version: 66.04
glider: 512
mission: 1
dive: 637
start: 2 5 111 22 57 12
data:
$ID,512
$MISSION,1
$DIVE,637
$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,-19793.408
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,224838,2247.995,-15759.299,22,1.6,22,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.5
$GPS2,225620,2248.011,-15759.292,17,1.7,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.209,0.149
$KALMAN_X,-194617.1,21.6,-136.2,214914.2,2415.4
$KALMAN_Y,-548519.9,197.1,-87.7,673863.3,-1913.2
$MHEAD_RNG_PITCHd_Wd,295.4,6602,-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,-45.50,0.000,2,0.000,0.000,36,2672,2911
$GC,68,-0.85,-146.0,3.0,-4.4,6,101,10.62,2.08,-18.05,0.000,4,0.228,0.085,2554,3869,3779
$GC,320,-0.85,-146.0,62.9,-21.9,36,324,0.00,1.80,0.00,0.000,6,0.000,0.026,2554,2652,3781
$GC,591,-0.85,-146.0,131.5,-23.6,61,594,0.00,2.08,0.00,0.000,4,0.000,0.031,2558,1243,3783
$GC,649,-0.85,-146.0,143.9,-16.9,66,653,0.00,2.33,0.00,0.000,6,0.000,0.076,2549,2626,3783
$GC,912,-0.85,-146.0,198.4,-20.9,90,916,0.00,2.12,0.00,0.000,4,0.000,0.081,2539,3893,3784
$GC,936,-0.85,-146.0,203.7,-21.2,91,941,0.12,1.83,0.00,0.000,6,0.171,0.025,2569,2638,3784
$GC,1203,-0.85,-146.0,250.0,-16.9,98,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2632,3785
$GC,1447,-0.85,-146.0,289.1,-15.9,104,1451,0.00,2.05,0.00,0.000,4,0.000,0.031,2570,1251,3784
$GC,1475,-0.85,-146.0,293.5,-15.1,104,1480,0.00,2.35,0.00,0.000,6,0.000,0.071,2563,2661,3785
$GC,1733,-0.85,-146.0,330.0,-14.4,111,1737,0.00,2.05,0.00,0.000,4,0.000,0.079,2553,3891,3785
$GC,1784,-0.85,-146.0,337.6,-13.4,112,1788,0.00,1.83,0.00,0.000,6,0.000,0.025,2553,2644,3784
$GC,2070,-0.85,-146.0,377.9,-14.3,119,2074,0.00,2.12,0.00,0.000,4,0.000,0.081,2543,3899,3784
$GC,2098,-0.85,-146.0,382.2,-13.5,119,2103,0.08,1.85,0.00,0.000,6,0.141,0.026,2568,2654,3784
$GC,2362,-0.85,-146.0,413.2,-12.0,126,2366,0.00,2.08,0.00,0.000,4,0.000,0.031,2569,1250,3784
$GC,2409,-0.85,-146.0,418.9,-10.6,127,2413,0.00,2.30,0.00,0.000,6,0.000,0.067,2563,2651,3783
$GC,2693,-0.85,-146.0,456.4,-13.3,134,2697,0.00,2.10,0.00,0.000,4,0.000,0.084,2553,3897,3780
$GC,2761,-0.85,-146.0,465.3,-12.6,135,2765,0.00,1.88,0.00,0.000,6,0.000,0.027,2553,2641,3780
$GC,3029,-0.85,-146.0,498.9,-12.7,142,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2634,3778
$GC,3273,-0.85,-146.0,528.2,-12.0,148,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2634,3777
$GC,3516,-0.85,-146.0,557.8,-12.1,154,3520,0.00,2.15,0.00,0.000,4,0.000,0.081,2543,3895,3775
$GC,3552,-0.85,-146.0,562.2,-12.3,154,3557,0.12,1.85,0.00,0.000,6,0.140,0.028,2576,2641,3774
$GC,3810,-0.85,-146.0,587.6,-10.0,161,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2635,3774
$STATE,3927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3927,begin apogee
$GC,3936,-0.32,0.0,600.1,10.2,164,4063,0.52,0.00,124.35,1.048,6,0.114,0.000,2747,2545,3180
$STATE,4064,end apogee,CONTROL_FINISHED_OK
$STATE,4064,begin climb
$GC,4067,0.85,146.0,606.9,0.0,167,4199,1.02,0.00,128.00,1.042,6,0.048,0.000,3135,2545,2583
$GC,4435,0.85,146.0,589.2,14.9,176,4439,0.00,2.10,0.00,0.000,4,0.000,0.031,3146,1140,2575
