version: 66.04
glider: 512
mission: 1
dive: 684
start: 2 11 111 4 18 31
data:
$ID,512
$MISSION,1
$DIVE,684
$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,-20748.811
$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,43
$R_STBD_OVSHOOT,43
$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
$GPS1,040837,2246.701,-15753.212,27,1.4,57,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.3
$GPS2,041738,2246.792,-15753.134,12,1.6,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.242,-0.083
$KALMAN_X,-198633.1,-91.8,-289.2,229807.6,1662.9
$KALMAN_Y,-535563.6,-899.8,-151.1,659829.4,3692.5
$MHEAD_RNG_PITCHd_Wd,241.0,7977,-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,-45.12,0.000,2,0.000,0.000,38,2734,2891
$GC,69,-0.85,-146.0,3.2,-4.6,6,101,10.75,0.00,-17.10,0.000,6,0.225,0.000,2594,2734,3758
$GC,364,-0.85,-146.0,85.7,-24.7,40,367,0.00,2.15,0.00,0.000,4,0.000,0.027,2603,1288,3760
$GC,403,-0.85,-146.0,95.0,-21.1,43,410,0.00,2.28,0.00,0.000,6,0.000,0.057,2595,2677,3760
$GC,667,-0.85,-146.0,146.1,-17.7,68,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2678,3762
$GC,921,-0.85,-146.0,187.9,-15.9,92,925,0.00,2.05,0.00,0.000,4,0.000,0.026,2598,1274,3762
$GC,972,-0.85,-146.0,195.3,-11.7,96,980,0.00,2.33,0.00,0.000,6,0.000,0.054,2590,2703,3762
$GC,1226,-0.85,-146.0,232.9,-15.3,106,1230,0.00,1.90,0.00,0.000,4,0.000,0.063,2581,3891,3763
$GC,1273,-0.85,-146.0,240.3,-13.9,107,1277,0.00,1.75,0.00,0.000,6,0.000,0.024,2580,2670,3763
$GC,1563,-0.85,-146.0,284.7,-15.5,114,1567,0.00,1.98,0.00,0.000,4,0.000,0.025,2580,1303,3763
$GC,1598,-0.85,-146.0,289.6,-13.5,114,1602,0.00,2.28,0.00,0.000,6,0.000,0.061,2576,2700,3763
$GC,1849,-0.85,-146.0,323.7,-13.6,120,1852,0.00,1.92,0.00,0.000,4,0.000,0.067,2567,3892,3763
$GC,1878,-0.85,-146.0,327.8,-13.9,120,1882,0.12,1.73,0.00,0.000,6,0.139,0.025,2601,2697,3763
$GC,2139,-0.85,-146.0,355.2,-10.4,127,2143,0.00,2.05,0.00,0.000,4,0.000,0.028,2611,1300,3762
$GC,2187,-0.85,-146.0,359.2,-7.6,128,2191,0.00,2.25,0.00,0.000,6,0.000,0.060,2606,2701,3762
$GC,2471,-0.85,-146.0,385.5,-9.6,135,2475,0.00,1.95,0.00,0.000,4,0.000,0.070,2597,3898,3760
$GC,2494,-0.85,-146.0,388.0,-10.3,135,2498,0.00,1.75,0.00,0.000,6,0.000,0.025,2597,2690,3760
$GC,2763,-0.85,-146.0,414.1,-9.8,142,2766,0.00,2.05,0.00,0.000,4,0.000,0.031,2607,1301,3759
$GC,2809,-0.85,-146.0,418.2,-8.1,143,2814,0.00,2.25,0.00,0.000,6,0.000,0.060,2598,2702,3759
$GC,3095,-0.85,-146.0,444.1,-9.0,150,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2703,3757
$GC,3339,-0.85,-146.0,465.5,-8.8,156,3343,0.00,2.10,0.00,0.000,4,0.000,0.030,2605,1308,3756
$GC,3357,-0.85,-146.0,467.5,-8.9,156,3362,0.00,2.25,0.00,0.000,6,0.000,0.057,2597,2702,3756
$GC,3626,-0.85,-146.0,491.0,-8.9,163,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2703,3754
$GC,3871,-0.85,-146.0,512.3,-8.7,169,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2703,3752
$GC,4113,-0.85,-146.0,533.6,-8.8,175,4117,0.00,2.10,0.00,0.000,4,0.000,0.031,2603,1299,3750
$GC,4137,-0.85,-146.0,535.9,-9.4,175,4141,0.00,2.28,0.00,0.000,6,0.000,0.056,2595,2714,3750
$GC,4399,-0.85,-146.0,559.0,-9.0,182,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2714,3749
$GC,4642,-0.85,-146.0,580.5,-8.7,188,4646,0.00,2.12,0.00,0.000,4,0.000,0.032,2603,1300,3748
