version: 66.04
glider: 512
mission: 1
dive: 686
start: 2 11 111 9 31 47
data:
$ID,512
$MISSION,1
$DIVE,686
$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,-20807.793
$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,45
$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
$GPS1,091413,2246.458,-15754.864,28,1.7,35,10.1
$_CALLS,2
$_XMS_NAKs,40
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.9
$GPS2,093050,2246.598,-15754.776,14,2.0,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.242,-0.084
$KALMAN_X,-195873.2,-161.3,246.7,223750.6,2344.1
$KALMAN_Y,-534343.8,-249.9,-626.8,658084.9,3347.4
$MHEAD_RNG_PITCHd_Wd,240.8,5217,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-53.08,0.000,2,0.000,0.000,33,2724,3162
$GC,76,-0.85,-146.0,3.7,-5.8,7,102,10.65,1.88,-10.65,0.000,4,0.222,0.064,2581,3870,3759
$GC,165,-0.85,-146.0,37.9,-26.3,19,169,0.00,1.75,0.00,0.000,6,0.000,0.025,2585,2707,3760
$GC,433,-0.85,-146.0,111.2,-27.0,44,437,0.00,2.08,0.00,0.000,4,0.000,0.028,2585,1286,3762
$GC,480,-0.85,-146.0,121.4,-19.7,48,484,0.00,2.28,0.00,0.000,6,0.000,0.065,2577,2675,3762
$GC,746,-0.85,-146.0,176.8,-19.5,72,750,0.00,2.05,0.00,0.000,4,0.000,0.028,2577,1289,3764
$GC,817,-0.85,-146.0,189.1,-14.9,78,822,0.12,2.33,0.00,0.000,6,0.143,0.067,2598,2708,3764
$GC,1091,-0.85,-146.0,231.4,-15.4,89,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2708,3764
$GC,1335,-0.85,-146.0,265.0,-13.1,95,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2707,3764
$GC,1580,-0.85,-146.0,296.5,-12.4,101,1583,0.00,2.10,0.00,0.000,4,0.000,0.028,2609,1291,3764
$GC,1620,-0.85,-146.0,301.0,-9.5,101,1626,0.00,2.30,0.00,0.000,6,0.000,0.062,2601,2713,3765
$GC,1873,-0.85,-146.0,328.7,-11.5,108,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2714,3764
$GC,2115,-0.85,-146.0,355.6,-10.9,114,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2713,3763
$GC,2359,-0.85,-146.0,379.8,-9.7,120,2362,0.00,2.15,0.00,0.000,4,0.000,0.030,2609,1279,3762
$GC,2406,-0.85,-146.0,383.9,-7.9,121,2411,0.00,2.28,0.00,0.000,6,0.000,0.058,2600,2701,3762
$GC,2694,-0.85,-146.0,410.2,-9.3,128,2697,0.00,1.95,0.00,0.000,4,0.000,0.072,2590,3887,3760
$GC,2717,-0.85,-146.0,412.8,-9.4,128,2721,0.00,1.75,0.00,0.000,6,0.000,0.026,2597,2685,3760
$GC,2985,-0.85,-146.0,435.7,-8.6,135,2989,0.00,2.05,0.00,0.000,4,0.000,0.031,2607,1295,3759
$GC,3014,-0.85,-146.0,438.5,-8.8,135,3018,0.00,2.22,0.00,0.000,6,0.000,0.051,2598,2703,3759
$GC,3271,-0.85,-146.0,461.6,-9.2,142,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2703,3757
$GC,3514,-0.85,-146.0,482.5,-8.4,148,3518,0.00,2.10,0.00,0.000,4,0.000,0.030,2605,1302,3755
$GC,3532,-0.85,-146.0,484.1,-8.4,148,3536,0.00,2.25,0.00,0.000,6,0.000,0.058,2597,2698,3756
$GC,3800,-0.85,-146.0,506.3,-8.4,155,3803,0.00,1.98,0.00,0.000,4,0.000,0.074,2588,3893,3753
$GC,3829,-0.85,-146.0,508.9,-8.8,155,3833,0.00,1.75,0.00,0.000,6,0.000,0.027,2592,2695,3752
$GC,4092,-0.85,-146.0,531.9,-8.9,162,4095,0.00,2.08,0.00,0.000,4,0.000,0.031,2602,1294,3751
$GC,4132,-0.85,-146.0,535.6,-8.3,162,4138,0.00,2.28,0.00,0.000,6,0.000,0.060,2594,2703,3750
$GC,4384,-0.85,-146.0,557.8,-9.0,169,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2703,3749
$GC,4627,-0.85,-146.0,581.7,-9.9,175,4631,0.00,2.10,0.00,0.000,4,0.000,0.031,2601,1298,3748
