version: 66.04
glider: 512
mission: 1
dive: 629
start: 2 5 111 4 58 0
data:
$ID,512
$MISSION,1
$DIVE,629
$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,140
$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,-19605.045
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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,3190
$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
$GPS1,045202,2245.494,-15756.834,11,1.9,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.3
$GPS2,045703,2245.540,-15756.798,12,2.0,12,10.1
$SPEED_LIMITS,0.167,0.248
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.113,-0.221
$KALMAN_X,-199680.4,1417.1,525.7,222206.0,-936.0
$KALMAN_Y,-539900.4,-1342.6,-227.8,662366.7,6447.1
$MHEAD_RNG_PITCHd_Wd,196.9,3200,-17.5,-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,-0.87,-136.3,0.0,0.0,0,64,0.00,0.00,-45.72,0.000,2,0.000,0.000,41,2704,2933
$GC,68,-0.87,-136.3,3.4,-5.5,6,101,10.50,2.20,-16.17,0.000,4,0.227,0.039,2564,1222,3748
$GC,126,-0.87,-136.3,20.9,-31.5,14,135,0.00,2.33,0.00,0.000,6,0.000,0.064,2556,2608,3750
$GC,392,-0.87,-136.3,98.6,-31.3,42,396,0.00,2.08,0.00,0.000,4,0.000,0.064,2546,3897,3751
$GC,439,-0.87,-136.3,112.4,-26.6,46,442,0.00,1.85,0.00,0.000,6,0.000,0.025,2549,2635,3752
$GC,707,-0.87,-136.3,173.1,-20.7,71,711,0.00,2.05,0.00,0.000,4,0.000,0.028,2559,1231,3753
$GC,754,-0.87,-136.3,182.1,-17.5,75,759,0.00,2.30,0.00,0.000,6,0.000,0.058,2549,2655,3754
$GC,1020,-0.87,-136.3,234.6,-19.9,88,1023,0.00,2.10,0.00,0.000,4,0.000,0.027,2550,1226,3755
$GC,1070,-0.87,-136.3,243.9,-14.7,89,1074,0.00,2.30,0.00,0.000,6,0.000,0.057,2541,2652,3755
$GC,1351,-0.87,-136.3,295.9,-18.9,96,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2651,3756
$GC,1593,-0.87,-136.3,341.0,-18.3,102,1597,0.00,2.03,0.00,0.000,4,0.000,0.067,2531,3908,3756
$GC,1661,-0.87,-136.3,352.6,-15.8,103,1665,0.15,1.85,0.00,0.000,6,0.140,0.025,2572,2638,3756
$GC,1928,-0.87,-136.3,385.0,-11.7,110,1932,0.00,2.05,0.00,0.000,4,0.000,0.030,2573,1252,3755
$GC,1991,-0.87,-136.3,391.9,-9.8,111,1995,0.00,2.25,0.00,0.000,6,0.000,0.061,2564,2652,3755
$GC,2266,-0.87,-136.3,425.9,-13.1,118,2269,0.00,2.03,0.00,0.000,4,0.000,0.071,2555,3888,3754
$GC,2307,-0.87,-136.3,431.7,-13.5,118,2313,0.00,1.83,0.00,0.000,6,0.000,0.026,2555,2642,3754
$GC,2558,-0.87,-136.3,465.2,-13.5,125,2561,0.00,2.05,0.00,0.000,4,0.000,0.032,2557,1253,3753
$GC,2608,-0.87,-136.3,472.0,-11.7,126,2613,0.00,2.30,0.00,0.000,6,0.000,0.069,2548,2649,3753
$GC,2887,-0.87,-136.3,510.9,-14.1,133,2891,0.00,2.08,0.00,0.000,4,0.000,0.079,2538,3895,3751
$GC,2904,-0.87,-136.3,513.5,-14.3,133,2909,0.12,1.85,0.00,0.000,6,0.156,0.027,2570,2634,3751
$GC,3178,-0.87,-136.3,544.3,-11.1,140,3181,0.00,2.05,0.00,0.000,4,0.000,0.033,2570,1258,3749
$GC,3208,-0.87,-136.3,547.8,-11.5,140,3212,0.00,2.28,0.00,0.000,6,0.000,0.065,2563,2646,3749
$GC,3463,-0.87,-136.3,576.3,-11.3,147,3467,0.00,2.08,0.00,0.000,4,0.000,0.077,2553,3896,3747
$GC,3514,-0.87,-136.3,582.3,-11.2,148,3518,0.00,1.83,0.00,0.000,6,0.000,0.027,2553,2655,3747
$STATE,3673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3673,begin apogee
$GC,3682,-0.32,0.0,601.4,12.1,152,3802,0.60,0.00,116.18,1.075,6,0.126,0.000,2742,2541,3190
$STATE,3802,end apogee,CONTROL_FINISHED_OK
$STATE,3802,begin climb
$GC,3806,0.87,136.3,607.6,0.0,155,3934,1.05,2.35,118.88,1.065,4,0.050,0.062,3134,3900,2633
