version: 66.04
glider: 512
mission: 1
dive: 682
start: 2 10 111 22 23 41
data:
$ID,512
$MISSION,1
$DIVE,682
$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,-20694.295
$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,55
$R_STBD_OVSHOOT,57
$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
$GPS1,221437,2247.660,-15753.188,37,0.9,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.1
$GPS2,222249,2247.798,-15753.082,12,0.9,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.101,-0.236
$KALMAN_X,-200230.5,-149.3,81.2,231167.5,1743.3
$KALMAN_Y,-539943.3,-605.1,-236.5,665872.6,3030.8
$MHEAD_RNG_PITCHd_Wd,193.0,8190,-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,-45.35,0.000,2,0.000,0.000,42,2750,2902
$GC,68,-0.85,-146.0,3.2,-4.8,6,100,10.57,0.00,-17.58,0.000,6,0.221,0.000,2589,2751,3758
$GC,358,-0.85,-146.0,85.0,-25.1,40,361,0.00,2.15,0.00,0.000,4,0.000,0.026,2592,1295,3760
$GC,373,-0.85,-146.0,88.7,-26.0,41,377,0.00,2.17,0.00,0.000,6,0.000,0.051,2584,2667,3760
$GC,638,-0.85,-146.0,150.4,-21.0,65,642,0.00,2.00,0.00,0.000,4,0.000,0.027,2583,1301,3762
$GC,652,-0.85,-146.0,153.6,-20.7,66,656,0.00,2.28,0.00,0.000,6,0.000,0.061,2573,2705,3761
$GC,928,-0.85,-146.0,209.7,-20.5,89,932,0.00,2.08,0.00,0.000,4,0.000,0.027,2573,1294,3762
$GC,946,-0.85,-146.0,213.2,-19.8,89,951,0.15,2.28,0.00,0.000,6,0.156,0.059,2600,2706,3762
$GC,1214,-0.85,-146.0,248.9,-12.9,96,1218,0.00,1.92,0.00,0.000,4,0.000,0.069,2592,3889,3762
$GC,1243,-0.85,-146.0,253.0,-13.7,96,1246,0.00,1.73,0.00,0.000,6,0.000,0.024,2600,2695,3762
$GC,1505,-0.85,-146.0,284.9,-12.4,103,1509,0.00,2.05,0.00,0.000,4,0.000,0.028,2610,1291,3763
$GC,1552,-0.85,-146.0,289.5,-8.2,104,1557,0.00,2.25,0.00,0.000,6,0.000,0.056,2601,2705,3763
$GC,1838,-0.85,-146.0,317.2,-9.9,111,1842,0.00,2.10,0.00,0.000,4,0.000,0.028,2601,1295,3762
$GC,1866,-0.85,-146.0,320.2,-9.7,111,1870,0.00,2.25,0.00,0.000,6,0.000,0.056,2592,2703,3762
$GC,2122,-0.85,-146.0,347.5,-11.0,118,2126,0.00,1.92,0.00,0.000,4,0.000,0.067,2583,3893,3761
$GC,2162,-0.85,-146.0,352.1,-10.8,118,2168,0.00,1.75,0.00,0.000,6,0.000,0.025,2583,2687,3761
$GC,2413,-0.85,-146.0,379.7,-11.2,125,2417,0.00,2.05,0.00,0.000,4,0.000,0.030,2584,1295,3760
$GC,2464,-0.85,-146.0,385.2,-10.2,126,2468,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2707,3760
$GC,2744,-0.85,-146.0,417.7,-12.2,133,2748,0.00,1.92,0.00,0.000,4,0.000,0.069,2567,3896,3758
$GC,2772,-0.85,-146.0,421.6,-12.3,133,2776,0.12,1.75,0.00,0.000,6,0.137,0.026,2601,2694,3757
$GC,3035,-0.85,-146.0,445.5,-9.1,140,3038,0.00,2.05,0.00,0.000,4,0.000,0.030,2611,1305,3756
$GC,3092,-0.85,-146.0,450.5,-8.0,141,3096,0.00,2.25,0.00,0.000,6,0.000,0.059,2603,2700,3756
$GC,3372,-0.85,-146.0,476.3,-9.3,148,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2701,3754
$GC,3615,-0.85,-146.0,498.4,-9.0,154,3619,0.00,2.10,0.00,0.000,4,0.000,0.031,2610,1304,3752
$GC,3655,-0.85,-146.0,502.1,-8.4,154,3661,0.00,2.28,0.00,0.000,6,0.000,0.060,2602,2711,3751
$GC,3908,-0.85,-146.0,522.9,-8.4,161,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2711,3750
$GC,4150,-0.85,-146.0,542.9,-8.3,167,4154,0.00,2.12,0.00,0.000,4,0.000,0.032,2610,1295,3749
$GC,4191,-0.85,-146.0,546.1,-7.4,167,4198,0.00,2.28,0.00,0.000,6,0.000,0.058,2601,2703,3748
$GC,4444,-0.85,-146.0,567.0,-8.4,174,4448,0.00,1.95,0.00,0.000,4,0.000,0.071,2592,3885,3746
$GC,4468,-0.85,-146.0,569.3,-8.6,174,4472,0.00,1.75,0.00,0.000,6,0.000,0.028,2597,2695,3745
$GC,4739,-0.85,-146.0,591.8,-8.4,181,4742,0.00,2.08,0.00,0.000,4,0.000,0.032,2606,1300,3744
