version: 66.04
glider: 512
mission: 1
dive: 679
start: 2 10 111 13 58 49
data:
$ID,512
$MISSION,1
$DIVE,679
$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,-20624.076
$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,53
$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
$GPS1,133836,2249.490,-15753.132,26,1.9,26,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-79.6
$GPS2,135756,2249.672,-15752.828,11,1.8,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.026,-0.255
$KALMAN_X,-203838.3,165.7,-19.6,235012.5,445.9
$KALMAN_Y,-544996.2,63.9,8.7,673474.8,3251.2
$MHEAD_RNG_PITCHd_Wd,175.7,9827,-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,-45.22,0.000,2,0.000,0.000,35,2689,2891
$GC,68,-0.85,-146.0,3.2,-4.1,6,108,10.43,2.10,-17.95,0.000,4,0.216,0.039,2588,1286,3758
$GC,171,-0.85,-146.0,27.5,-18.7,22,179,0.00,2.33,0.00,0.000,6,0.000,0.064,2579,2682,3759
$GC,442,-0.85,-146.0,96.8,-26.5,48,446,0.00,1.98,0.00,0.000,4,0.000,0.062,2569,3910,3759
$GC,467,-0.85,-146.0,103.0,-24.6,50,472,0.12,1.77,0.00,0.000,6,0.173,0.025,2599,2673,3759
$GC,738,-0.85,-146.0,156.3,-17.6,75,742,0.00,1.98,0.00,0.000,4,0.000,0.025,2609,1306,3760
$GC,775,-0.85,-146.0,162.3,-15.0,78,779,0.00,2.30,0.00,0.000,6,0.000,0.061,2600,2718,3761
$GC,1039,-0.85,-146.0,201.2,-14.9,102,1043,0.00,2.08,0.00,0.000,4,0.000,0.025,2609,1302,3761
$GC,1091,-0.85,-146.0,208.6,-10.4,103,1095,0.00,2.28,0.00,0.000,6,0.000,0.061,2605,2701,3761
$GC,1369,-0.85,-146.0,241.6,-11.8,110,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2701,3761
$GC,1614,-0.85,-146.0,268.5,-10.7,116,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2701,3761
$GC,1859,-0.85,-146.0,292.6,-10.0,122,1862,0.00,2.05,0.00,0.000,4,0.000,0.028,2614,1313,3761
$GC,1894,-0.85,-146.0,296.1,-9.1,122,1898,0.00,2.22,0.00,0.000,6,0.000,0.061,2606,2699,3760
$GC,2150,-0.85,-146.0,321.5,-10.3,129,2154,0.00,1.95,0.00,0.000,4,0.000,0.073,2597,3887,3759
$GC,2167,-0.85,-146.0,323.4,-10.2,129,2171,0.00,1.70,0.00,0.000,6,0.000,0.025,2599,2708,3759
$GC,2442,-0.85,-146.0,350.3,-9.9,136,2445,0.00,2.05,0.00,0.000,4,0.000,0.029,2608,1311,3758
$GC,2477,-0.85,-146.0,353.9,-9.1,136,2481,0.00,2.25,0.00,0.000,6,0.000,0.062,2599,2702,3758
$GC,2728,-0.85,-146.0,379.9,-10.7,142,2731,0.00,1.95,0.00,0.000,4,0.000,0.071,2590,3893,3756
$GC,2756,-0.85,-146.0,383.2,-10.7,142,2760,0.00,1.75,0.00,0.000,6,0.000,0.026,2592,2709,3755
$GC,3019,-0.85,-146.0,410.6,-10.4,149,3023,0.00,2.08,0.00,0.000,4,0.000,0.031,2591,1303,3754
$GC,3054,-0.85,-146.0,414.5,-10.2,149,3058,0.00,2.28,0.00,0.000,6,0.000,0.064,2589,2699,3753
$GC,3305,-0.85,-146.0,440.9,-10.7,155,3308,0.00,1.95,0.00,0.000,4,0.000,0.072,2581,3888,3751
$GC,3327,-0.85,-146.0,443.4,-10.7,155,3331,0.00,1.77,0.00,0.000,6,0.000,0.026,2581,2695,3751
$GC,3596,-0.85,-146.0,471.9,-10.8,162,3599,0.00,2.05,0.00,0.000,4,0.000,0.031,2580,1305,3750
$GC,3624,-0.85,-146.0,475.2,-11.1,162,3628,0.00,2.30,0.00,0.000,6,0.000,0.065,2577,2705,3750
$GC,3887,-0.85,-146.0,503.4,-11.1,169,3890,0.00,1.98,0.00,0.000,4,0.000,0.074,2576,3900,3748
$GC,3938,-0.85,-146.0,508.8,-8.9,170,3942,0.00,1.75,0.00,0.000,6,0.000,0.027,2576,2702,3747
$GC,4223,-0.85,-146.0,539.5,-11.0,177,4227,0.00,2.08,0.00,0.000,4,0.000,0.031,2576,1303,3746
$GC,4274,-0.85,-146.0,545.1,-9.7,178,4278,0.00,2.28,0.00,0.000,6,0.000,0.061,2575,2700,3746
$GC,4553,-0.85,-146.0,575.5,-11.1,185,4556,0.00,1.98,0.00,0.000,4,0.000,0.075,2576,3892,3743
