version: 66.04
glider: 512
mission: 1
dive: 699
start: 2 13 111 0 4 17
data:
$ID,512
$MISSION,1
$DIVE,699
$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,-21148.164
$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,48
$R_STBD_OVSHOOT,20
$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
$GPS1,234936,2248.336,-15805.350,46,1.1,52,10.1
$_CALLS,2
$_XMS_NAKs,28
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.3
$GPS2,000325,2248.504,-15805.306,13,2.0,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.193,0.169
$KALMAN_X,-177293.1,-569.9,-226.1,187933.0,2255.9
$KALMAN_Y,-524208.5,-875.5,-525.9,651997.6,1910.0
$MHEAD_RNG_PITCHd_Wd,301.1,9258,-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,-145.9,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,2,0.000,0.000,27,2759,2907
$GC,69,-0.86,-146.0,3.6,-5.8,6,102,10.95,1.90,-16.98,0.000,4,0.229,0.073,2580,3899,3758
$GC,267,-0.86,-146.0,48.8,-17.0,31,271,0.00,1.80,0.00,0.000,6,0.000,0.026,2585,2703,3759
$GC,535,-0.86,-146.0,109.8,-23.8,56,539,0.00,2.08,0.00,0.000,4,0.000,0.028,2585,1288,3760
$GC,629,-0.86,-146.0,126.9,-14.7,64,638,0.00,2.30,0.00,0.000,6,0.000,0.058,2577,2693,3761
$GC,893,-0.86,-146.0,176.1,-19.3,89,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2693,3761
$GC,1151,-0.86,-146.0,220.9,-16.9,105,1155,0.00,2.08,0.00,0.000,4,0.000,0.026,2577,1275,3762
$GC,1224,-0.86,-146.0,230.8,-10.8,106,1228,0.00,2.33,0.00,0.000,6,0.000,0.065,2576,2701,3762
$GC,1486,-0.86,-146.0,269.2,-15.0,113,1490,0.00,2.08,0.00,0.000,4,0.000,0.028,2576,1288,3762
$GC,1537,-0.86,-146.0,276.7,-12.8,114,1541,0.00,2.35,0.00,0.000,6,0.000,0.067,2576,2717,3762
$GC,1823,-0.86,-146.0,319.0,-15.1,121,1827,0.00,1.95,0.00,0.000,4,0.000,0.075,2567,3900,3761
$GC,1863,-0.86,-146.0,325.0,-13.5,121,1870,0.12,1.77,0.00,0.000,6,0.140,0.025,2600,2671,3761
$GC,2115,-0.86,-146.0,349.0,-9.2,128,2118,0.00,2.03,0.00,0.000,4,0.000,0.030,2611,1297,3760
$GC,2162,-0.86,-146.0,352.8,-6.9,129,2166,0.00,2.30,0.00,0.000,6,0.000,0.063,2602,2713,3760
$GC,2447,-0.86,-146.0,375.9,-8.4,136,2451,0.00,1.95,0.00,0.000,4,0.000,0.076,2593,3892,3759
$GC,2471,-0.86,-146.0,378.4,-9.5,136,2475,0.00,1.75,0.00,0.000,6,0.000,0.025,2594,2689,3758
$GC,2740,-0.86,-146.0,403.0,-9.3,143,2743,0.00,2.05,0.00,0.000,4,0.000,0.031,2594,1300,3756
$GC,2797,-0.86,-146.0,408.3,-8.4,144,2801,0.00,2.28,0.00,0.000,6,0.000,0.061,2590,2704,3756
$GC,3072,-0.86,-146.0,436.7,-10.6,151,3076,0.00,1.95,0.00,0.000,4,0.000,0.072,2581,3886,3754
$GC,3107,-0.86,-146.0,440.5,-10.4,151,3110,0.00,1.75,0.00,0.000,6,0.000,0.027,2581,2690,3753
$GC,3365,-0.86,-146.0,468.9,-11.2,158,3369,0.00,2.08,0.00,0.000,4,0.000,0.032,2581,1296,3752
$GC,3412,-0.86,-146.0,473.9,-9.6,159,3416,0.00,2.33,0.00,0.000,6,0.000,0.067,2577,2706,3751
$GC,3698,-0.86,-146.0,504.1,-10.7,166,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2707,3749
$GC,3940,-0.86,-146.0,530.3,-10.6,172,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2707,3748
$GC,4185,-0.86,-146.0,556.7,-11.0,178,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2707,3747
$GC,4427,-0.86,-146.0,582.7,-10.5,184,4431,0.00,2.12,0.00,0.000,4,0.000,0.031,2577,1295,3744
$GC,4468,-0.86,-146.0,586.8,-9.2,184,4474,0.00,2.35,0.00,0.000,6,0.000,0.069,2576,2709,3744