$GC,4125,0.87,136.3,597.4,14.0,162,4129,0.00,2.03,0.00,0.000,6,0.000,0.028,3145,2551,2627
$GC,4399,0.87,136.3,563.5,12.2,169,4402,0.00,2.22,0.00,0.000,4,0.000,0.059,3146,3909,2624
$GC,4529,0.87,136.3,548.1,11.6,171,4535,0.00,2.03,0.00,0.000,6,0.000,0.028,3156,2543,2623
$GC,4781,0.87,136.3,521.7,10.8,178,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2536,2621
$GC,5023,0.87,136.3,494.7,10.9,184,5027,0.00,2.08,0.00,0.000,4,0.000,0.031,3166,1134,2620
$GC,5147,0.90,165.2,483.1,8.2,186,5177,0.00,2.25,23.95,1.010,6,0.000,0.049,3163,2561,2516
$GC,5447,0.90,165.2,442.0,14.6,194,5450,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1149,2511
$GC,5509,0.90,165.2,432.5,15.2,195,5513,0.12,2.22,0.00,0.000,6,0.221,0.048,3148,2549,2511
$GC,5782,0.90,165.2,396.7,12.8,202,5785,0.00,2.08,0.00,0.000,4,0.000,0.029,3157,1149,2509
$GC,5793,0.90,165.2,395.2,12.7,202,5797,0.00,2.20,0.00,0.000,6,0.000,0.048,3151,2548,2509
$GC,6071,0.90,165.2,362.5,11.6,209,6075,0.00,2.08,0.00,0.000,4,0.000,0.031,3159,1145,2507
$GC,6094,0.90,165.2,360.2,10.1,209,6098,0.00,2.22,0.00,0.000,6,0.000,0.049,3159,2550,2507
$GC,6358,0.90,165.2,330.5,11.6,216,6362,0.00,2.08,0.00,0.000,4,0.000,0.028,3168,1150,2507
$GC,6370,0.90,165.2,328.7,11.8,216,6374,0.00,2.22,0.00,0.000,6,0.000,0.048,3163,2560,2507
$GC,6643,0.90,165.2,298.0,11.3,223,6646,0.00,2.12,0.00,0.000,4,0.000,0.056,3163,3898,2506
$GC,6705,0.90,165.2,291.2,11.4,224,6709,0.00,2.00,0.00,0.000,6,0.000,0.027,3172,2540,2506
$GC,6980,0.94,191.5,268.2,8.4,231,7015,0.00,2.22,25.27,0.811,4,0.000,0.054,3172,3903,2407
$GC,7131,0.94,191.5,246.1,17.2,233,7135,0.00,2.00,0.00,0.000,6,0.000,0.028,3182,2556,2406
$GC,7398,0.94,191.5,208.4,13.4,240,7403,0.12,2.10,0.00,0.000,4,0.237,0.027,3167,1130,2403
$GC,7656,0.94,191.5,178.9,11.4,257,7660,0.00,2.22,0.00,0.000,6,0.000,0.046,3163,2549,2403
$GC,7921,0.94,191.5,147.8,10.4,281,7925,0.00,2.08,0.00,0.000,4,0.000,0.028,3172,1135,2402
$GC,8057,0.94,191.5,132.8,11.2,293,8061,0.00,2.25,0.00,0.000,6,0.000,0.049,3172,2552,2402
$GC,8322,1.03,267.0,112.3,6.0,317,8397,0.00,2.22,64.40,0.734,4,0.000,0.052,3162,3903,2099
$GC,8403,1.03,267.0,103.6,16.7,323,8410,0.00,2.08,0.00,0.000,6,0.000,0.028,3171,2557,2099
$GC,8667,1.03,267.0,47.8,21.7,348,8671,0.00,2.08,0.00,0.000,4,0.000,0.027,3181,1134,2094
$GC,8737,1.03,267.0,32.9,22.4,354,8741,0.00,2.22,0.00,0.000,6,0.000,0.043,3177,2561,2093
$STATE,8864,end climb,SURFACE_DEPTH_REACHED
$STATE,8864,begin surface coast
$FINISH,0.3,1.015373
$STATE,8881,end surface coast,CONTROL_FINISHED_OK
$STATE,8881,begin surface
$SM_CCo,8903,41.90,0.633,0,0,1762,350.04
$SM_GC,1.90,0.00,0.00,41.90,0.000,0.000,0.633,36,2684,1762,-8.80,0.96,350.04
$IRIDIUM_FIX,2237.01,-15754.99,010500,030319
$TT8_MAMPS,0.023777
$HUMID,1842
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.6,83.648
$10V_AH,10.7,45.916
$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,20.875,101.725,348.675,41.900,0.000,30.258,39.182,116.015,0.500,0.000,0.000,12.183,836.636,6039.905,421.418,1497.897,467.048,33.345,1089.142,0.000,1483.767,0.000,0.542,0.000
$DEVICE_MAMPS,237.003,79.001,1074.567,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,255.689,566.392,584.912,116.746,483.139,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31870,378
$CAP_FILE_SIZE,78844,0
$CFSIZE,260165632,237142016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,050211,072830,2244.643,-15757.282,42,1.0,43,10.1