version: 66.04
glider: 512
mission: 1
dive: 705
start: 2 13 111 17 48 43
data:
$ID,512
$MISSION,1
$DIVE,705
$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,-21262.783
$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,48
$R_STBD_OVSHOOT,59
$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
$GPS1,173732,2254.468,-15804.071,35,1.8,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.5
$GPS2,174750,2254.578,-15803.985,14,2.0,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.252,-0.044
$KALMAN_X,-180475.5,-361.6,153.5,192795.9,-1009.8
$KALMAN_Y,-523378.6,900.8,182.1,659914.1,259.7
$MHEAD_RNG_PITCHd_Wd,89.8,14614,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,121,0.00,0.00,-98.20,0.000,2,0.000,0.000,25,2755,3081
$GC,126,-0.85,-146.0,3.6,-6.0,13,158,10.80,2.22,-12.55,0.000,4,0.226,0.039,2596,1291,3758
$GC,226,-0.85,-146.0,33.3,-18.5,28,230,0.00,2.20,0.00,0.000,6,0.000,0.057,2587,2659,3759
$GC,489,-0.85,-146.0,99.4,-24.3,52,493,0.00,2.00,0.00,0.000,4,0.000,0.065,2577,3892,3759
$GC,606,-0.85,-146.0,118.6,-11.7,62,614,0.00,1.77,0.00,0.000,6,0.000,0.024,2577,2687,3760
$GC,870,-0.85,-146.0,165.5,-19.0,87,873,0.00,2.03,0.00,0.000,4,0.000,0.027,2577,1295,3760
$GC,1007,-0.85,-146.0,186.1,-13.3,99,1011,0.00,2.30,0.00,0.000,6,0.000,0.061,2576,2710,3760
$GC,1264,-0.85,-146.0,229.3,-17.3,111,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2710,3760
$GC,1506,-0.85,-146.0,266.7,-15.0,117,1509,0.00,2.10,0.00,0.000,4,0.000,0.027,2576,1296,3760
$GC,1568,-0.85,-146.0,274.6,-11.2,118,1572,0.00,2.28,0.00,0.000,6,0.000,0.058,2576,2709,3760
$GC,1841,-0.85,-146.0,311.3,-14.0,125,1845,0.00,1.95,0.00,0.000,4,0.000,0.077,2576,3890,3760
$GC,1888,-0.85,-146.0,317.4,-12.0,126,1892,0.00,1.73,0.00,0.000,6,0.000,0.025,2576,2689,3760
$GC,2179,-0.85,-146.0,356.8,-13.5,133,2183,0.00,2.00,0.00,0.000,4,0.000,0.026,2575,1306,3759
$GC,2242,-0.85,-146.0,364.6,-11.1,134,2246,0.00,2.30,0.00,0.000,6,0.000,0.064,2576,2709,3759
$GC,2512,-0.85,-146.0,397.2,-12.4,141,2515,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1302,3757
$GC,2541,-0.85,-146.0,401.3,-12.2,141,2545,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2707,3756
$GC,2803,-0.85,-146.0,431.8,-11.6,148,2807,0.00,1.98,0.00,0.000,4,0.000,0.078,2576,3894,3754
$GC,2837,-0.85,-146.0,435.7,-10.6,148,2840,0.00,1.73,0.00,0.000,6,0.000,0.026,2575,2705,3754
$GC,3093,-0.85,-146.0,462.3,-10.6,155,3097,0.00,2.08,0.00,0.000,4,0.000,0.030,2576,1298,3751
$GC,3142,-0.85,-146.0,467.3,-10.1,156,3146,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2702,3752
$GC,3428,-0.85,-146.0,499.4,-11.5,163,3432,0.00,2.00,0.00,0.000,4,0.000,0.080,2576,3897,3749
$GC,3475,-0.85,-146.0,504.6,-9.0,164,3479,0.00,1.75,0.00,0.000,6,0.000,0.026,2576,2695,3749
$GC,3768,-0.85,-146.0,534.6,-10.4,171,3772,0.00,2.08,0.00,0.000,4,0.000,0.031,2576,1297,3747
$GC,3820,-0.85,-146.0,539.9,-8.8,172,3824,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2708,3747
$GC,4099,-0.85,-146.0,566.5,-9.6,179,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3744
$GC,4342,-0.85,-146.0,590.5,-10.0,185,4346,0.00,2.10,0.00,0.000,4,0.000,0.032,2576,1307,3742
$GC,4377,-0.85,-146.0,594.1,-10.1,185,4381,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2702,3742