$GC,4575,-0.85,-146.0,578.1,-11.4,185,4579,0.00,1.77,0.00,0.000,6,0.000,0.028,2576,2689,3743
$STATE,4800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4800,begin apogee
$GC,4809,-0.32,0.0,602.4,10.9,191,4934,0.62,0.00,122.43,1.068,6,0.127,0.000,2769,2681,3160
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4939,0.85,146.0,609.1,0.0,194,5076,1.10,2.12,128.43,1.047,4,0.084,0.067,3145,3893,2563
$GC,5335,0.85,146.0,578.5,19.2,203,5339,0.00,1.90,0.00,0.000,6,0.000,0.032,3154,2643,2556
$GC,5625,0.85,146.0,534.6,15.1,210,5629,0.00,2.03,0.00,0.000,4,0.000,0.058,3150,3899,2552
$GC,5884,0.85,146.0,494.9,15.0,215,5888,0.00,1.92,0.00,0.000,6,0.000,0.031,3158,2620,2550
$GC,6140,0.85,146.0,464.7,11.4,222,6144,0.00,2.10,0.00,0.000,4,0.000,0.059,3159,3905,2548
$GC,6270,0.85,146.0,448.3,12.3,224,6277,0.00,1.92,0.00,0.000,6,0.000,0.031,3168,2627,2548
$GC,6524,0.85,146.0,421.1,10.5,231,6528,0.00,2.05,0.00,0.000,4,0.000,0.053,3163,3903,2546
$GC,6536,0.85,146.0,419.5,10.3,231,6540,0.00,1.92,0.00,0.000,6,0.000,0.029,3171,2614,2546
$GC,6815,0.85,146.0,390.9,10.0,238,6819,0.00,2.10,0.00,0.000,4,0.000,0.058,3164,3901,2545
$GC,6889,0.85,146.0,383.4,10.6,239,6892,0.00,1.92,0.00,0.000,6,0.000,0.031,3172,2615,2545
$GC,7152,0.85,146.0,357.0,10.4,246,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2609,2544
$GC,7396,0.85,146.0,331.2,10.5,252,7400,0.00,2.08,0.00,0.000,4,0.000,0.058,3164,3901,2543
$GC,7476,0.85,146.0,322.7,10.4,253,7480,0.00,1.92,0.00,0.000,6,0.000,0.030,3172,2610,2542
$GC,7733,0.93,205.5,303.6,7.0,260,7796,0.00,2.20,51.92,0.864,4,0.000,0.035,3183,1221,2322
$GC,7899,0.93,205.5,279.0,18.4,263,7905,0.00,2.28,0.00,0.000,6,0.000,0.050,3176,2635,2316
$GC,8150,0.93,205.5,228.8,19.5,270,8154,0.00,2.03,0.00,0.000,4,0.000,0.056,3176,3907,2314
$GC,8167,0.93,205.5,225.0,20.1,270,8171,0.00,1.95,0.00,0.000,6,0.000,0.028,3184,2629,2314
$GC,8426,0.93,205.5,176.3,17.6,284,8430,0.00,2.10,0.00,0.000,4,0.000,0.029,3194,1204,2312
$GC,8519,0.93,205.5,161.2,15.1,292,8523,0.00,2.25,0.00,0.000,6,0.000,0.045,3192,2629,2312
$GC,8782,0.93,205.5,122.1,14.8,316,8785,0.00,2.10,0.00,0.000,4,0.000,0.028,3200,1203,2312
$GC,8807,0.93,205.5,118.8,13.8,318,8811,0.00,2.28,0.00,0.000,6,0.000,0.048,3200,2635,2312
$GC,9070,0.93,205.5,90.4,10.7,342,9074,0.00,1.98,0.00,0.000,4,0.000,0.052,3201,3896,2312
$GC,9326,0.93,205.5,58.1,13.3,365,9330,0.15,1.88,0.00,0.000,6,0.236,0.025,3181,2605,2312
$GC,9596,0.93,209.4,28.2,9.4,391,9604,0.00,2.08,0.00,0.000,4,0.000,0.050,3179,3893,2312
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.5,1.023908
$STATE,9804,end surface coast,CONTROL_FINISHED_OK
$STATE,9805,begin surface
$SM_CCo,9829,78.00,0.624,0,0,1732,350.04
$SM_GC,1.62,0.00,0.00,78.00,0.000,0.000,0.624,40,2681,1732,-8.86,-0.54,350.04
$IRIDIUM_FIX,2241.69,-15751.94,060500,131336
$TT8_MAMPS,0.023777
$HUMID,1818
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.6,89.830
$10V_AH,10.7,50.039
$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,20.800,105.875,302.775,78.000,0.000,84.745,112.078,693.580,0.000,0.000,0.000,11.858,929.688,6809.850,446.037,1653.115,1231.511,33.376,1130.417,0.000,1646.898,0.000,0.543,0.000
$DEVICE_MAMPS,236.236,75.166,1068.431,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,291.082,654.329,673.816,150.124,621.053,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35055,429
$CAP_FILE_SIZE,92592,0
$CFSIZE,260165632,235089920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,100211,164507,2248.790,-15752.539,27,1.2,27,10.1