$GC,4559,0.85,146.0,571.4,13.7,178,4563,0.00,2.22,0.00,0.000,6,0.000,0.048,3147,2553,2573
$GC,4815,0.85,146.0,535.2,14.3,185,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2554,2571
$GC,5060,0.85,146.0,503.6,13.0,191,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2554,2569
$GC,5302,0.85,146.0,472.7,12.5,197,5306,0.00,2.10,0.00,0.000,4,0.000,0.029,3156,1127,2568
$GC,5325,0.85,146.0,469.9,11.7,197,5329,0.00,2.25,0.00,0.000,6,0.000,0.046,3151,2552,2568
$GC,5586,0.85,146.0,441.4,10.5,204,5590,0.00,2.15,0.00,0.000,4,0.000,0.056,3151,3905,2567
$GC,5745,0.85,146.0,424.6,9.8,207,5749,0.15,2.03,0.00,0.000,6,0.242,0.030,3129,2543,2566
$GC,6012,0.89,174.0,401.9,8.4,214,6041,0.00,2.15,22.80,0.927,4,0.000,0.031,3139,1143,2470
$GC,6156,0.89,174.0,385.8,13.5,217,6160,0.00,2.25,0.00,0.000,6,0.000,0.051,3137,2553,2467
$GC,6429,0.89,174.0,348.5,13.7,224,6433,0.00,2.15,0.00,0.000,4,0.000,0.058,3137,3899,2464
$GC,6463,0.89,174.0,343.7,13.9,224,6467,0.00,2.03,0.00,0.000,6,0.000,0.029,3146,2540,2464
$GC,6721,0.89,174.0,309.7,13.2,231,6724,0.00,2.20,0.00,0.000,4,0.000,0.055,3147,3903,2463
$GC,6788,0.89,174.0,300.6,12.4,232,6792,0.00,2.00,0.00,0.000,6,0.000,0.028,3157,2550,2463
$GC,7056,0.89,174.0,268.1,12.0,239,7060,0.00,2.10,0.00,0.000,4,0.000,0.031,3168,1133,2463
$GC,7314,0.89,174.0,240.9,9.6,244,7319,0.12,2.25,0.00,0.000,6,0.217,0.048,3141,2555,2462
$GC,7565,0.90,184.7,217.8,9.1,250,7580,0.00,2.12,9.60,0.733,4,0.000,0.028,3150,1131,2426
$GC,7731,0.90,184.7,200.4,10.9,253,7735,0.00,2.25,0.00,0.000,6,0.000,0.046,3151,2561,2426
$GC,7999,0.90,184.7,169.6,12.0,278,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2561,2424
$GC,8254,0.90,184.7,141.1,11.3,302,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2561,2424
$GC,8508,0.94,214.8,115.4,8.3,326,8543,0.00,2.17,26.95,0.708,4,0.000,0.028,3159,1143,2305
$GC,8659,0.94,214.8,95.9,15.4,339,8663,0.00,2.22,0.00,0.000,6,0.000,0.044,3159,2549,2303
$GC,8924,0.94,214.8,63.0,13.2,363,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2550,2302
$GC,9188,0.94,214.8,31.4,12.4,388,9192,0.00,2.10,0.00,0.000,4,0.000,0.026,3170,1130,2302
$GC,9225,0.94,214.8,27.0,12.9,393,9233,0.00,2.22,0.00,0.000,6,0.000,0.042,3170,2547,2302
$STATE,9408,end climb,SURFACE_DEPTH_REACHED
$STATE,9408,begin surface coast
$FINISH,0.3,1.024017
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9453,78.95,0.619,0,0,1752,350.04
$SM_GC,1.69,0.00,0.00,78.95,0.000,0.000,0.619,35,2677,1752,-8.80,0.76,350.04
$IRIDIUM_FIX,2239.35,-15800.20,010500,202043
$TT8_MAMPS,0.023777
$HUMID,1813
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,84.603
$10V_AH,10.7,46.534
$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,21.175,80.175,311.700,78.950,0.000,29.802,33.247,263.869,0.000,0.000,0.000,17.337,898.237,6438.568,451.063,1590.517,623.067,33.344,1073.545,0.000,1588.448,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,85.137,1047.722,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,292.183,672.269,693.837,156.847,642.971,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35163,430
$CAP_FILE_SIZE,78689,0
$CFSIZE,260165632,236838912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,060211,013730,2248.008,-15800.148,37,1.1,42,10.1