,6546,0.85,146.0,491.5,10.1,229,6550,0.00,2.22,0.00,0.000,6,0.000,0.048,3152,2587,2569
$GC,6831,0.85,146.0,462.0,10.1,236,6835,0.00,2.10,0.00,0.000,4,0.000,0.058,3150,3897,2568
$GC,7091,0.85,146.0,436.7,10.0,241,7094,0.00,1.98,0.00,0.000,6,0.000,0.028,3158,2569,2566
$GC,7348,0.87,162.1,413.8,8.9,248,7366,0.00,2.17,12.02,0.871,4,0.000,0.034,3170,1175,2519
$GC,7582,0.87,162.1,389.3,9.8,253,7586,0.00,2.20,0.00,0.000,6,0.000,0.047,3163,2576,2517
$GC,7861,0.87,162.1,360.9,10.5,260,7865,0.00,2.10,0.00,0.000,4,0.000,0.031,3172,1167,2516
$GC,8082,0.87,162.1,337.7,10.1,264,8088,0.00,2.22,0.00,0.000,6,0.000,0.044,3164,2588,2515
$GC,8334,0.89,175.3,313.7,9.0,271,8358,0.00,2.10,14.80,0.731,4,0.000,0.058,3162,3895,2465
$GC,8462,0.89,175.3,297.9,14.0,273,8468,0.00,1.98,0.00,0.000,6,0.000,0.027,3171,2564,2463
$GC,8713,0.89,175.3,268.3,11.5,280,8717,0.00,2.08,0.00,0.000,4,0.000,0.030,3182,1152,2462
$GC,8950,0.94,212.9,248.6,7.9,285,8991,0.00,2.22,34.25,0.803,6,0.000,0.045,3178,2575,2311
$GC,9274,0.94,212.9,201.3,16.8,293,9277,0.00,2.10,0.00,0.000,4,0.000,0.051,3176,3901,2305
$GC,9315,0.94,212.9,192.9,19.4,293,9321,0.00,1.98,0.00,0.000,6,0.000,0.027,3184,2574,2304
$GC,9579,0.94,212.9,149.7,14.8,318,9583,0.00,2.08,0.00,0.000,4,0.000,0.028,3194,1153,2304
$GC,9649,0.94,212.9,140.3,13.2,324,9653,0.00,2.22,0.00,0.000,6,0.000,0.044,3192,2579,2304
$GC,9912,0.96,229.9,111.3,8.9,348,9933,0.00,2.10,15.23,0.660,4,0.000,0.050,3192,3904,2241
$GC,9972,0.96,229.9,105.3,12.4,353,9976,0.00,1.98,0.00,0.000,6,0.000,0.025,3200,2564,2241
$GC,10242,0.96,229.9,70.4,13.6,378,10246,0.00,2.05,0.00,0.000,4,0.000,0.026,3211,1147,2240
$GC,10311,0.96,229.9,61.0,13.9,384,10314,0.00,2.20,0.00,0.000,6,0.000,0.040,3205,2575,2239
$GC,10576,0.96,229.9,23.2,15.3,412,10584,0.00,2.10,0.00,0.000,4,0.000,0.025,3214,1158,2239
$STATE,10706,end climb,SURFACE_DEPTH_REACHED
$STATE,10706,begin surface coast
$FINISH,1.2,1.023787
$STATE,10716,end surface coast,CONTROL_FINISHED_OK
$STATE,10716,begin surface
$SM_CCo,10742,70.22,0.584,0,0,1752,350.04
$SM_GC,2.21,0.00,0.00,70.22,0.000,0.000,0.584,31,2706,1752,-8.88,0.20,350.04
$IRIDIUM_FIX,2237.01,-15803.24,120500,212128
$TT8_MAMPS,0.023777
$HUMID,1814
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.5,97.018
$10V_AH,10.6,54.816
$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,21.400,104.150,328.100,70.225,0.000,29.203,32.334,161.975,0.250,0.000,0.000,13.630,983.272,7349.061,449.507,1816.512,585.875,33.365,1219.121,0.000,1805.787,0.000,0.545,0.000
$DEVICE_MAMPS,233.935,69.797,1041.586,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,296.250,628.757,648.164,141.706,580.443,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35271,437
$CAP_FILE_SIZE,91709,0
$CFSIZE,260165632,232734720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,170211,034407,2248.603,-15804.078,32,1.1,32,10.1