version: 66.04
glider: 512
mission: 1
dive: 739
start: 2 17 111 18 48 19
data:
$ID,512
$MISSION,1
$DIVE,739
$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,-21885.971
$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,65
$R_STBD_OVSHOOT,28
$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
$GPS1,183806,2253.834,-15805.839,50,1.4,50,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.0
$GPS2,184726,2253.859,-15805.912,13,1.9,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.228,0.117
$KALMAN_X,-210589.5,345.3,-131.0,219179.4,-2173.8
$KALMAN_Y,-502703.1,609.1,440.4,637939.7,-1482.6
$MHEAD_RNG_PITCHd_Wd,52.8,17777,-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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.22,0.000,2,0.000,0.000,36,2718,2938
$GC,70,-0.85,-146.0,3.4,-5.0,6,103,10.62,1.95,-16.73,0.000,4,0.220,0.071,2580,3883,3779
$GC,181,-0.85,-146.0,32.9,-18.9,23,185,0.00,1.75,0.00,0.000,6,0.000,0.024,2580,2711,3780
$GC,451,-0.85,-146.0,104.6,-27.9,48,454,0.00,2.08,0.00,0.000,4,0.000,0.028,2580,1295,3780
$GC,519,-0.85,-146.0,121.2,-19.2,54,524,0.00,2.25,0.00,0.000,6,0.000,0.055,2571,2694,3781
$GC,784,-0.85,-146.0,174.8,-21.2,78,788,0.00,2.05,0.00,0.000,4,0.000,0.025,2571,1288,3782
$GC,836,-0.85,-146.0,185.4,-16.2,82,843,0.10,2.30,0.00,0.000,6,0.139,0.055,2595,2694,3783
$GC,1104,-0.85,-146.0,225.7,-15.3,96,1107,0.00,2.05,0.00,0.000,4,0.000,0.025,2606,1292,3784
$GC,1161,-0.85,-146.0,233.8,-11.0,97,1165,0.00,2.28,0.00,0.000,6,0.000,0.058,2596,2707,3784
$GC,1434,-0.85,-146.0,270.9,-13.7,104,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2708,3784
$GC,1677,-0.85,-146.0,300.3,-12.1,110,1681,0.00,2.10,0.00,0.000,4,0.000,0.028,2597,1286,3784
$GC,1719,-0.85,-146.0,304.9,-10.7,110,1726,0.00,2.33,0.00,0.000,6,0.000,0.062,2589,2696,3783
$GC,1970,-0.85,-146.0,333.8,-11.7,117,1974,0.00,2.08,0.00,0.000,4,0.000,0.028,2590,1295,3784
$GC,2005,-0.85,-146.0,337.7,-10.1,117,2009,0.00,2.30,0.00,0.000,6,0.000,0.064,2590,2701,3783
$GC,2258,-0.85,-146.0,364.7,-11.0,123,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2701,3782
$GC,2500,-0.85,-146.0,390.8,-10.5,129,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2701,3781
$GC,2744,-0.85,-146.0,415.5,-10.0,135,2747,0.00,2.10,0.00,0.000,4,0.000,0.028,2589,1296,3779
$GC,2779,-0.85,-146.0,419.1,-10.0,135,2783,0.00,2.30,0.00,0.000,6,0.000,0.063,2590,2707,3779
$GC,3032,-0.85,-146.0,443.2,-9.9,141,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2706,3777
$GC,3273,-0.85,-146.0,467.4,-9.9,147,3277,0.00,2.10,0.00,0.000,4,0.000,0.031,2589,1296,3776
$GC,3314,-0.85,-146.0,471.4,-9.3,147,3320,0.00,2.30,0.00,0.000,6,0.000,0.064,2589,2697,3776
$GC,3565,-0.85,-146.0,494.9,-9.4,154,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3775
$GC,3810,-0.85,-146.0,517.6,-9.2,160,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3772
$GC,4054,-0.85,-146.0,539.7,-9.0,166,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3771
$GC,4296,-0.85,-146.0,560.7,-8.6,172,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2697,3769
$GC,4540,-0.85,-146.0,581.3,-8.4,178,4544,0.00,2.10,0.00,0.000,4,0.000,0.030,2589,1289,3767
$GC,4569,-0.85,-146.0,583.9,-9.0,178,4574,0.00,2.30,0.00,0.000,6,0.000,0.060,2589,2705,3767
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4782,begin apogee
$GC,4791,-0.32,0.0,600.8,7.9,184,4917,0.55,0.00,123.25,1.041,6,0.108,0.000,2768,2577,3180