$STATE,4636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4636,begin apogee
$GC,4645,-0.32,0.0,603.5,10.0,189,4771,0.60,0.00,122.90,1.073,6,0.118,0.000,2765,2622,3160
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4776,0.86,146.0,609.6,0.0,192,4912,1.05,2.20,128.95,1.051,4,0.058,0.071,3150,3893,2563
$GC,5063,0.86,146.0,598.1,16.6,198,5067,0.00,1.92,0.00,0.000,6,0.000,0.031,3158,2627,2557
$GC,5325,0.86,146.0,557.2,15.5,205,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2621,2553
$GC,5570,0.86,146.0,521.0,14.7,211,5574,0.00,2.15,0.00,0.000,4,0.000,0.035,3169,1197,2551
$GC,5632,0.86,146.0,512.4,11.8,212,5637,0.00,2.28,0.00,0.000,6,0.000,0.051,3163,2630,2550
$GC,5900,0.86,146.0,479.4,12.3,219,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2629,2549
$GC,6144,0.86,146.0,453.2,10.4,225,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2629,2547
$GC,6390,0.87,157.2,429.9,9.1,231,6404,0.00,2.08,8.00,0.853,4,0.000,0.058,3162,3886,2519
$GC,6566,0.87,157.2,409.9,11.9,234,6572,0.00,1.90,0.00,0.000,6,0.000,0.029,3170,2613,2518
$GC,6818,0.87,157.2,379.9,11.8,241,6822,0.00,2.10,0.00,0.000,4,0.000,0.034,3181,1206,2517
$GC,6955,0.87,157.2,363.3,12.0,244,6959,0.00,2.25,0.00,0.000,6,0.000,0.049,3176,2631,2515
$GC,7240,0.87,157.2,329.3,11.3,251,7244,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,1209,2515
$GC,7299,0.87,157.2,323.3,10.2,252,7303,0.00,2.22,0.00,0.000,6,0.000,0.046,3176,2630,2515
$GC,7573,0.89,172.2,296.8,8.9,259,7596,0.00,0.00,16.42,0.775,6,0.000,0.000,3176,2630,2457
$GC,7816,0.89,172.2,270.1,11.9,265,7819,0.00,2.03,0.00,0.000,4,0.000,0.058,3176,3899,2454
$GC,8047,0.89,172.2,239.7,12.2,270,8051,0.00,1.90,0.00,0.000,6,0.000,0.028,3184,2614,2454
$GC,8332,0.89,172.2,210.5,10.1,277,8335,0.00,2.05,0.00,0.000,4,0.000,0.030,3194,1221,2453
$GC,8593,0.94,219.1,188.5,7.5,291,8643,0.00,2.20,41.85,0.801,6,0.000,0.044,3192,2636,2265
$GC,8899,0.94,219.1,135.4,21.1,319,8903,0.00,2.12,0.00,0.000,4,0.000,0.028,3201,1204,2261
$GC,9155,0.94,219.1,95.5,12.9,342,9159,0.00,2.28,0.00,0.000,6,0.000,0.048,3201,2631,2259
$GC,9419,0.94,219.1,64.0,10.6,366,9423,0.00,2.10,0.00,0.000,4,0.000,0.027,3211,1196,2258
$GC,9677,0.94,219.1,37.0,12.7,389,9681,0.00,2.22,0.00,0.000,6,0.000,0.041,3205,2629,2259
$STATE,9919,end climb,SURFACE_DEPTH_REACHED
$STATE,9919,begin surface coast
$FINISH,0.5,1.023749
$STATE,9936,end surface coast,CONTROL_FINISHED_OK
$STATE,9936,begin surface
$SM_CCo,9959,74.75,0.640,0,0,1732,350.04
$SM_GC,1.99,0.00,0.00,74.75,0.000,0.000,0.640,39,2740,1732,-8.86,1.13,350.04
$IRIDIUM_FIX,2241.69,-15807.58,090500,000034
$TT8_MAMPS,0.023777
$HUMID,1818
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.5,92.526
$10V_AH,10.7,51.847
$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,20.975,83.875,318.125,74.750,0.000,54.928,76.223,487.799,0.000,0.000,0.000,18.406,924.163,6834.975,438.436,1707.894,960.561,33.369,1130.081,0.000,1696.935,0.000,0.544,0.000
$DEVICE_MAMPS,228.566,77.467,1073.033,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,292.958,649.855,671.835,150.721,618.672,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34977,432
$CAP_FILE_SIZE,88950,0
$CFSIZE,260165632,234205184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,130211,025254,2249.238,-15806.065,39,1.9,40,10.1