version: 66.04
glider: 512
mission: 1
dive: 697
start: 2 12 111 18 3 19
data:
$ID,512
$MISSION,1
$DIVE,697
$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,-21110.049
$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,47
$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
$GPS1,175253,2246.840,-15803.412,19,1.8,20,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.5
$GPS2,180227,2246.945,-15803.354,31,2.2,50,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.232,0.109
$KALMAN_X,-179958.2,-36.2,-21.6,193217.1,2142.9
$KALMAN_Y,-524979.3,-89.2,80.0,648483.2,1095.5
$MHEAD_RNG_PITCHd_Wd,285.1,12681,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-45.35,0.000,2,0.000,0.000,41,2707,2920
$GC,69,-0.85,-146.0,3.5,-5.1,6,102,10.82,1.92,-15.98,0.000,4,0.228,0.074,2578,3889,3756
$GC,248,-0.85,-146.0,44.8,-15.0,29,252,0.00,1.75,0.00,0.000,6,0.000,0.024,2578,2690,3758
$GC,518,-0.85,-146.0,109.5,-23.1,54,521,0.00,2.05,0.00,0.000,4,0.000,0.027,2578,1286,3759
$GC,586,-0.85,-146.0,122.6,-15.8,60,590,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2698,3760
$GC,851,-0.85,-146.0,173.2,-20.8,84,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2698,3760
$GC,1120,-0.85,-146.0,223.1,-17.9,101,1123,0.00,2.05,0.00,0.000,4,0.000,0.026,2576,1295,3761
$GC,1176,-0.85,-146.0,231.6,-12.6,102,1180,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2705,3761
$GC,1455,-0.85,-146.0,273.5,-15.4,109,1459,0.00,1.95,0.00,0.000,4,0.000,0.071,2567,3899,3761
$GC,1524,-0.85,-146.0,282.9,-10.7,110,1528,0.12,1.75,0.00,0.000,6,0.136,0.024,2601,2676,3761
$GC,1793,-0.85,-146.0,310.7,-10.8,117,1797,0.00,2.00,0.00,0.000,4,0.000,0.027,2611,1301,3761
$GC,1840,-0.85,-146.0,315.3,-7.9,118,1844,0.00,2.28,0.00,0.000,6,0.000,0.062,2603,2706,3761
$GC,2125,-0.85,-146.0,344.3,-10.0,125,2128,0.00,1.98,0.00,0.000,4,0.000,0.078,2593,3890,3760
$GC,2165,-0.85,-146.0,348.3,-9.0,125,2172,0.00,1.75,0.00,0.000,6,0.000,0.026,2600,2705,3760
$GC,2416,-0.85,-146.0,372.0,-9.6,132,2420,0.00,2.08,0.00,0.000,4,0.000,0.031,2610,1301,3759
$GC,2456,-0.85,-146.0,375.9,-8.6,132,2463,0.00,2.30,0.00,0.000,6,0.000,0.064,2601,2712,3759
$GC,2708,-0.85,-146.0,399.9,-9.9,139,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2713,3758
$GC,2952,-0.85,-146.0,423.3,-9.4,145,2955,0.00,2.10,0.00,0.000,4,0.000,0.031,2609,1299,3756
$GC,2992,-0.85,-146.0,427.0,-7.7,145,2999,0.00,2.33,0.00,0.000,6,0.000,0.064,2601,2702,3755
$GC,3243,-0.85,-146.0,448.3,-8.7,152,3247,0.00,1.98,0.00,0.000,4,0.000,0.075,2592,3894,3754
$GC,3278,-0.85,-146.0,451.5,-8.9,152,3281,0.00,1.75,0.00,0.000,6,0.000,0.028,2592,2699,3754
$GC,3535,-0.85,-146.0,473.9,-8.7,159,3538,0.00,2.08,0.00,0.000,4,0.000,0.031,2592,1303,3752
$GC,3575,-0.85,-146.0,477.5,-8.1,159,3581,0.00,2.30,0.00,0.000,6,0.000,0.066,2590,2695,3752
$GC,3828,-0.85,-146.0,498.5,-8.4,166,3831,0.00,2.00,0.00,0.000,4,0.000,0.078,2581,3892,3750
$GC,3862,-0.85,-146.0,501.8,-8.1,166,3866,0.00,1.75,0.00,0.000,6,0.000,0.027,2580,2694,3749
$GC,4119,-0.85,-146.0,524.1,-9.0,173,4123,0.00,2.08,0.00,0.000,4,0.000,0.033,2580,1302,3749
$GC,4160,-0.85,-146.0,528.0,-9.1,173,4166,0.00,2.30,0.00,0.000,6,0.000,0.064,2576,2702,3748
$GC,4411,-0.85,-146.0,553.0,-10.4,180,4415,0.00,2.00,0.00,0.000,4,0.000,0.081,2576,3890,3747
$GC,4434,-0.85,-146.0,555.7,-11.0,180,4438,0.00,1.77,0.00,0.000,6,0.000,0.028,2576,2705,3747
