version: 66.04
glider: 512
mission: 1
dive: 676
start: 2 10 111 4 53 11
data:
$ID,512
$MISSION,1
$DIVE,676
$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,-20584.887
$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,51
$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
$GPS1,043737,2249.892,-15753.277,38,1.1,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.8
$GPS2,045219,2250.108,-15753.123,12,1.2,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.200
$KALMAN_X,-205945.2,-190.8,301.4,236632.6,-302.5
$KALMAN_Y,-551568.1,-927.4,-299.8,682147.5,3963.8
$MHEAD_RNG_PITCHd_Wd,208.4,9844,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.28,0.000,2,0.000,0.000,37,2683,2889
$GC,69,-0.85,-146.0,3.1,-4.1,6,102,10.48,2.10,-17.98,0.000,4,0.216,0.038,2597,1294,3757
$GC,170,-0.85,-146.0,26.7,-15.5,22,178,0.00,2.33,0.00,0.000,6,0.000,0.064,2589,2690,3760
$GC,436,-0.85,-146.0,94.2,-25.2,48,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2690,3760
$GC,690,-0.85,-146.0,151.8,-19.1,72,694,0.00,2.08,0.00,0.000,4,0.000,0.026,2589,1287,3761
$GC,729,-0.85,-146.0,158.9,-15.6,75,737,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2699,3761
$GC,994,-0.85,-146.0,201.2,-17.0,100,998,0.00,2.08,0.00,0.000,4,0.000,0.025,2589,1291,3761
$GC,1023,-0.85,-146.0,206.8,-16.8,100,1027,0.00,2.28,0.00,0.000,6,0.000,0.060,2589,2700,3761
$GC,1285,-0.85,-146.0,245.2,-14.5,107,1289,0.00,2.08,0.00,0.000,4,0.000,0.025,2589,1288,3762
$GC,1336,-0.85,-146.0,251.5,-10.3,108,1340,0.00,2.30,0.00,0.000,6,0.000,0.063,2589,2702,3762
$GC,1615,-0.85,-146.0,288.8,-14.1,115,1619,0.00,2.08,0.00,0.000,4,0.000,0.028,2590,1295,3761
$GC,1673,-0.85,-146.0,296.3,-10.5,116,1677,0.00,2.30,0.00,0.000,6,0.000,0.064,2589,2707,3762
$GC,1947,-0.85,-146.0,331.2,-12.9,123,1950,0.00,1.95,0.00,0.000,4,0.000,0.075,2589,3892,3761
$GC,1981,-0.85,-146.0,335.5,-11.9,123,1985,0.00,1.75,0.00,0.000,6,0.000,0.025,2589,2682,3760
$GC,2238,-0.85,-146.0,363.1,-10.7,130,2242,0.00,2.05,0.00,0.000,4,0.000,0.031,2589,1298,3760
$GC,2294,-0.85,-146.0,368.7,-8.3,131,2298,0.00,2.30,0.00,0.000,6,0.000,0.062,2589,2712,3759
$GC,2568,-0.85,-146.0,396.9,-10.7,138,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2713,3757
$GC,2812,-0.85,-146.0,424.3,-11.2,144,2815,0.00,2.12,0.00,0.000,4,0.000,0.030,2591,1300,3756
$GC,2829,-0.85,-146.0,426.5,-11.1,144,2833,0.00,2.30,0.00,0.000,6,0.000,0.064,2590,2708,3757
$GC,3099,-0.85,-146.0,453.0,-9.8,151,3103,0.00,2.10,0.00,0.000,4,0.000,0.031,2595,1300,3754
$GC,3122,-0.85,-146.0,455.7,-9.9,151,3126,0.00,2.28,0.00,0.000,6,0.000,0.063,2590,2700,3754
$GC,3384,-0.85,-146.0,480.9,-10.0,158,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2700,3752
$GC,3628,-0.85,-146.0,505.9,-10.2,164,3631,0.00,2.08,0.00,0.000,4,0.000,0.030,2595,1306,3750
$GC,3662,-0.85,-146.0,509.4,-9.8,164,3666,0.00,2.25,0.00,0.000,6,0.000,0.058,2589,2703,3749
$GC,3920,-0.85,-146.0,533.7,-9.6,171,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2703,3748
$GC,4163,-0.85,-146.0,555.5,-9.1,177,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2703,3747
