version: 66.04
glider: 512
mission: 1
dive: 692
start: 2 12 111 3 23 37
data:
$ID,512
$MISSION,1
$DIVE,692
$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,-20976.107
$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,50
$R_STBD_OVSHOOT,24
$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
$GPS1,031404,2246.117,-15759.343,10,3.2,29,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.1
$GPS2,032244,2246.166,-15759.358,13,1.3,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.228,-0.117
$KALMAN_X,-186650.2,-610.9,-268.8,207608.2,2830.4
$KALMAN_Y,-530773.5,-320.4,134.2,653001.8,1467.0
$MHEAD_RNG_PITCHd_Wd,232.7,6408,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,2,0.000,0.000,36,2702,2892
$GC,69,-0.85,-146.0,3.3,-4.5,6,102,11.00,2.00,-16.90,0.000,4,0.232,0.077,2581,3882,3757
$GC,279,-0.85,-146.0,51.5,-17.6,31,283,0.00,1.75,0.00,0.000,6,0.000,0.025,2583,2686,3760
$GC,549,-0.85,-146.0,117.8,-20.3,56,552,0.00,2.03,0.00,0.000,4,0.000,0.027,2584,1298,3761
$GC,639,-0.85,-146.0,134.0,-15.5,64,644,0.00,2.28,0.00,0.000,6,0.000,0.061,2576,2692,3762
$GC,904,-0.85,-146.0,184.5,-19.3,88,908,0.00,2.00,0.00,0.000,4,0.000,0.075,2567,3904,3762
$GC,921,-0.85,-146.0,188.7,-19.7,89,928,0.08,1.77,0.00,0.000,6,0.157,0.025,2592,2681,3762
$GC,1197,-0.85,-146.0,230.5,-14.6,101,1200,0.00,1.98,0.00,0.000,4,0.000,0.026,2600,1316,3763
$GC,1270,-0.85,-146.0,239.2,-10.2,102,1275,0.00,2.25,0.00,0.000,6,0.000,0.057,2592,2709,3763
$GC,1530,-0.85,-146.0,271.5,-12.9,109,1534,0.00,1.92,0.00,0.000,4,0.000,0.071,2582,3887,3763
$GC,1587,-0.85,-146.0,278.7,-10.6,110,1590,0.00,1.70,0.00,0.000,6,0.000,0.026,2583,2709,3763
$GC,1867,-0.85,-146.0,312.4,-12.6,117,1871,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,1310,3763
$GC,1930,-0.85,-146.0,319.6,-10.0,118,1934,0.00,2.30,0.00,0.000,6,0.000,0.069,2578,2707,3762
$GC,2197,-0.85,-146.0,353.4,-12.9,125,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2706,3762
$GC,2442,-0.85,-146.0,384.1,-12.5,131,2446,0.00,2.10,0.00,0.000,4,0.000,0.030,2585,1306,3760
$GC,2471,-0.85,-146.0,387.8,-12.4,131,2475,0.00,2.28,0.00,0.000,6,0.000,0.064,2577,2697,3760
$GC,2727,-0.85,-146.0,419.0,-12.5,138,2731,0.00,2.03,0.00,0.000,4,0.000,0.082,2567,3898,3759
$GC,2750,-0.85,-146.0,422.1,-13.2,138,2754,0.00,1.77,0.00,0.000,6,0.000,0.026,2570,2706,3759
$GC,3017,-0.85,-146.0,454.5,-12.0,145,3021,0.00,2.08,0.00,0.000,4,0.000,0.031,2580,1304,3757
$GC,3075,-0.85,-146.0,460.6,-9.5,146,3079,0.00,2.28,0.00,0.000,6,0.000,0.061,2572,2703,3757
$GC,3348,-0.85,-146.0,490.9,-11.4,153,3352,0.00,1.98,0.00,0.000,4,0.000,0.076,2562,3890,3755
$GC,3395,-0.85,-146.0,496.1,-10.6,154,3399,0.12,1.75,0.00,0.000,6,0.143,0.028,2599,2697,3755
$GC,3687,-0.85,-146.0,519.9,-8.2,161,3690,0.00,2.08,0.00,0.000,4,0.000,0.031,2609,1295,3753
$GC,3750,-0.85,-146.0,525.3,-8.2,162,3754,0.00,2.30,0.00,0.000,6,0.000,0.061,2600,2711,3753
$GC,4017,-0.85,-146.0,548.3,-8.9,169,4021,0.00,2.12,0.00,0.000,4,0.000,0.031,2609,1289,3751
$GC,4046,-0.85,-146.0,550.9,-9.1,169,4050,0.00,2.30,0.00,0.000,6,0.000,0.062,2599,2700,3750
$GC,4305,-0.85,-146.0,573.3,-8.9,176,4308,0.00,2.10,0.00,0.000,4,0.000,0.030,2608,1300,3749
$GC,4328,-0.85,-146.0,575.8,-9.7,176,4332,0.00,2.30,0.00,0.000,6,0.000,0.064,2598,2702,3749
