version: 66.04
glider: 512
mission: 1
dive: 683
start: 2 11 111 1 26 11
data:
$ID,512
$MISSION,1
$DIVE,683
$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,-20735.625
$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,31
$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
$GPS1,011528,2247.358,-15753.475,10,3.1,30,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.7
$GPS2,012516,2247.490,-15753.362,20,2.9,39,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.015,-0.256
$KALMAN_X,-199326.0,-123.8,-103.3,229952.1,1606.7
$KALMAN_Y,-537489.5,-935.4,-34.1,662960.5,3361.7
$MHEAD_RNG_PITCHd_Wd,173.3,7631,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.42,0.000,2,0.000,0.000,34,2719,2910
$GC,69,-0.85,-146.0,3.3,-5.4,6,103,10.82,1.98,-16.90,0.000,4,0.227,0.078,2580,3886,3757
$GC,165,-0.85,-146.0,30.4,-24.0,21,173,0.00,1.77,0.00,0.000,6,0.000,0.025,2583,2698,3758
$GC,429,-0.85,-146.0,99.8,-26.7,46,432,0.00,2.05,0.00,0.000,4,0.000,0.026,2583,1291,3759
$GC,467,-0.85,-146.0,108.7,-23.9,49,471,0.00,2.25,0.00,0.000,6,0.000,0.058,2577,2687,3760
$GC,731,-0.85,-146.0,163.2,-18.0,73,735,0.00,2.05,0.00,0.000,4,0.000,0.025,2577,1281,3761
$GC,782,-0.85,-146.0,172.4,-15.4,77,789,0.00,2.38,0.00,0.000,6,0.000,0.067,2576,2696,3762
$GC,1072,-0.85,-146.0,223.0,-18.3,96,1075,0.00,1.98,0.00,0.000,4,0.000,0.070,2566,3909,3762
$GC,1123,-0.85,-146.0,231.6,-14.3,97,1127,0.12,1.77,0.00,0.000,6,0.146,0.024,2599,2685,3762
$GC,1407,-0.85,-146.0,266.3,-12.1,104,1411,0.00,2.03,0.00,0.000,4,0.000,0.028,2609,1300,3762
$GC,1481,-0.85,-146.0,274.0,-8.9,105,1486,0.00,2.28,0.00,0.000,6,0.000,0.060,2601,2711,3763
$GC,1738,-0.85,-146.0,300.1,-10.4,112,1742,0.00,1.92,0.00,0.000,4,0.000,0.072,2592,3889,3762
$GC,1762,-0.85,-146.0,302.5,-10.1,112,1765,0.00,1.73,0.00,0.000,6,0.000,0.025,2598,2701,3762
$GC,2029,-0.85,-146.0,328.6,-10.1,119,2033,0.00,2.05,0.00,0.000,4,0.000,0.029,2607,1301,3761
$GC,2076,-0.85,-146.0,332.9,-8.3,120,2080,0.00,2.25,0.00,0.000,6,0.000,0.058,2599,2706,3761
$GC,2362,-0.85,-146.0,361.2,-10.0,127,2366,0.00,2.10,0.00,0.000,4,0.000,0.030,2608,1295,3760
$GC,2379,-0.85,-146.0,363.2,-10.3,127,2383,0.00,2.28,0.00,0.000,6,0.000,0.059,2599,2706,3760
$GC,2646,-0.85,-146.0,389.1,-9.8,134,2650,0.00,2.10,0.00,0.000,4,0.000,0.031,2607,1298,3758
$GC,2686,-0.85,-146.0,393.0,-8.5,134,2692,0.00,2.28,0.00,0.000,6,0.000,0.060,2599,2706,3758
$GC,2939,-0.85,-146.0,416.1,-9.4,141,2943,0.00,1.92,0.00,0.000,4,0.000,0.070,2590,3889,3756
$GC,2968,-0.85,-146.0,419.1,-9.3,141,2972,0.00,1.75,0.00,0.000,6,0.000,0.026,2591,2692,3756
$GC,3231,-0.85,-146.0,443.6,-9.5,148,3234,0.00,2.05,0.00,0.000,4,0.000,0.030,2591,1301,3754
$GC,3282,-0.85,-146.0,448.4,-8.5,149,3286,0.00,2.25,0.00,0.000,6,0.000,0.058,2589,2699,3754
$GC,3562,-0.85,-146.0,476.4,-10.3,156,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2700,3752
$GC,3804,-0.85,-146.0,502.3,-10.6,162,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2700,3750
$GC,4050,-0.85,-146.0,528.8,-10.9,168,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2700,3749
$GC,4292,-0.85,-146.0,553.3,-9.7,174,4295,0.00,2.12,0.00,0.000,4,0.000,0.031,2596,1297,3748
$GC,4315,-0.85,-146.0,555.7,-10.2,174,4319,0.00,2.28,0.00,0.000,6,0.000,0.059,2590,2696,3748
$GC,4578,-0.85,-146.0,577.9,-8.3,181,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2697,3746
$GC,4821,-0.85,-146.0,597.4,-8.1,187,4824,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,1297,3744
