version: 66.04
glider: 512
mission: 1
dive: 698
start: 2 12 111 21 2 41
data:
$ID,512
$MISSION,1
$DIVE,698
$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,-21129.129
$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,64
$R_STBD_OVSHOOT,49
$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
$GPS1,205324,2247.475,-15804.452,29,1.6,47,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-75.6
$GPS2,210149,2247.569,-15804.429,13,1.6,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.200,0.160
$KALMAN_X,-178652.9,-319.6,-56.0,190383.1,1914.5
$KALMAN_Y,-524298.8,-521.5,-442.9,649916.3,1431.0
$MHEAD_RNG_PITCHd_Wd,298.7,11135,-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,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.17,0.000,2,0.000,0.000,29,2727,2916
$GC,69,-0.85,-146.0,3.6,-5.6,6,102,10.80,1.85,-16.10,0.000,4,0.225,0.072,2580,3863,3757
$GC,251,-0.85,-146.0,49.4,-17.1,28,259,0.00,1.73,0.00,0.000,6,0.000,0.025,2579,2702,3759
$GC,516,-0.85,-146.0,115.4,-26.1,53,520,0.00,2.05,0.00,0.000,4,0.000,0.027,2580,1299,3760
$GC,588,-0.85,-146.0,131.1,-16.4,59,595,0.00,2.28,0.00,0.000,6,0.000,0.064,2576,2666,3760
$GC,852,-0.85,-146.0,181.3,-18.4,84,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2667,3762
$GC,1120,-0.85,-146.0,229.0,-17.4,98,1123,0.00,2.00,0.00,0.000,4,0.000,0.026,2577,1298,3762
$GC,1193,-0.85,-146.0,239.3,-11.7,99,1197,0.00,2.30,0.00,0.000,6,0.000,0.064,2576,2702,3762
$GC,1450,-0.85,-146.0,277.7,-15.6,106,1454,0.00,1.95,0.00,0.000,4,0.000,0.069,2567,3901,3762
$GC,1485,-0.85,-146.0,283.3,-14.2,106,1489,0.12,1.75,0.00,0.000,6,0.138,0.024,2599,2681,3762
$GC,1743,-0.85,-146.0,311.3,-11.3,113,1747,0.00,2.00,0.00,0.000,4,0.000,0.028,2610,1314,3762
$GC,1800,-0.85,-146.0,317.5,-8.8,114,1804,0.00,2.25,0.00,0.000,6,0.000,0.061,2602,2705,3762
$GC,2074,-0.85,-146.0,345.9,-10.2,121,2078,0.00,1.95,0.00,0.000,4,0.000,0.071,2593,3891,3762
$GC,2131,-0.85,-146.0,351.5,-8.9,122,2135,0.00,1.73,0.00,0.000,6,0.000,0.025,2595,2699,3761
$GC,2410,-0.85,-146.0,378.4,-9.8,129,2414,0.00,2.05,0.00,0.000,4,0.000,0.031,2599,1311,3760
$GC,2457,-0.85,-146.0,382.4,-8.1,130,2462,0.00,2.28,0.00,0.000,6,0.000,0.064,2592,2699,3760
$GC,2744,-0.85,-146.0,409.7,-9.8,137,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2699,3759
$GC,2986,-0.85,-146.0,435.1,-10.6,143,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2699,3757
$GC,3230,-0.85,-146.0,460.0,-10.2,149,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2699,3756
$GC,3474,-0.85,-146.0,483.1,-9.5,155,3477,0.00,2.05,0.00,0.000,4,0.000,0.030,2592,1309,3754
$GC,3503,-0.85,-146.0,485.9,-9.5,155,3507,0.00,2.30,0.00,0.000,6,0.000,0.067,2590,2700,3754
$GC,3759,-0.85,-146.0,509.2,-9.2,162,3763,0.00,1.98,0.00,0.000,4,0.000,0.074,2581,3890,3751
$GC,3788,-0.85,-146.0,511.9,-9.0,162,3792,0.00,1.75,0.00,0.000,6,0.000,0.027,2581,2699,3751
$GC,4051,-0.85,-146.0,539.2,-10.7,169,4054,0.00,2.08,0.00,0.000,4,0.000,0.032,2580,1305,3749
$GC,4081,-0.85,-146.0,542.6,-11.5,169,4086,0.00,2.30,0.00,0.000,6,0.000,0.064,2577,2709,3750
$GC,4339,-0.85,-146.0,571.9,-11.6,176,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2710,3748
$GC,4583,-0.85,-146.0,597.5,-10.2,182,4587,0.00,2.12,0.00,0.000,4,0.000,0.033,2576,1304,3747
$STATE,4603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4603,begin apogee
$GC,4614,-0.32,0.0,600.1,10.2,182,4741,0.57,0.00,123.22,1.055,6,0.114,0.000,2766,2623,3160
