version: 66.04
glider: 512
mission: 1
dive: 678
start: 2 10 111 10 51 13
data:
$ID,512
$MISSION,1
$DIVE,678
$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,-20611.588
$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,40
$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,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
$GPS1,104025,2249.773,-15753.377,39,1.7,40,10.1
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.1
$GPS2,105020,2249.960,-15753.222,11,1.8,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.025,-0.255
$KALMAN_X,-203879.0,5.8,-128.1,234645.6,1421.3
$KALMAN_Y,-547063.3,-303.5,-121.9,676571.6,4391.1
$MHEAD_RNG_PITCHd_Wd,164.3,9549,-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,-45.30,0.000,2,0.000,0.000,38,2685,2891
$GC,68,-0.85,-146.0,3.2,-4.2,6,102,10.55,2.15,-17.55,0.000,4,0.219,0.037,2601,1264,3758
$GC,127,-0.85,-146.0,20.4,-31.7,14,136,0.00,2.38,0.00,0.000,6,0.000,0.064,2592,2683,3759
$GC,400,-0.85,-146.0,89.6,-26.4,43,404,0.00,1.98,0.00,0.000,4,0.000,0.067,2582,3903,3760
$GC,471,-0.85,-146.0,107.2,-20.0,49,474,0.00,1.77,0.00,0.000,6,0.000,0.025,2582,2679,3760
$GC,740,-0.85,-146.0,165.5,-19.9,74,744,0.00,2.00,0.00,0.000,4,0.000,0.025,2582,1294,3762
$GC,768,-0.85,-146.0,171.2,-18.3,76,775,0.00,2.30,0.00,0.000,6,0.000,0.057,2577,2699,3762
$GC,1056,-0.85,-146.0,222.6,-18.1,95,1060,0.00,1.92,0.00,0.000,4,0.000,0.064,2567,3896,3762
$GC,1068,-0.85,-146.0,225.1,-17.8,95,1072,0.12,1.75,0.00,0.000,6,0.155,0.025,2598,2668,3762
$GC,1347,-0.85,-146.0,262.4,-12.6,102,1350,0.00,1.95,0.00,0.000,4,0.000,0.025,2608,1319,3762
$GC,1370,-0.85,-146.0,265.4,-12.3,102,1374,0.00,2.25,0.00,0.000,6,0.000,0.058,2600,2709,3763
$GC,1633,-0.85,-146.0,294.2,-11.2,109,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2710,3762
$GC,1876,-0.85,-146.0,320.1,-10.5,115,1879,0.00,2.05,0.00,0.000,4,0.000,0.026,2604,1320,3762
$GC,1918,-0.85,-146.0,324.3,-9.2,115,1925,0.00,2.28,0.00,0.000,6,0.000,0.058,2596,2709,3762
$GC,2169,-0.85,-146.0,349.9,-10.3,122,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2709,3761
$GC,2414,-0.85,-146.0,373.6,-9.7,128,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2709,3760
$GC,2657,-0.85,-146.0,396.8,-9.3,134,2660,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1326,3759
$GC,2680,-0.85,-146.0,399.2,-9.7,134,2684,0.00,2.22,0.00,0.000,6,0.000,0.061,2590,2699,3759
$GC,2943,-0.85,-146.0,423.7,-9.6,141,2947,0.00,1.95,0.00,0.000,4,0.000,0.073,2580,3886,3757
$GC,2960,-0.85,-146.0,425.8,-9.8,141,2964,0.00,1.70,0.00,0.000,6,0.000,0.028,2580,2713,3756
$GC,3234,-0.85,-146.0,455.5,-11.2,148,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2706,3755
$GC,3479,-0.85,-146.0,482.5,-11.0,154,3483,0.00,2.08,0.00,0.000,4,0.000,0.031,2588,1314,3753
$GC,3491,-0.85,-146.0,484.4,-11.0,154,3495,0.00,2.28,0.00,0.000,6,0.000,0.064,2588,2705,3753
$GC,3765,-0.85,-146.0,512.0,-10.4,161,3769,0.00,2.08,0.00,0.000,4,0.000,0.031,2595,1317,3751
$GC,3812,-0.85,-146.0,516.5,-8.6,162,3816,0.00,2.25,0.00,0.000,6,0.000,0.061,2590,2698,3751
$GC,4097,-0.85,-146.0,544.9,-10.0,169,4101,0.00,1.98,0.00,0.000,4,0.000,0.075,2580,3892,3749
$GC,4115,-0.85,-146.0,546.7,-9.6,169,4118,0.00,1.75,0.00,0.000,6,0.000,0.028,2586,2706,3748
$GC,4389,-0.85,-146.0,572.0,-9.4,176,4393,0.00,2.10,0.00,0.000,4,0.000,0.031,2594,1298,3747
