version: 66.04
glider: 512
mission: 1
dive: 695
start: 2 12 111 12 20 7
data:
$ID,512
$MISSION,1
$DIVE,695
$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,-21043.209
$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,54
$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
$GPS1,121007,2246.161,-15801.635,31,1.5,31,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.7
$GPS2,121914,2246.292,-15801.597,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.209,-0.148
$KALMAN_X,-182430.4,63.3,-253.1,198844.2,2569.2
$KALMAN_Y,-527375.8,423.6,-261.9,649492.9,1870.0
$MHEAD_RNG_PITCHd_Wd,224.6,2731,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,68,0.00,0.00,-45.17,0.000,2,0.000,0.000,36,2703,2904
$GC,72,-0.85,-146.0,3.3,-5.0,6,106,10.80,2.03,-16.90,0.000,4,0.225,0.077,2581,3895,3758
$GC,292,-0.85,-146.0,52.8,-18.1,33,296,0.00,1.77,0.00,0.000,6,0.000,0.025,2581,2698,3761
$GC,561,-0.85,-146.0,118.2,-21.9,58,564,0.00,2.05,0.00,0.000,4,0.000,0.026,2581,1291,3761
$GC,642,-0.85,-146.0,133.4,-14.9,65,646,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2699,3762
$GC,905,-0.85,-146.0,184.9,-19.3,89,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2700,3763
$GC,1152,-0.85,-146.0,229.6,-17.6,101,1155,0.00,2.08,0.00,0.000,4,0.000,0.026,2577,1298,3763
$GC,1198,-0.85,-146.0,236.4,-13.0,102,1202,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2707,3763
$GC,1485,-0.85,-146.0,280.9,-16.8,109,1489,0.00,1.98,0.00,0.000,4,0.000,0.074,2567,3903,3764
$GC,1547,-0.85,-146.0,290.6,-13.0,110,1552,0.12,1.75,0.00,0.000,6,0.137,0.025,2601,2680,3763
$GC,1823,-0.85,-146.0,321.2,-11.1,117,1826,0.00,2.00,0.00,0.000,4,0.000,0.028,2611,1313,3763
$GC,1869,-0.85,-146.0,325.9,-8.7,118,1874,0.00,2.25,0.00,0.000,6,0.000,0.061,2605,2703,3763
$GC,2155,-0.85,-146.0,351.9,-9.2,125,2159,0.00,1.95,0.00,0.000,4,0.000,0.073,2596,3892,3762
$GC,2184,-0.85,-146.0,354.7,-9.3,125,2188,0.00,1.73,0.00,0.000,6,0.000,0.025,2596,2698,3762
$GC,2446,-0.85,-146.0,380.1,-9.8,132,2450,0.00,2.05,0.00,0.000,4,0.000,0.029,2601,1304,3760
$GC,2504,-0.85,-146.0,385.4,-9.2,133,2508,0.00,2.22,0.00,0.000,6,0.000,0.056,2592,2706,3760
$GC,2782,-0.85,-146.0,412.3,-9.8,140,2786,0.00,1.92,0.00,0.000,4,0.000,0.069,2583,3885,3759
$GC,2830,-0.85,-146.0,416.7,-8.9,141,2834,0.00,1.73,0.00,0.000,6,0.000,0.028,2583,2701,3758
$GC,3123,-0.85,-146.0,446.4,-10.3,148,3126,0.00,2.08,0.00,0.000,4,0.000,0.031,2582,1299,3756
$GC,3170,-0.85,-146.0,451.3,-9.2,149,3174,0.00,2.30,0.00,0.000,6,0.000,0.064,2577,2703,3756
$GC,3455,-0.85,-146.0,479.9,-10.1,156,3459,0.00,2.08,0.00,0.000,4,0.000,0.030,2577,1304,3754
$GC,3479,-0.85,-146.0,482.3,-9.4,156,3483,0.00,2.30,0.00,0.000,6,0.000,0.066,2576,2703,3753
$GC,3742,-0.85,-146.0,508.4,-10.2,163,3745,0.00,1.98,0.00,0.000,4,0.000,0.074,2567,3895,3751
$GC,3770,-0.85,-146.0,511.6,-11.4,163,3774,0.12,1.75,0.00,0.000,6,0.137,0.028,2601,2700,3751
$GC,4032,-0.85,-146.0,532.8,-8.0,170,4036,0.00,2.08,0.00,0.000,4,0.000,0.032,2611,1303,3749
$GC,4050,-0.85,-146.0,534.4,-8.2,170,4054,0.00,2.28,0.00,0.000,6,0.000,0.061,2606,2700,3749
$GC,4324,-0.85,-146.0,556.4,-8.2,177,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2700,3748
$GC,4570,-0.85,-146.0,575.5,-7.6,183,4573,0.00,2.10,0.00,0.000,4,0.000,0.032,2613,1302,3746
$GC,4610,-0.85,-146.0,578.7,-7.1,183,4616,0.00,2.30,0.00,0.000,6,0.000,0.064,2606,2700,3746