$STATE,4462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4462,begin apogee
$GC,4471,-0.32,0.0,602.6,9.5,187,4596,0.60,0.00,121.85,1.040,6,0.117,0.000,2766,2625,3160
$STATE,4596,end apogee,CONTROL_FINISHED_OK
$STATE,4596,begin climb
$GC,4600,0.85,146.0,608.9,0.0,190,4738,1.08,2.25,129.02,1.013,4,0.051,0.032,3175,1239,2563
$GC,4898,0.85,146.0,598.8,15.0,197,4902,0.00,2.22,0.00,0.000,6,0.000,0.047,3175,2639,2556
$GC,5173,0.85,146.0,554.9,16.1,204,5177,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,1232,2553
$GC,5381,0.85,146.0,525.8,13.4,208,5385,0.00,2.22,0.00,0.000,6,0.000,0.051,3178,2634,2550
$GC,5637,0.85,146.0,493.1,12.4,215,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2634,2549
$GC,5882,0.85,146.0,466.5,10.5,221,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2634,2547
$GC,6124,0.85,146.0,438.4,12.0,227,6128,0.00,2.03,0.00,0.000,4,0.000,0.059,3176,3904,2546
$GC,6383,0.85,146.0,404.5,12.6,232,6388,0.15,1.92,0.00,0.000,6,0.268,0.030,3157,2599,2545
$GC,6639,0.85,146.0,376.7,10.4,239,6643,0.00,2.05,0.00,0.000,4,0.000,0.031,3165,1203,2544
$GC,6725,0.88,169.2,369.1,8.6,240,6750,0.00,2.28,18.02,0.877,6,0.000,0.050,3163,2622,2470
$GC,7019,0.88,169.2,333.6,12.8,248,7023,0.00,2.10,0.00,0.000,4,0.000,0.028,3172,1197,2466
$GC,7111,0.88,169.2,321.7,13.4,250,7115,0.00,2.25,0.00,0.000,6,0.000,0.046,3172,2634,2466
$GC,7396,0.88,169.2,284.9,12.7,257,7399,0.00,2.12,0.00,0.000,4,0.000,0.029,3180,1203,2464
$GC,7407,0.88,169.2,283.6,11.9,257,7412,0.00,2.25,0.00,0.000,6,0.000,0.048,3179,2630,2464
$GC,7681,0.88,169.2,251.6,11.9,264,7685,0.00,2.00,0.00,0.000,4,0.000,0.054,3176,3900,2464
$GC,7940,0.88,169.8,223.3,9.6,269,7944,0.00,1.88,0.00,0.000,6,0.000,0.026,3184,2615,2464
$GC,8198,0.95,226.3,204.3,7.1,276,8260,0.00,2.12,51.55,0.755,4,0.000,0.047,3176,3903,2236
$GC,8494,0.95,226.3,143.9,21.9,297,8497,0.00,1.90,0.00,0.000,6,0.000,0.028,3183,2627,2232
$GC,8763,0.95,226.3,93.3,14.2,322,8767,0.00,2.08,0.00,0.000,4,0.000,0.027,3195,1204,2229
$GC,8788,0.95,226.3,90.0,13.1,324,8792,0.00,2.22,0.00,0.000,6,0.000,0.041,3192,2629,2228
$GC,9052,0.95,226.3,56.4,12.8,348,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2630,2228
$GC,9317,0.95,226.3,22.3,15.4,377,9326,0.00,2.03,0.00,0.000,4,0.000,0.052,3192,3892,2228
$STATE,9432,end climb,SURFACE_DEPTH_REACHED
$STATE,9432,begin surface coast
$FINISH,0.4,1.023819
$STATE,9450,end surface coast,CONTROL_FINISHED_OK
$STATE,9450,begin surface
$SM_CCo,9474,66.57,0.594,0,0,1733,350.04
$SM_GC,2.12,0.00,0.00,66.57,0.000,0.000,0.594,39,2676,1733,-8.86,-0.68,350.04
$IRIDIUM_FIX,2246.36,-15801.49,090500,151516
$TT8_MAMPS,0.023777
$HUMID,1849
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.7,93.425
$10V_AH,10.7,52.383
$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,20.900,91.800,320.450,66.575,0.000,25.185,38.844,413.031,0.500,0.000,0.000,14.854,872.714,6402.015,470.881,1622.947,795.637,33.364,1166.020,0.000,1610.535,0.000,0.543,0.000
$DEVICE_MAMPS,268.450,79.768,1040.052,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,271.234,593.657,612.483,139.133,570.012,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32189,401
$CAP_FILE_SIZE,82395,0
$CFSIZE,260165632,233951232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,130211,202924,2254.494,-15803.009,38,1.7,55,10.1