$GC,4661,-0.85,-146.0,585.2,-9.8,175,4665,0.00,2.28,0.00,0.000,6,0.000,0.058,2593,2704,3748
$STATE,4828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4828,begin apogee
$GC,4838,-0.32,0.0,601.2,9.6,179,4964,0.57,0.00,123.65,1.071,6,0.133,0.000,2766,2628,3160
$STATE,4965,end apogee,CONTROL_FINISHED_OK
$STATE,4965,begin climb
$GC,4969,0.85,146.0,608.2,0.0,182,5106,1.15,2.28,128.70,1.042,4,0.103,0.037,3152,1236,2564
$GC,5166,0.85,146.0,614.7,13.5,186,5170,0.00,2.28,0.00,0.000,6,0.000,0.054,3149,2625,2559
$GC,5423,0.85,146.0,575.1,15.6,193,5426,0.00,2.15,0.00,0.000,4,0.000,0.036,3158,1221,2555
$GC,5681,0.85,146.0,538.6,14.2,198,5685,0.00,2.25,0.00,0.000,6,0.000,0.051,3150,2635,2552
$GC,5937,0.85,146.0,502.4,13.8,205,5941,0.00,2.15,0.00,0.000,4,0.000,0.036,3159,1219,2550
$GC,5977,0.85,146.0,497.0,13.2,205,5985,0.00,2.28,0.00,0.000,6,0.000,0.052,3150,2626,2549
$GC,6228,0.85,146.0,463.6,13.4,212,6232,0.00,2.05,0.00,0.000,4,0.000,0.061,3150,3907,2547
$GC,6403,0.85,146.0,440.5,12.6,215,6411,0.00,1.95,0.00,0.000,6,0.000,0.031,3158,2634,2547
$GC,6654,0.85,146.0,413.1,10.6,222,6658,0.00,2.05,0.00,0.000,4,0.000,0.056,3150,3902,2546
$GC,6913,0.85,146.0,385.1,10.4,227,6917,0.00,1.92,0.00,0.000,6,0.000,0.031,3158,2613,2545
$GC,7170,0.87,161.1,361.8,8.9,234,7189,0.00,0.00,11.75,0.805,6,0.000,0.000,3159,2607,2503
$GC,7459,0.87,161.1,330.4,11.8,241,7463,0.00,2.10,0.00,0.000,4,0.000,0.057,3151,3908,2501
$GC,7696,0.87,161.1,304.4,9.9,246,7699,0.00,1.92,0.00,0.000,6,0.000,0.030,3159,2617,2500
$GC,7975,0.89,175.7,278.9,9.0,253,7991,0.00,0.00,14.68,0.825,6,0.000,0.000,3159,2611,2443
$GC,8218,0.89,175.7,251.5,11.7,259,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2610,2440
$GC,8462,0.89,175.7,223.2,11.4,265,8466,0.00,2.08,0.00,0.000,4,0.000,0.057,3159,3898,2438
$GC,8720,0.89,175.7,199.0,10.3,270,8724,0.00,1.90,0.00,0.000,6,0.000,0.027,3167,2605,2438
$GC,8991,0.89,175.7,172.0,11.2,295,8994,0.00,2.03,0.00,0.000,4,0.000,0.028,3178,1214,2438
$GC,9250,0.89,175.7,146.6,10.3,318,9254,0.00,2.20,0.00,0.000,6,0.000,0.041,3177,2638,2438
$GC,9514,0.99,253.7,127.5,6.1,342,9588,0.00,2.17,67.45,0.722,4,0.000,0.027,3186,1225,2125
$GC,9837,0.99,253.7,70.5,20.8,370,9845,0.00,2.20,0.00,0.000,6,0.000,0.041,3186,2617,2118
$GC,10104,0.99,253.7,19.1,20.7,399,10112,0.00,2.10,0.00,0.000,4,0.000,0.027,3196,1210,2117
$STATE,10177,end climb,SURFACE_DEPTH_REACHED
$STATE,10177,begin surface coast
$FINISH,0.6,1.023815
$STATE,10189,end surface coast,CONTROL_FINISHED_OK
$STATE,10189,begin surface
$SM_CCo,10213,46.88,0.608,0,0,1732,350.04
$SM_GC,2.15,0.00,0.00,46.88,0.000,0.000,0.608,42,2711,1732,-8.85,0.34,350.04
$IRIDIUM_FIX,2239.35,-15752.82,070500,090900
$TT8_MAMPS,0.023777
$HUMID,1841
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.6,90.797
$10V_AH,10.7,50.645
$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,20.750,88.525,346.225,46.875,0.000,60.358,76.146,669.454,0.000,0.000,0.000,15.004,901.028,7187.944,431.950,1620.385,1129.489,33.369,1132.675,0.000,1606.227,0.000,0.543,0.000
$DEVICE_MAMPS,222.430,73.632,1071.499,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,280.235,595.891,615.377,119.813,493.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35214,414
$CAP_FILE_SIZE,91989,0
$CFSIZE,260165632,234786816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,110211,122407,2246.532,-15755.696,35,1.1,35,10.1