$STATE,4918,end apogee,CONTROL_FINISHED_OK
$STATE,4918,begin climb
$GC,4922,0.85,146.0,606.5,0.0,187,5059,1.02,2.25,127.95,1.016,4,0.056,0.064,3150,3883,2582
$GC,5322,0.85,146.0,580.3,15.2,196,5326,0.00,2.00,0.00,0.000,6,0.000,0.031,3158,2556,2575
$GC,5613,0.85,146.0,542.3,12.1,203,5617,0.00,2.15,0.00,0.000,4,0.000,0.051,3150,3898,2571
$GC,5872,0.85,146.0,511.2,12.0,208,5876,0.00,2.00,0.00,0.000,6,0.000,0.029,3158,2561,2570
$GC,6129,0.85,146.0,484.6,10.3,215,6132,0.00,2.15,0.00,0.000,4,0.000,0.051,3150,3899,2568
$GC,6387,0.85,146.0,454.1,13.1,220,6391,0.00,1.98,0.00,0.000,6,0.000,0.028,3159,2572,2568
$GC,6645,0.85,146.0,428.1,9.6,227,6648,0.00,2.10,0.00,0.000,4,0.000,0.035,3169,1175,2566
$GC,6737,0.87,154.6,419.8,9.2,229,6747,0.00,2.22,5.47,0.730,6,0.000,0.048,3163,2586,2549
$GC,7022,0.88,162.8,393.8,9.3,236,7036,0.00,2.20,9.02,0.828,4,0.000,0.033,3172,1166,2516
$GC,7045,0.88,162.8,391.3,10.6,236,7049,0.00,2.22,0.00,0.000,6,0.000,0.045,3163,2584,2516
$GC,7307,0.88,162.8,363.8,10.0,243,7311,0.00,2.08,0.00,0.000,4,0.000,0.054,3163,3897,2513
$GC,7336,0.88,162.8,360.6,11.4,243,7340,0.00,1.98,0.00,0.000,6,0.000,0.026,3171,2560,2512
$GC,7598,0.88,162.8,335.0,9.7,250,7601,0.00,2.15,0.00,0.000,4,0.000,0.051,3163,3899,2512
$GC,7735,0.88,162.8,320.3,11.4,253,7739,0.00,1.95,0.00,0.000,6,0.000,0.025,3172,2571,2512
$GC,8026,0.88,169.3,291.6,9.3,260,8039,0.00,2.15,6.82,0.718,4,0.000,0.028,3182,1158,2489
$GC,8125,0.88,169.3,281.3,9.7,262,8129,0.00,2.22,0.00,0.000,6,0.000,0.044,3179,2581,2489
$GC,8399,0.89,174.2,255.4,9.4,269,8410,0.00,2.08,6.35,0.680,4,0.000,0.050,3176,3897,2468
$GC,8561,0.93,207.2,242.6,8.1,272,8595,0.00,1.95,30.20,0.796,6,0.000,0.025,3184,2557,2335
$GC,8866,0.93,207.2,195.3,17.2,280,8869,0.00,2.05,0.00,0.000,4,0.000,0.027,3194,1162,2329
$GC,9072,0.93,207.2,162.0,17.2,298,9079,0.00,2.25,0.00,0.000,6,0.000,0.044,3192,2569,2328
$GC,9337,0.93,207.2,122.3,11.3,323,9341,0.00,2.05,0.00,0.000,4,0.000,0.027,3200,1172,2327
$GC,9594,0.94,212.0,98.3,9.4,346,9607,0.00,2.20,4.55,0.493,6,0.000,0.043,3200,2589,2315
$GC,9867,1.00,261.4,75.5,7.4,371,9917,0.00,2.15,44.03,0.649,4,0.000,0.053,3200,3887,2113
$GC,9954,1.00,261.4,64.5,18.9,379,9958,0.00,1.95,0.00,0.000,6,0.000,0.024,3210,2574,2112
$GC,10221,1.00,261.4,3.1,23.7,414,10229,0.00,2.15,0.00,0.000,4,0.000,0.051,3205,3886,2107
$STATE,10236,end climb,SURFACE_DEPTH_REACHED
$STATE,10236,begin surface coast
$FINISH,0.3,1.012285
$STATE,10248,end surface coast,CONTROL_FINISHED_OK
$STATE,10248,begin surface
$SM_CCo,10273,45.90,0.582,0,0,1751,350.04
$SM_GC,1.84,0.00,0.00,45.90,0.000,0.000,0.582,35,2667,1751,-8.87,-0.93,350.04
$IRIDIUM_FIX,2246.36,-15808.88,130500,151559
$TT8_MAMPS,0.023777
$HUMID,1847
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.6,97.798
$10V_AH,10.6,55.361
$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,20.750,93.300,357.650,45.900,0.000,23.093,41.961,351.540,0.000,0.000,0.000,13.671,906.954,7125.990,435.214,1646.769,767.906,33.372,1148.662,0.000,1631.088,0.000,0.543,0.000
$DEVICE_MAMPS,220.129,70.564,1040.819,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.921,600.399,616.487,127.594,528.294,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35003,418
$CAP_FILE_SIZE,86483,0
$CFSIZE,260165632,232472576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,170211,214134,2254.624,-15805.267,11,7.7,30,10.1