$GC,4701,-0.85,-146.0,583.2,-10.4,187,4705,0.00,2.10,0.00,0.000,4,0.000,0.033,2576,1302,3745
$GC,4749,-0.85,-146.0,587.8,-8.7,188,4753,0.00,2.30,0.00,0.000,6,0.000,0.064,2576,2701,3744
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4909,begin apogee
$GC,4919,-0.32,0.0,603.0,9.3,192,5045,0.60,0.00,122.57,1.053,6,0.117,0.000,2766,2627,3160
$STATE,5045,end apogee,CONTROL_FINISHED_OK
$STATE,5045,begin climb
$GC,5049,0.85,146.0,608.5,0.0,195,5187,1.05,2.28,128.75,1.030,4,0.060,0.037,3161,1235,2563
$GC,5377,0.85,146.0,592.7,14.6,202,5381,0.00,2.22,0.00,0.000,6,0.000,0.050,3161,2627,2556
$GC,5639,0.85,146.0,554.8,14.3,209,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2627,2553
$GC,5882,0.85,146.0,521.7,13.7,215,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2627,2550
$GC,6128,0.85,146.0,489.0,13.5,221,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2627,2549
$GC,6371,0.85,146.0,457.7,12.5,227,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2627,2548
$GC,6613,0.85,146.0,431.9,9.9,233,6617,0.00,2.12,0.00,0.000,4,0.000,0.034,3170,1224,2546
$GC,6799,0.87,156.9,414.5,9.1,237,6813,0.00,2.22,7.62,0.821,6,0.000,0.051,3163,2630,2520
$GC,7087,0.87,156.9,384.3,10.3,244,7091,0.00,2.12,0.00,0.000,4,0.000,0.032,3171,1225,2518
$GC,7346,0.87,160.4,358.8,9.5,249,7358,0.00,2.22,4.47,0.656,6,0.000,0.051,3163,2626,2506
$GC,7603,0.87,160.4,332.9,10.0,256,7607,0.00,2.03,0.00,0.000,4,0.000,0.057,3162,3894,2505
$GC,7862,0.87,160.4,304.0,10.2,261,7866,0.00,1.88,0.00,0.000,6,0.000,0.028,3170,2624,2504
$GC,8119,0.87,160.4,276.9,10.9,268,8123,0.00,2.03,0.00,0.000,4,0.000,0.049,3163,3897,2503
$GC,8271,0.92,199.0,263.0,7.9,271,8311,0.00,1.88,35.25,0.834,6,0.000,0.027,3171,2616,2348
$GC,8586,0.92,199.0,215.0,17.1,279,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2617,2343
$GC,8836,0.92,199.0,177.4,13.7,294,8840,0.00,2.05,0.00,0.000,4,0.000,0.029,3181,1221,2342
$GC,8939,0.92,199.0,162.2,14.8,303,8943,0.00,2.22,0.00,0.000,6,0.000,0.045,3178,2628,2341
$GC,9204,0.92,199.0,124.0,13.3,327,9208,0.00,2.08,0.00,0.000,4,0.000,0.027,3187,1224,2340
$GC,9233,0.92,199.0,120.2,11.6,329,9240,0.00,2.22,0.00,0.000,6,0.000,0.046,3187,2623,2340
$GC,9497,0.99,253.2,97.4,7.2,354,9550,0.00,2.15,46.50,0.686,4,0.000,0.026,3197,1224,2126
$GC,9801,0.99,253.2,49.6,17.4,381,9805,0.00,2.20,0.00,0.000,6,0.000,0.041,3192,2622,2121
$STATE,10029,end climb,SURFACE_DEPTH_REACHED
$STATE,10029,begin surface coast
$FINISH,0.2,1.023799
$STATE,10041,end surface coast,CONTROL_FINISHED_OK
$STATE,10041,begin surface
$SM_CCo,10064,48.90,0.600,0,0,1732,350.04
$SM_GC,1.92,0.00,0.00,48.90,0.000,0.000,0.600,32,2726,1732,-8.89,0.76,350.04
$IRIDIUM_FIX,2239.35,-15800.20,080500,151504
$TT8_MAMPS,0.023777
$HUMID,1844
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,92.264
$10V_AH,10.7,51.653
$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,21.025,91.425,345.175,48.900,0.000,30.099,34.767,332.704,0.000,0.000,0.000,51.742,904.308,6948.963,432.310,1679.296,726.354,33.364,1137.737,0.000,1630.064,0.000,0.543,0.000
$DEVICE_MAMPS,227.799,80.535,1053.091,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,280.901,602.645,620.723,129.287,535.309,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34953,415
$CAP_FILE_SIZE,86199,0
$CFSIZE,260165632,234295296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,120211,205324,2247.475,-15804.452,29,1.6,47,10.1