$GC,4850,-0.85,-146.0,599.8,-8.4,187,4854,0.00,2.28,0.00,0.000,6,0.000,0.058,2589,2705,3745
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4858,begin apogee
$GC,4867,-0.32,0.0,600.7,7.1,187,4995,0.55,0.00,124.53,1.131,6,0.129,0.000,2764,2619,3160
$STATE,4996,end apogee,CONTROL_FINISHED_OK
$STATE,4996,begin climb
$GC,5000,0.85,146.0,606.7,0.0,191,5137,1.15,2.22,130.12,1.077,4,0.101,0.035,3151,1227,2563
$GC,5198,0.85,146.0,610.4,13.9,195,5202,0.00,2.30,0.00,0.000,6,0.000,0.053,3143,2633,2558
$GC,5454,0.85,146.0,567.8,16.7,202,5458,0.00,2.15,0.00,0.000,4,0.000,0.037,3151,1224,2554
$GC,5495,0.85,146.0,561.5,15.0,202,5501,0.00,2.28,0.00,0.000,6,0.000,0.054,3149,2634,2552
$GC,5748,0.85,146.0,522.1,15.5,209,5751,0.00,2.15,0.00,0.000,4,0.000,0.036,3158,1224,2550
$GC,5866,0.85,146.0,507.0,11.8,211,5870,0.00,2.22,0.00,0.000,6,0.000,0.051,3150,2625,2550
$GC,6123,0.85,146.0,475.0,12.4,218,6127,0.00,2.03,0.00,0.000,4,0.000,0.056,3141,3904,2548
$GC,6382,0.85,146.0,443.6,11.2,223,6385,0.00,1.92,0.00,0.000,6,0.000,0.031,3149,2629,2547
$GC,6638,0.85,146.0,413.9,12.1,230,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2623,2545
$GC,6883,0.85,146.0,387.2,10.6,236,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2623,2544
$GC,7126,0.87,155.4,364.3,9.2,242,7136,0.00,2.15,6.07,0.766,4,0.000,0.032,3159,1206,2526
$GC,7391,0.87,161.0,340.8,9.4,248,7405,0.00,2.28,6.78,0.782,6,0.000,0.051,3152,2636,2503
$GC,7679,0.87,161.0,311.0,10.3,255,7683,0.00,2.15,0.00,0.000,4,0.000,0.033,3160,1207,2502
$GC,7816,0.87,161.0,296.3,10.3,258,7820,0.00,2.28,0.00,0.000,6,0.000,0.052,3151,2630,2501
$GC,8101,0.88,162.9,268.5,9.5,265,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2630,2501
$GC,8346,0.98,244.5,253.4,6.0,271,8429,0.12,2.10,74.50,0.887,4,0.126,0.057,3188,3902,2162
$GC,8490,0.98,244.5,228.0,27.0,274,8494,0.00,1.98,0.00,0.000,6,0.000,0.030,3197,2612,2159
$GC,8759,0.98,244.5,161.4,26.2,291,8763,0.00,2.05,0.00,0.000,4,0.000,0.051,3192,3900,2154
$GC,8787,0.98,244.5,152.8,28.0,293,8794,0.00,1.95,0.00,0.000,6,0.000,0.028,3199,2624,2153
$GC,9050,0.98,244.5,96.2,17.8,318,9054,0.00,2.08,0.00,0.000,4,0.000,0.027,3211,1205,2152
$GC,9110,0.98,244.5,85.3,19.4,323,9114,0.00,2.22,0.00,0.000,6,0.000,0.042,3205,2629,2151
$GC,9374,0.98,244.5,35.7,19.3,347,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2630,2151
$STATE,9544,end climb,SURFACE_DEPTH_REACHED
$STATE,9544,begin surface coast
$FINISH,0.2,1.023792
$STATE,9567,end surface coast,CONTROL_FINISHED_OK
$STATE,9567,begin surface
$SM_CCo,9590,54.33,0.657,0,0,1731,350.04
$SM_GC,2.07,0.00,0.00,54.33,0.000,0.000,0.657,43,2727,1731,-8.85,0.76,350.04
$IRIDIUM_FIX,2239.35,-15754.99,060500,222237
$TT8_MAMPS,0.023777
$HUMID,1869
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,90.375
$10V_AH,10.7,50.388
$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,21.125,92.675,342.000,54.325,0.000,27.471,33.969,354.386,0.000,0.000,0.000,40.699,839.661,6741.323,438.650,1473.022,746.451,33.372,1084.635,0.000,1440.637,0.000,0.543,0.000
$DEVICE_MAMPS,227.032,83.603,1130.558,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.519,523.552,541.307,116.669,476.149,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32011,380
$CAP_FILE_SIZE,83876,0
$CFSIZE,260165632,234921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,1
$GPS,110211,040837,2246.701,-15753.212,27,1.4,57,10.1