$GC,4862,-0.85,-146.0,597.2,-7.4,190,4865,0.00,2.00,0.00,0.000,4,0.000,0.076,2596,3900,3744
$STATE,4892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4892,begin apogee
$GC,4903,-0.32,0.0,600.1,7.9,190,5029,0.47,0.00,123.07,1.055,6,0.104,0.000,2762,2607,3160
$STATE,5030,end apogee,CONTROL_FINISHED_OK
$STATE,5030,begin climb
$GC,5034,0.85,146.0,606.0,0.0,193,5172,1.05,2.25,128.65,1.028,4,0.051,0.064,3150,3894,2562
$GC,5433,0.85,146.0,577.7,18.1,202,5437,0.00,1.90,0.00,0.000,6,0.000,0.031,3158,2639,2555
$GC,5724,0.85,146.0,531.5,15.5,209,5728,0.00,2.15,0.00,0.000,4,0.000,0.037,3168,1221,2552
$GC,5848,0.85,146.0,513.2,14.7,211,5852,0.00,2.25,0.00,0.000,6,0.000,0.053,3162,2629,2550
$GC,6101,0.85,146.0,478.6,13.6,217,6105,0.00,2.15,0.00,0.000,4,0.000,0.034,3171,1213,2549
$GC,6119,0.85,146.0,476.1,13.0,217,6123,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2637,2548
$GC,6386,0.85,146.0,445.6,11.1,224,6390,0.00,2.15,0.00,0.000,4,0.000,0.035,3171,1219,2547
$GC,6644,0.85,146.0,419.9,10.5,229,6648,0.00,2.22,0.00,0.000,6,0.000,0.050,3163,2625,2546
$GC,6896,0.85,146.0,393.1,10.7,235,6899,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1205,2545
$GC,7104,0.89,174.1,374.1,8.4,239,7133,0.00,2.28,22.75,0.903,6,0.000,0.051,3163,2625,2450
$GC,7409,0.89,174.1,330.3,15.2,247,7412,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1210,2445
$GC,7426,0.89,174.1,327.3,15.7,247,7430,0.00,2.28,0.00,0.000,6,0.000,0.049,3163,2631,2445
$GC,7693,0.89,174.1,290.5,13.2,254,7697,0.00,2.03,0.00,0.000,4,0.000,0.061,3162,3895,2443
$GC,7705,0.89,174.1,288.7,13.3,254,7709,0.00,1.90,0.00,0.000,6,0.000,0.027,3170,2612,2443
$GC,7986,0.89,174.1,256.2,10.2,261,7990,0.00,2.08,0.00,0.000,4,0.000,0.054,3163,3901,2443
$GC,8245,0.89,174.1,227.3,10.8,266,8248,0.00,1.90,0.00,0.000,6,0.000,0.028,3171,2610,2442
$GC,8502,0.92,202.6,204.2,8.3,273,8532,0.00,2.10,25.30,0.776,4,0.000,0.051,3163,3904,2334
$GC,8622,0.92,202.6,185.8,17.5,278,8630,0.00,1.95,0.00,0.000,6,0.000,0.028,3171,2623,2331
$GC,8889,0.92,202.6,142.4,17.5,303,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2622,2328
$GC,9152,0.92,202.6,105.6,13.2,328,9155,0.00,2.08,0.00,0.000,4,0.000,0.027,3182,1205,2328
$GC,9409,0.97,242.7,83.3,7.8,351,9449,0.00,2.22,34.88,0.668,6,0.000,0.041,3176,2629,2170
$GC,9714,0.97,242.7,34.6,18.3,379,9718,0.00,2.10,0.00,0.000,4,0.000,0.025,3185,1200,2166
$STATE,9904,end climb,SURFACE_DEPTH_REACHED
$STATE,9904,begin surface coast
$FINISH,0.3,1.023758
$STATE,9921,end surface coast,CONTROL_FINISHED_OK
$STATE,9921,begin surface
$SM_CCo,9946,62.70,0.601,0,0,1733,350.04
$SM_GC,2.52,0.00,0.00,62.70,0.000,0.000,0.601,49,2712,1733,-8.83,0.34,350.04
$IRIDIUM_FIX,2237.01,-15800.20,080500,090927
$TT8_MAMPS,0.023777
$HUMID,1824
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,23.5,92.017
$10V_AH,10.7,51.472
$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,20.975,104.250,334.650,62.700,0.000,28.331,32.151,347.045,0.750,0.000,0.000,13.586,929.275,6725.927,431.564,1729.439,743.264,33.375,1166.474,0.000,1711.222,0.000,0.543,0.000
$DEVICE_MAMPS,225.498,77.467,1054.625,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,280.748,609.366,627.253,136.946,563.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34998,414
$CAP_FILE_SIZE,89665,0
$CFSIZE,260165632,234381312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,120211,150807,2246.165,-15802.495,27,1.6,27,10.1