$GC,4406,-0.85,-146.0,578.9,-9.8,183,4409,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,1304,3745
$GC,4441,-0.85,-146.0,582.5,-9.4,183,4445,0.00,2.25,0.00,0.000,6,0.000,0.057,2590,2701,3745
$STATE,4647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4647,begin apogee
$GC,4656,-0.32,0.0,602.6,9.6,188,4782,0.60,0.00,122.70,1.062,6,0.146,0.000,2766,2624,3160
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4787,0.85,146.0,609.2,0.0,191,4924,1.17,2.25,128.75,1.039,4,0.108,0.040,3155,1245,2564
$GC,5185,0.85,146.0,584.5,15.2,200,5189,0.00,2.25,0.00,0.000,6,0.000,0.058,3149,2634,2555
$GC,5469,0.85,146.0,539.7,15.5,207,5473,0.00,2.15,0.00,0.000,4,0.000,0.039,3157,1233,2551
$GC,5554,0.85,146.0,527.2,13.9,208,5560,0.00,2.25,0.00,0.000,6,0.000,0.054,3150,2638,2550
$GC,5805,0.85,146.0,495.4,12.5,215,5809,0.00,2.15,0.00,0.000,4,0.000,0.037,3158,1222,2548
$GC,6063,0.85,146.0,464.9,11.8,220,6067,0.00,2.25,0.00,0.000,6,0.000,0.053,3150,2635,2548
$GC,6316,0.85,146.0,435.5,11.4,226,6319,0.00,2.12,0.00,0.000,4,0.000,0.036,3158,1236,2546
$GC,6575,0.85,146.0,408.2,10.4,231,6580,0.00,2.20,0.00,0.000,6,0.000,0.048,3150,2627,2544
$GC,6827,0.86,150.5,383.8,9.4,237,6831,0.00,2.12,0.00,0.000,4,0.000,0.034,3158,1223,2544
$GC,7086,0.91,189.5,363.1,7.9,242,7127,0.00,2.22,36.03,0.917,6,0.000,0.049,3150,2631,2387
$GC,7379,0.91,189.5,317.0,17.7,250,7383,0.00,2.15,0.00,0.000,4,0.000,0.034,3158,1219,2381
$GC,7637,0.91,189.5,275.1,14.4,255,7642,0.00,2.22,0.00,0.000,6,0.000,0.048,3150,2624,2379
$GC,7890,0.91,189.5,236.6,15.1,261,7894,0.00,2.10,0.00,0.000,4,0.000,0.031,3158,1227,2379
$GC,8148,0.91,189.5,204.9,12.4,266,8152,0.00,2.22,0.00,0.000,6,0.000,0.050,3150,2630,2378
$GC,8410,0.91,189.5,170.4,11.2,287,8414,0.00,2.10,0.00,0.000,4,0.000,0.031,3158,1219,2377
$GC,8669,0.91,189.5,141.2,9.9,310,8673,0.00,2.22,0.00,0.000,6,0.000,0.048,3150,2635,2377
$GC,8932,0.91,189.5,113.6,10.1,334,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2635,2377
$GC,9187,0.98,244.7,96.7,7.2,358,9241,0.12,2.08,47.03,0.697,4,0.116,0.058,3188,3884,2161
$GC,9393,0.98,244.7,57.7,21.3,376,9397,0.00,1.90,0.00,0.000,6,0.000,0.028,3196,2640,2159
$STATE,9637,end climb,SURFACE_DEPTH_REACHED
$STATE,9638,begin surface coast
$FINISH,0.4,1.023972
$STATE,9650,end surface coast,CONTROL_FINISHED_OK
$STATE,9650,begin surface
$SM_CCo,9673,53.45,0.614,0,0,1731,350.04
$SM_GC,2.00,0.00,0.00,53.45,0.000,0.000,0.614,50,2739,1731,-8.83,1.10,350.04
$IRIDIUM_FIX,2239.35,-15754.99,060500,040434
$TT8_MAMPS,0.023777
$HUMID,1863
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.5,89.396
$10V_AH,10.7,49.742
$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,20.825,86.650,334.500,53.450,0.000,61.708,76.488,533.503,0.500,0.000,0.000,18.101,902.543,6574.352,416.129,1723.796,994.690,33.373,1133.526,0.000,1706.286,0.000,0.543,0.000
$DEVICE_MAMPS,216.294,75.166,1061.528,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.737,625.122,643.481,129.890,535.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35180,411
$CAP_FILE_SIZE,87969,0
$CFSIZE,260165632,235229184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,1
$GPS,100211,073634,2249.767,-15753.631,12,2.5,32,10.1