$GC,4590,-0.85,-146.0,598.4,-8.7,183,4594,0.00,2.12,0.00,0.000,4,0.000,0.030,2607,1295,3748
$STATE,4604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4615,-0.32,0.0,600.0,8.7,183,4742,0.55,0.00,123.72,1.053,6,0.154,0.000,2763,2625,3160
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4747,0.85,146.0,606.6,0.0,186,4884,1.20,2.20,128.50,1.026,4,0.123,0.065,3136,3893,2563
$GC,5143,0.85,146.0,576.7,17.8,195,5146,0.00,1.92,0.00,0.000,6,0.000,0.033,3144,2633,2556
$GC,5433,0.85,146.0,532.3,14.7,202,5437,0.00,2.05,0.00,0.000,4,0.000,0.058,3137,3902,2552
$GC,5692,0.85,146.0,492.4,13.7,207,5696,0.00,1.98,0.00,0.000,6,0.000,0.034,3145,2604,2550
$GC,5948,0.85,146.0,461.9,11.4,214,5952,0.00,2.10,0.00,0.000,4,0.000,0.058,3145,3904,2549
$GC,5988,0.85,146.0,457.1,12.5,214,5994,0.00,1.95,0.00,0.000,6,0.000,0.032,3154,2614,2548
$GC,6241,0.85,146.0,429.3,11.1,221,6244,0.00,2.12,0.00,0.000,4,0.000,0.038,3164,1214,2547
$GC,6499,0.85,146.0,403.7,10.9,226,6503,0.00,2.28,0.00,0.000,6,0.000,0.054,3163,2637,2546
$GC,6751,0.85,146.0,377.5,10.3,232,6754,0.00,2.05,0.00,0.000,4,0.000,0.063,3162,3904,2545
$GC,6920,0.85,146.0,357.6,10.8,235,6924,0.00,1.92,0.00,0.000,6,0.000,0.031,3170,2622,2544
$GC,7177,0.87,159.0,333.7,9.0,242,7188,0.00,0.00,9.45,0.807,6,0.000,0.000,3170,2617,2511
$GC,7421,0.87,159.0,307.1,10.9,248,7424,0.00,2.12,0.00,0.000,4,0.000,0.035,3181,1203,2509
$GC,7679,0.95,225.9,284.2,6.6,253,7745,0.00,2.28,59.97,0.850,6,0.000,0.054,3176,2624,2239
$GC,8020,0.95,225.9,214.0,23.8,262,8024,0.00,2.05,0.00,0.000,4,0.000,0.055,3176,3906,2230
$GC,8088,0.95,225.9,198.9,22.7,263,8092,0.00,1.92,0.00,0.000,6,0.000,0.028,3183,2632,2229
$GC,8359,0.95,225.9,142.7,20.5,287,8363,0.00,2.12,0.00,0.000,4,0.000,0.031,3195,1199,2228
$GC,8378,0.95,225.9,138.7,19.8,288,8386,0.00,2.28,0.00,0.000,6,0.000,0.048,3189,2621,2227
$GC,8643,0.95,225.9,91.8,18.4,313,8647,0.00,2.12,0.00,0.000,4,0.000,0.030,3198,1195,2226
$GC,8790,0.95,225.9,69.2,15.3,326,8795,0.00,2.25,0.00,0.000,6,0.000,0.047,3192,2636,2225
$GC,9060,0.95,225.9,36.1,11.9,351,9064,0.00,2.12,0.00,0.000,4,0.000,0.028,3201,1196,2224
$GC,9176,0.95,225.9,18.6,14.9,368,9184,0.00,2.25,0.00,0.000,6,0.000,0.042,3201,2618,2224
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9286,begin surface coast
$FINISH,0.3,1.023845
$STATE,9308,end surface coast,CONTROL_FINISHED_OK
$STATE,9312,begin surface
$SM_CCo,9335,57.15,0.599,0,0,1732,350.04
$SM_GC,1.94,0.00,0.00,57.15,0.000,0.000,0.599,49,2718,1732,-8.83,0.51,350.04
$IRIDIUM_FIX,2237.01,-15800.20,080500,000055
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.5,91.614
$10V_AH,10.7,51.185
$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,21.425,100.025,321.650,57.150,0.000,23.925,34.703,311.388,0.250,0.000,0.000,13.539,884.376,6255.413,415.080,1664.360,695.399,33.380,1122.031,0.000,1648.701,0.000,0.544,0.000
$DEVICE_MAMPS,231.634,91.273,1053.091,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,265.866,577.302,595.238,137.107,563.079,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32037,392
$CAP_FILE_SIZE,85642,0
$CFSIZE,260165632,234524672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,120211,060154,2245.928,-15759.940,43,1.2,61,10.1