$GC,4773,-0.85,-146.0,595.0,-8.3,181,4777,0.00,2.25,0.00,0.000,6,0.000,0.057,2598,2698,3744
$STATE,4864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4864,begin apogee
$GC,4873,-0.32,0.0,602.5,8.1,184,5000,0.55,0.00,124.25,1.134,6,0.114,0.000,2773,2623,3160
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5005,0.85,146.0,608.7,0.0,187,5143,1.08,2.22,130.35,1.104,4,0.080,0.035,3153,1227,2563
$GC,5175,0.85,146.0,618.2,9.7,191,5179,0.00,2.30,0.00,0.000,6,0.000,0.053,3149,2627,2559
$GC,5454,0.85,146.0,575.3,15.8,198,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2627,2553
$GC,5697,0.85,146.0,540.6,14.0,204,5701,0.00,2.05,0.00,0.000,4,0.000,0.061,3149,3903,2551
$GC,5776,0.85,146.0,528.4,15.6,205,5780,0.00,1.95,0.00,0.000,6,0.000,0.032,3158,2618,2550
$GC,6034,0.85,146.0,492.7,13.8,212,6038,0.00,2.08,0.00,0.000,4,0.000,0.058,3150,3903,2549
$GC,6158,0.85,146.0,474.6,14.1,214,6162,0.00,1.92,0.00,0.000,6,0.000,0.032,3159,2623,2548
$GC,6416,0.85,146.0,444.1,11.6,221,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2617,2547
$GC,6660,0.85,146.0,417.7,10.3,227,6664,0.00,2.12,0.00,0.000,4,0.000,0.034,3169,1205,2546
$GC,6879,0.85,146.0,395.1,10.1,231,6886,0.00,2.25,0.00,0.000,6,0.000,0.051,3163,2627,2545
$GC,7130,0.85,146.0,370.4,9.8,238,7134,0.00,2.12,0.00,0.000,4,0.000,0.032,3171,1207,2544
$GC,7272,0.87,156.1,356.9,9.2,241,7285,0.00,2.25,6.65,0.821,6,0.000,0.050,3163,2630,2523
$GC,7555,0.87,156.1,327.8,10.2,248,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2630,2522
$GC,7799,0.87,159.6,304.6,9.5,254,7808,0.00,2.15,4.65,0.688,4,0.000,0.031,3172,1207,2509
$GC,7878,0.87,159.6,296.5,10.9,255,7882,0.00,2.25,0.00,0.000,6,0.000,0.051,3163,2622,2509
$GC,8130,0.87,162.3,272.1,9.5,261,8139,0.00,2.12,4.35,0.647,4,0.000,0.030,3172,1210,2497
$GC,8222,0.91,187.0,264.4,8.5,263,8251,0.00,2.22,23.85,0.897,6,0.000,0.045,3163,2635,2397
$GC,8509,0.91,187.0,227.4,13.5,270,8512,0.00,2.15,0.00,0.000,4,0.000,0.031,3172,1208,2392
$GC,8526,0.91,187.0,224.8,13.1,270,8530,0.00,2.25,0.00,0.000,6,0.000,0.049,3164,2621,2392
$GC,8787,0.91,187.0,193.9,11.1,279,8791,0.00,2.03,0.00,0.000,4,0.000,0.052,3163,3912,2391
$GC,9048,0.91,187.0,155.5,15.5,302,9051,0.00,1.92,0.00,0.000,6,0.000,0.025,3171,2600,2390
$GC,9318,0.92,199.5,124.8,9.1,327,9334,0.00,2.05,11.82,0.740,4,0.000,0.027,3181,1213,2345
$GC,9589,0.98,248.1,98.9,7.5,350,9637,0.00,2.22,43.12,0.762,6,0.000,0.041,3178,2621,2148
$GC,9902,0.98,248.1,49.5,17.9,379,9906,0.00,2.08,0.00,0.000,4,0.000,0.026,3187,1214,2142
$STATE,10141,end climb,SURFACE_DEPTH_REACHED
$STATE,10142,begin surface coast
$FINISH,0.2,1.023781
$STATE,10154,end surface coast,CONTROL_FINISHED_OK
$STATE,10154,begin surface
$SM_CCo,10179,54.12,0.679,0,0,1732,350.04
$SM_GC,1.98,0.00,0.00,54.12,0.000,0.000,0.679,39,2719,1732,-8.86,0.54,350.04
$IRIDIUM_FIX,2241.69,-15751.94,060500,191945
$TT8_MAMPS,0.023777
$HUMID,1857
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,90.240
$10V_AH,10.7,50.305
$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,20.925,105.250,349.050,54.125,0.000,27.550,37.404,281.598,0.000,0.000,0.000,17.882,909.579,7113.829,435.339,1589.450,678.380,33.378,1127.095,0.000,1569.108,0.000,0.543,0.000
$DEVICE_MAMPS,220.896,71.331,1133.626,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,281.430,595.792,611.887,126.090,524.823,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35234,415
$CAP_FILE_SIZE,88211,0
$CFSIZE,260165632,234962944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,110211,011528,2247.358,-15753.475,10,3.1,30,10.1