version: 66.04
glider: 512
mission: 1
dive: 701
start: 2 13 111 6 11 29
data:
$ID,512
$MISSION,1
$DIVE,701
$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,-21202.25
$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,52
$R_STBD_OVSHOOT,27
$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
$GPS1,055644,2250.358,-15807.046,12,1.4,12,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.7
$GPS2,061037,2250.508,-15807.146,39,1.7,40,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.005,0.256
$KALMAN_X,-176175.4,-511.2,-220.7,183592.4,1716.6
$KALMAN_Y,-525884.6,-685.6,-19.0,656683.8,297.7
$MHEAD_RNG_PITCHd_Wd,351.0,6213,-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,-45.20,0.000,2,0.000,0.000,27,2723,2916
$GC,69,-0.85,-146.0,3.3,-4.6,6,102,10.85,1.92,-16.48,0.000,4,0.227,0.079,2578,3879,3758
$GC,227,-0.85,-146.0,46.9,-19.2,26,231,0.00,1.75,0.00,0.000,6,0.000,0.025,2578,2701,3760
$GC,498,-0.85,-146.0,118.0,-26.5,51,502,0.00,2.05,0.00,0.000,4,0.000,0.025,2578,1289,3760
$GC,548,-0.85,-146.0,128.9,-19.4,55,552,0.00,2.30,0.00,0.000,6,0.000,0.063,2576,2699,3761
$GC,812,-0.85,-146.0,183.7,-20.9,79,816,0.00,2.05,0.00,0.000,4,0.000,0.025,2576,1292,3762
$GC,841,-0.85,-146.0,190.2,-21.4,81,849,0.00,2.33,0.00,0.000,6,0.000,0.061,2576,2705,3762
$GC,1104,-0.85,-146.0,235.3,-17.0,92,1108,0.00,2.05,0.00,0.000,4,0.000,0.025,2576,1293,3762
$GC,1161,-0.85,-146.0,243.9,-12.9,93,1165,0.00,2.30,0.00,0.000,6,0.000,0.060,2576,2707,3762
$GC,1434,-0.85,-146.0,284.1,-15.1,100,1438,0.00,2.10,0.00,0.000,4,0.000,0.025,2576,1284,3762
$GC,1503,-0.85,-146.0,293.6,-11.9,101,1507,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2699,3762
$GC,1764,-0.85,-146.0,329.0,-13.8,108,1768,0.00,1.98,0.00,0.000,4,0.000,0.075,2576,3892,3762
$GC,1800,-0.85,-146.0,333.7,-12.6,108,1804,0.00,1.75,0.00,0.000,6,0.000,0.025,2576,2678,3762
$GC,2058,-0.85,-146.0,366.3,-13.0,115,2061,0.00,2.03,0.00,0.000,4,0.000,0.026,2575,1277,3761
$GC,2106,-0.85,-146.0,372.0,-11.0,116,2110,0.00,2.33,0.00,0.000,6,0.000,0.060,2576,2701,3761
$GC,2390,-0.85,-146.0,405.8,-11.9,123,2394,0.00,1.98,0.00,0.000,4,0.000,0.072,2571,3904,3760
$GC,2437,-0.85,-146.0,411.0,-10.5,124,2441,0.00,1.75,0.00,0.000,6,0.000,0.025,2571,2693,3759
$GC,2729,-0.85,-146.0,445.2,-12.2,131,2733,0.00,2.05,0.00,0.000,4,0.000,0.029,2571,1300,3758
$GC,2765,-0.85,-146.0,449.8,-11.8,131,2770,0.12,2.33,0.00,0.000,6,0.140,0.067,2597,2707,3758
$GC,3018,-0.85,-146.0,472.6,-9.0,137,3022,0.00,2.00,0.00,0.000,4,0.000,0.082,2589,3892,3756
$GC,3042,-0.85,-146.0,475.1,-9.3,137,3046,0.00,1.77,0.00,0.000,6,0.000,0.028,2589,2704,3755
$GC,3310,-0.85,-146.0,500.3,-9.5,144,3314,0.00,2.08,0.00,0.000,4,0.000,0.032,2589,1307,3753
$GC,3368,-0.85,-146.0,506.1,-9.2,145,3372,0.00,2.33,0.00,0.000,6,0.000,0.068,2589,2708,3753
$GC,3641,-0.85,-146.0,533.7,-10.3,152,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2708,3750
$GC,3885,-0.85,-146.0,557.8,-9.6,158,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2708,3748
$GC,4129,-0.85,-146.0,579.6,-8.8,164,4132,0.00,2.12,0.00,0.000,4,0.000,0.034,2589,1304,3747
$GC,4169,-0.85,-146.0,583.3,-8.2,164,4175,0.00,2.30,0.00,0.000,6,0.000,0.064,2589,2703,3747
$STATE,4376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4376,begin apogee
$GC,4386,-0.32,0.0,600.7,8.5,170,4513,0.57,0.00,124.30,1.115,6,0.112,0.000,2773,2628,3160