$GC,4424,-0.85,-146.0,575.3,-8.4,176,4429,0.00,2.28,0.00,0.000,6,0.000,0.059,2590,2702,3747
$GC,4676,-0.85,-146.0,597.4,-8.9,182,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2701,3745
$STATE,4712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4712,begin apogee
$GC,4721,-0.32,0.0,601.1,8.9,183,4847,0.60,0.00,123.18,1.072,6,0.135,0.000,2771,2623,3160
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4848,begin climb
$GC,4852,0.85,146.0,607.5,0.0,186,4989,1.12,2.25,128.68,1.051,4,0.098,0.038,3154,1241,2564
$GC,5250,0.85,146.0,585.4,13.7,195,5254,0.00,2.22,0.00,0.000,6,0.000,0.053,3150,2625,2556
$GC,5535,0.85,146.0,545.1,13.7,202,5538,0.00,2.12,0.00,0.000,4,0.000,0.035,3158,1224,2552
$GC,5793,0.85,146.0,511.3,12.6,207,5797,0.00,2.25,0.00,0.000,6,0.000,0.053,3150,2632,2550
$GC,6049,0.85,146.0,476.6,13.5,214,6053,0.00,2.12,0.00,0.000,4,0.000,0.036,3159,1230,2548
$GC,6308,0.85,146.0,444.9,10.6,219,6312,0.00,2.25,0.00,0.000,6,0.000,0.055,3150,2634,2547
$GC,6559,0.85,146.0,418.9,10.2,225,6563,0.00,2.15,0.00,0.000,4,0.000,0.036,3159,1219,2546
$GC,6818,0.89,178.4,396.0,8.2,230,6849,0.00,2.25,26.65,0.946,6,0.000,0.052,3150,2632,2432
$GC,7112,0.89,178.4,353.5,15.3,238,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2632,2427
$GC,7355,0.89,178.4,314.1,16.2,244,7359,0.00,2.12,0.00,0.000,4,0.000,0.034,3159,1227,2425
$GC,7559,0.89,178.4,284.6,13.8,248,7563,0.00,2.25,0.00,0.000,6,0.000,0.055,3150,2629,2424
$GC,7821,0.89,178.4,247.1,14.0,255,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2629,2423
$GC,8067,0.89,178.4,220.3,11.0,261,8071,0.00,2.03,0.00,0.000,4,0.000,0.058,3150,3898,2423
$GC,8305,0.89,178.4,193.4,10.5,270,8309,0.00,1.88,0.00,0.000,6,0.000,0.028,3158,2624,2422
$GC,8575,0.90,182.2,167.7,9.4,295,8579,0.00,2.08,0.00,0.000,4,0.000,0.028,3168,1196,2422
$GC,8646,0.90,185.9,161.1,9.5,301,8660,0.00,2.25,6.65,0.654,6,0.000,0.044,3165,2638,2402
$GC,8918,0.94,218.0,134.4,8.2,326,8956,0.00,2.03,29.67,0.736,4,0.000,0.054,3163,3883,2269
$GC,9005,0.94,218.0,122.6,18.4,333,9009,0.00,1.88,0.00,0.000,6,0.000,0.026,3171,2616,2268
$GC,9274,0.94,218.0,83.7,13.0,358,9277,0.00,2.05,0.00,0.000,4,0.000,0.049,3163,3899,2266
$GC,9530,0.94,218.0,48.5,15.2,381,9534,0.00,1.88,0.00,0.000,6,0.000,0.027,3171,2627,2266
$GC,9797,0.94,218.0,13.3,13.8,417,9805,0.00,2.03,0.00,0.000,4,0.000,0.048,3164,3885,2266
$STATE,9858,end climb,SURFACE_DEPTH_REACHED
$STATE,9858,begin surface coast
$FINISH,0.4,1.023871
$STATE,9875,end surface coast,CONTROL_FINISHED_OK
$STATE,9876,begin surface
$SM_CCo,9900,73.60,0.622,0,0,1733,350.04
$SM_GC,1.76,0.00,0.00,73.60,0.000,0.000,0.622,41,2690,1733,-8.86,-0.28,350.04
$IRIDIUM_FIX,2241.69,-15751.94,060500,080807
$TT8_MAMPS,0.023777
$HUMID,1817
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,89.678
$10V_AH,10.7,49.938
$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,20.775,91.450,314.825,73.600,0.000,26.503,33.693,396.454,0.250,0.000,0.000,15.083,933.246,6706.521,429.103,1719.546,783.600,33.368,1140.619,0.000,1709.407,0.000,0.544,0.000
$DEVICE_MAMPS,219.362,75.166,1072.266,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,292.240,656.275,675.773,144.499,597.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35181,431
$CAP_FILE_SIZE,87468,0
$CFSIZE,260165632,235139072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,100211,133836,2249.490,-15753.132,26,1.9,26,10.1