$STATE,4741,end apogee,CONTROL_FINISHED_OK
$STATE,4742,begin climb
$GC,4745,0.85,146.0,605.9,0.0,185,4883,1.05,2.22,128.55,1.035,4,0.063,0.067,3148,3900,2562
$GC,5144,0.85,146.0,574.5,17.0,194,5148,0.00,1.90,0.00,0.000,6,0.000,0.031,3157,2643,2555
$GC,5436,0.85,146.0,529.1,15.2,201,5439,0.00,2.17,0.00,0.000,4,0.000,0.036,3168,1201,2551
$GC,5504,0.85,146.0,519.6,11.8,202,5508,0.00,2.28,0.00,0.000,6,0.000,0.052,3162,2631,2551
$GC,5766,0.85,146.0,487.1,12.5,209,5770,0.00,2.15,0.00,0.000,4,0.000,0.035,3171,1212,2549
$GC,5828,0.85,146.0,479.5,11.5,210,5833,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2635,2548
$GC,6098,0.85,146.0,447.3,12.0,217,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2635,2547
$GC,6340,0.85,146.0,420.5,10.7,223,6344,0.00,2.15,0.00,0.000,4,0.000,0.034,3171,1213,2546
$GC,6363,0.85,146.0,418.1,9.7,223,6367,0.00,2.22,0.00,0.000,6,0.000,0.049,3163,2624,2546
$GC,6626,0.85,146.0,391.9,9.8,230,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2623,2545
$GC,6872,0.88,165.6,370.6,8.7,236,6892,0.00,2.17,15.23,0.889,4,0.000,0.031,3172,1208,2485
$GC,7146,0.88,165.6,337.1,13.3,242,7150,0.00,2.28,0.00,0.000,6,0.000,0.048,3163,2630,2482
$GC,7419,0.88,165.6,302.2,12.3,249,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2630,2480
$GC,7663,0.88,165.6,274.5,11.3,255,7667,0.00,2.03,0.00,0.000,4,0.000,0.058,3162,3902,2478
$GC,7711,0.88,165.6,268.6,12.3,256,7715,0.00,1.92,0.00,0.000,6,0.000,0.029,3170,2606,2479
$GC,8002,0.94,214.3,243.9,7.4,263,8054,0.00,0.00,45.35,0.807,6,0.000,0.000,3170,2600,2286
$GC,8289,0.94,214.3,197.0,18.5,270,8292,0.00,2.08,0.00,0.000,4,0.000,0.029,3181,1199,2279
$GC,8457,0.94,214.3,169.4,17.2,285,8462,0.00,2.25,0.00,0.000,6,0.000,0.045,3176,2628,2278
$GC,8726,0.94,214.3,123.2,17.5,310,8730,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1203,2276
$GC,8755,0.94,214.3,118.8,14.7,312,8763,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2626,2277
$GC,9020,0.94,214.3,85.3,10.3,337,9023,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1202,2276
$GC,9277,0.94,214.3,59.7,11.3,360,9281,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2632,2276
$GC,9546,0.94,214.3,32.9,11.0,385,9550,0.00,2.10,0.00,0.000,4,0.000,0.027,3185,1204,2276
$GC,9647,0.94,214.3,22.8,11.2,400,9655,0.00,2.25,0.00,0.000,6,0.000,0.045,3177,2618,2277
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.4,1.023760
$STATE,9818,end surface coast,CONTROL_FINISHED_OK
$STATE,9819,begin surface
$SM_CCo,9841,78.18,0.611,0,0,1733,350.04
$SM_GC,1.97,0.00,0.00,78.18,0.000,0.000,0.611,38,2758,1733,-8.86,1.64,350.04
$IRIDIUM_FIX,2237.01,-15802.37,080500,181852
$TT8_MAMPS,0.023777
$HUMID,1802
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.5,92.387
$10V_AH,10.7,51.748
$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,20.800,88.200,312.350,78.175,0.000,28.124,33.052,299.032,0.250,0.000,0.000,18.450,911.835,6754.561,434.531,1644.504,682.633,33.369,1101.448,0.000,1628.609,0.000,0.543,0.000
$DEVICE_MAMPS,225.498,74.399,1055.392,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,292.595,652.020,672.510,156.091,642.962,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35066,431
$CAP_FILE_SIZE,82636,0
$CFSIZE,260165632,234254336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,1
$GPS,120211,234936,2248.336,-15805.350,46,1.1,52,10.1