$STATE,4513,end apogee,CONTROL_FINISHED_OK
$STATE,4514,begin climb
$GC,4518,0.85,146.0,606.0,0.0,173,4656,1.00,2.28,130.27,1.102,4,0.044,0.037,3171,1242,2563
$GC,4917,0.85,146.0,581.3,14.5,182,4921,0.00,2.22,0.00,0.000,6,0.000,0.050,3163,2634,2555
$GC,5202,0.85,146.0,540.0,14.0,189,5205,0.00,2.15,0.00,0.000,4,0.000,0.035,3172,1228,2551
$GC,5349,0.85,146.0,521.5,12.7,192,5353,0.00,2.25,0.00,0.000,6,0.000,0.054,3163,2634,2550
$GC,5622,0.85,146.0,488.7,11.7,199,5626,0.00,2.15,0.00,0.000,4,0.000,0.036,3172,1219,2549
$GC,5811,0.85,146.0,465.9,11.9,203,5815,0.00,2.22,0.00,0.000,6,0.000,0.049,3164,2626,2548
$GC,6091,0.85,146.0,433.2,11.3,210,6094,0.00,2.03,0.00,0.000,4,0.000,0.058,3163,3897,2546
$GC,6119,0.85,146.0,429.6,12.9,210,6123,0.00,1.88,0.00,0.000,6,0.000,0.028,3170,2631,2545
$GC,6382,0.85,146.0,398.7,11.3,217,6385,0.00,2.05,0.00,0.000,4,0.000,0.055,3163,3898,2544
$GC,6629,0.85,146.0,371.3,10.4,222,6633,0.00,1.90,0.00,0.000,6,0.000,0.028,3171,2612,2543
$GC,6897,0.86,149.7,345.6,9.4,229,6900,0.00,2.08,0.00,0.000,4,0.000,0.031,3182,1203,2542
$GC,6982,0.87,159.8,337.8,9.2,230,6997,0.00,2.28,9.80,0.856,6,0.000,0.049,3178,2622,2507
$GC,7280,0.87,159.8,306.2,10.6,238,7284,0.00,2.10,0.00,0.000,4,0.000,0.029,3186,1208,2506
$GC,7315,0.87,161.1,302.7,9.6,238,7319,0.12,2.25,0.00,0.000,6,0.224,0.047,3163,2634,2506
$GC,7571,0.92,199.9,281.2,7.9,245,7611,0.00,0.00,37.17,0.908,6,0.000,0.000,3163,2634,2345
$GC,7855,0.92,199.9,236.8,17.5,252,7859,0.00,2.12,0.00,0.000,4,0.000,0.030,3172,1220,2338
$GC,7962,0.92,199.9,220.3,15.6,254,7966,0.00,2.22,0.00,0.000,6,0.000,0.046,3172,2629,2338
$GC,8226,0.92,199.9,177.3,15.6,269,8230,0.00,2.10,0.00,0.000,4,0.000,0.027,3182,1210,2337
$GC,8353,0.92,199.9,159.7,14.6,280,8357,0.00,2.25,0.00,0.000,6,0.000,0.046,3178,2632,2336
$GC,8623,0.92,199.9,124.6,12.5,305,8626,0.00,2.10,0.00,0.000,4,0.000,0.028,3187,1219,2336
$GC,8718,0.92,199.9,112.4,11.6,313,8725,0.00,2.22,0.00,0.000,6,0.000,0.046,3187,2624,2335
$GC,8981,0.98,250.0,91.0,7.4,338,9043,0.00,2.15,45.12,0.704,4,0.000,0.026,3197,1206,2139
$GC,9115,0.98,250.0,73.5,17.6,349,9119,0.00,2.25,0.00,0.000,6,0.000,0.044,3192,2632,2137
$GC,9379,0.98,250.0,28.0,17.5,374,9387,0.00,2.03,0.00,0.000,4,0.000,0.055,3192,3886,2135
$GC,9413,0.98,250.0,21.6,18.6,379,9421,0.00,1.88,0.00,0.000,6,0.000,0.025,3199,2630,2135
$STATE,9501,end climb,SURFACE_DEPTH_REACHED
$STATE,9501,begin surface coast
$FINISH,0.4,1.023821
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9537,54.60,0.642,0,0,1733,350.04
$SM_GC,2.36,0.00,0.00,54.60,0.000,0.000,0.642,45,2747,1733,-8.84,1.33,350.04
$IRIDIUM_FIX,2241.69,-15809.75,090500,060650
$TT8_MAMPS,0.023777
$HUMID,1835
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.5,92.814
$10V_AH,10.7,52.027
$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,21.075,101.300,346.675,54.600,0.000,62.193,82.338,450.719,0.250,0.000,0.000,40.116,874.296,6553.856,448.294,1620.973,930.178,33.367,1145.459,0.000,1583.729,0.000,0.544,0.000
$DEVICE_MAMPS,227.032,82.069,1115.218,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.668,584.611,602.453,125.528,517.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31923,397
$CAP_FILE_SIZE,88931,0
$CFSIZE,260165632,234119168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,130211,085236,2252.117,-15807.387,15,0.9,31,10.1