$GC,4666,-0.85,-146.0,582.7,-9.1,188,4670,0.00,2.28,0.00,0.000,6,0.000,0.057,2595,2708,3748
$STATE,4883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4883,begin apogee
$GC,4893,-0.32,0.0,601.5,8.7,194,5020,0.57,0.00,124.20,1.101,6,0.134,0.000,2769,2632,3160
$STATE,5020,end apogee,CONTROL_FINISHED_OK
$STATE,5021,begin climb
$GC,5024,0.85,146.0,608.1,0.0,197,5162,1.15,2.25,129.57,1.068,4,0.111,0.036,3148,1226,2564
$GC,5422,0.85,146.0,585.5,14.2,206,5426,0.00,2.25,0.00,0.000,6,0.000,0.054,3140,2623,2556
$GC,5707,0.85,146.0,543.6,14.5,213,5710,0.00,2.12,0.00,0.000,4,0.000,0.035,3149,1224,2552
$GC,5965,0.85,146.0,511.4,11.0,218,5969,0.00,2.22,0.00,0.000,6,0.000,0.051,3140,2629,2550
$GC,6221,0.85,146.0,479.4,12.5,225,6225,0.00,2.12,0.00,0.000,4,0.000,0.035,3149,1229,2549
$GC,6480,0.85,146.0,451.5,10.4,230,6484,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2634,2548
$GC,6732,0.85,146.0,424.4,10.8,236,6735,0.00,2.15,0.00,0.000,4,0.000,0.036,3149,1217,2547
$GC,6991,0.89,177.7,400.0,8.2,241,7022,0.00,2.22,26.52,0.963,6,0.000,0.050,3141,2625,2435
$GC,7285,0.89,177.7,359.5,14.6,249,7288,0.00,2.12,0.00,0.000,4,0.000,0.034,3149,1227,2429
$GC,7543,0.89,177.7,324.9,13.5,254,7548,0.00,2.25,0.00,0.000,6,0.000,0.053,3149,2630,2428
$GC,7794,0.89,177.7,290.0,14.0,260,7798,0.00,2.12,0.00,0.000,4,0.000,0.032,3158,1218,2427
$GC,7964,0.89,177.7,270.5,11.6,263,7968,0.00,2.22,0.00,0.000,6,0.000,0.049,3150,2623,2427
$GC,8215,0.89,177.7,241.9,11.2,269,8219,0.00,2.03,0.00,0.000,4,0.000,0.055,3150,3901,2425
$GC,8474,0.91,187.8,211.7,9.2,274,8489,0.00,1.90,8.88,0.741,6,0.000,0.028,3158,2609,2395
$GC,8751,0.91,187.8,179.1,13.0,291,8755,0.00,2.08,0.00,0.000,4,0.000,0.054,3158,3902,2393
$GC,8880,0.91,187.8,160.6,14.0,302,8888,0.00,1.92,0.00,0.000,6,0.000,0.028,3167,2623,2392
$GC,9145,0.94,217.7,134.9,8.3,327,9182,0.00,2.15,27.65,0.753,4,0.000,0.028,3178,1211,2271
$GC,9421,0.94,217.7,103.2,11.2,351,9426,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2639,2268
$GC,9686,0.94,217.7,72.3,10.5,375,9690,0.00,2.10,0.00,0.000,4,0.000,0.026,3185,1207,2268
$GC,9928,0.94,217.7,41.3,12.9,397,9932,0.00,2.20,0.00,0.000,6,0.000,0.041,3179,2623,2268
$STATE,10191,end climb,SURFACE_DEPTH_REACHED
$STATE,10192,begin surface coast
$FINISH,0.5,1.023892
$STATE,10209,end surface coast,CONTROL_FINISHED_OK
$STATE,10209,begin surface
$SM_CCo,10231,72.05,0.647,0,0,1732,350.04
$SM_GC,1.91,0.00,0.00,72.05,0.000,0.000,0.647,38,2740,1732,-8.86,1.13,350.04
$IRIDIUM_FIX,2239.35,-15751.94,070500,010131
$TT8_MAMPS,0.023777
$HUMID,1794
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.5,90.502
$10V_AH,10.7,50.487
$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,20.925,88.925,316.825,72.050,0.000,24.122,33.688,301.431,0.000,0.000,0.000,12.555,969.921,6841.113,426.454,1871.505,741.409,33.375,1190.912,0.000,1859.860,0.000,0.542,0.000
$DEVICE_MAMPS,224.731,72.098,1100.645,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,299.054,672.321,693.450,150.021,615.174,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35206,441
$CAP_FILE_SIZE,89670,0
$CFSIZE,260165632,234868736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,110211,071115,2246.625,-15753.966,16,1.8,16,10.1