version: 66.04
glider: 512
mission: 1
dive: 687
start: 2 11 111 12 33 11
data:
$ID,512
$MISSION,1
$DIVE,687
$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,-20834.637
$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,56
$R_STBD_OVSHOOT,27
$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
$GPS1,122407,2246.532,-15755.696,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.7
$GPS2,123219,2246.612,-15755.659,14,1.0,26,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.183,-0.179
$KALMAN_X,-194292.4,-120.6,58.5,220799.1,1910.6
$KALMAN_Y,-533958.4,-101.2,-278.6,657223.6,2304.7
$MHEAD_RNG_PITCHd_Wd,215.6,3725,-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,-45.42,0.000,2,0.000,0.000,38,2720,2890
$GC,68,-0.85,-146.0,3.1,-4.6,6,102,10.48,1.98,-17.67,0.000,4,0.218,0.078,2577,3887,3758
$GC,228,-0.85,-146.0,42.3,-18.8,27,236,0.00,1.77,0.00,0.000,6,0.000,0.026,2578,2710,3760
$GC,491,-0.85,-146.0,113.9,-24.3,52,495,0.00,2.10,0.00,0.000,4,0.000,0.030,2578,1291,3761
$GC,561,-0.85,-146.0,129.2,-18.1,58,566,0.12,2.33,0.00,0.000,6,0.146,0.069,2600,2699,3762
$GC,825,-0.85,-146.0,172.7,-15.9,82,829,0.00,2.10,0.00,0.000,4,0.000,0.028,2610,1285,3762
$GC,876,-0.85,-146.0,180.8,-13.1,86,883,0.00,2.35,0.00,0.000,6,0.000,0.067,2602,2699,3763
$GC,1143,-0.85,-146.0,217.6,-13.9,103,1146,0.00,2.10,0.00,0.000,4,0.000,0.028,2611,1288,3763
$GC,1177,-0.85,-146.0,222.1,-11.7,103,1181,0.00,2.28,0.00,0.000,6,0.000,0.061,2602,2701,3763
$GC,1429,-0.85,-146.0,252.6,-12.5,109,1432,0.00,1.95,0.00,0.000,4,0.000,0.070,2592,3898,3763
$GC,1447,-0.85,-146.0,255.3,-13.2,109,1450,0.00,1.75,0.00,0.000,6,0.000,0.024,2596,2683,3763
$GC,1721,-0.85,-146.0,285.8,-11.0,116,1725,0.00,2.03,0.00,0.000,4,0.000,0.029,2606,1305,3764
$GC,1762,-0.85,-146.0,290.5,-9.7,116,1768,0.00,2.25,0.00,0.000,6,0.000,0.058,2597,2698,3764
$GC,2014,-0.85,-146.0,316.6,-11.0,123,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2698,3763
$GC,2257,-0.85,-146.0,344.1,-11.3,129,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2698,3762
$GC,2500,-0.85,-146.0,371.3,-11.0,135,2504,0.00,2.08,0.00,0.000,4,0.000,0.028,2606,1309,3761
$GC,2540,-0.85,-146.0,375.7,-10.2,135,2547,0.00,2.28,0.00,0.000,6,0.000,0.058,2597,2704,3761
$GC,2791,-0.85,-146.0,402.0,-10.7,142,2794,0.00,2.08,0.00,0.000,4,0.000,0.028,2605,1307,3760
$GC,2816,-0.85,-146.0,404.7,-11.3,142,2820,0.00,2.25,0.00,0.000,6,0.000,0.056,2597,2712,3760
$GC,3079,-0.85,-146.0,429.9,-9.5,149,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2712,3759
$GC,3321,-0.85,-146.0,453.1,-9.7,155,3325,0.00,2.10,0.00,0.000,4,0.000,0.031,2605,1308,3757
$GC,3344,-0.85,-146.0,455.5,-10.0,155,3348,0.00,2.28,0.00,0.000,6,0.000,0.061,2596,2712,3758
$GC,3607,-0.85,-146.0,481.2,-10.0,162,3611,0.00,2.10,0.00,0.000,4,0.000,0.031,2604,1310,3755
$GC,3636,-0.85,-146.0,484.0,-9.0,162,3640,0.00,2.25,0.00,0.000,6,0.000,0.060,2595,2700,3756
$GC,3893,-0.85,-146.0,507.9,-9.5,169,3896,0.00,1.95,0.00,0.000,4,0.000,0.071,2586,3886,3753
$GC,3927,-0.85,-146.0,511.3,-9.9,169,3931,0.00,1.75,0.00,0.000,6,0.000,0.027,2592,2693,3753
$GC,4186,-0.85,-146.0,534.4,-9.2,176,4190,0.00,2.08,0.00,0.000,4,0.000,0.032,2602,1301,3752
$GC,4237,-0.85,-146.0,538.8,-7.5,177,4242,0.00,2.28,0.00,0.000,6,0.000,0.060,2593,2705,3751
$GC,4517,-0.85,-146.0,562.1,-8.5,184,4520,0.00,2.12,0.00,0.000,4,0.000,0.032,2601,1306,3749
$GC,4535,-0.85,-146.0,563.8,-8.9,184,4539,0.00,2.25,0.00,0.000,6,0.000,0.060,2592,2699,3749
$GC,4804,-0.85,-146.0,588.2,-9.3,191,4807,0.00,2.10,0.00,0.000,4,0.000,0.032,2601,1302,3748
$GC,4827,-0.85,-146.0,590.7,-9.4,191,4831,0.00,2.28,0.00,0.000,6,0.000,0.058,2592,2709,3748
$STATE,4963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4963,begin apogee
$GC,4973,-0.32,0.0,603.2,9.1,195,5100,0.62,0.00,124.05,1.075,6,0.175,0.000,2762,2621,3160
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5105,0.85,146.0,609.3,0.0,198,5243,1.27,2.20,128.82,1.041,4,0.146,0.064,3136,3893,2562
$GC,5504,0.85,146.0,578.1,15.9,207,5508,0.00,1.92,0.00,0.000,6,0.000,0.035,3144,2637,2556
$GC,5796,0.85,146.0,536.3,13.9,214,5800,0.00,2.05,0.00,0.000,4,0.000,0.059,3137,3900,2551
$GC,6055,0.85,146.0,499.3,15.8,219,6059,0.00,1.98,0.00,0.000,6,0.000,0.034,3145,2607,2550
$GC,6314,0.85,146.0,467.5,12.3,226,6317,0.00,2.10,0.00,0.000,4,0.000,0.059,3137,3905,2548
$GC,6572,0.85,146.0,432.9,12.5,231,6576,0.00,1.95,0.00,0.000,6,0.000,0.034,3145,2613,2547
$GC,6829,0.85,146.0,405.2,10.6,238,6833,0.00,2.08,0.00,0.000,4,0.000,0.060,3137,3896,2546
$GC,7082,0.85,146.0,379.3,9.6,243,7086,0.00,1.92,0.00,0.000,6,0.000,0.031,3145,2621,2545
$GC,7345,0.86,151.1,355.3,9.4,250,7348,0.00,2.08,0.00,0.000,4,0.000,0.058,3138,3897,2544
$GC,7407,0.88,164.5,349.5,9.0,251,7426,0.00,1.95,14.02,0.866,6,0.000,0.030,3145,2601,2490
$GC,7679,0.88,164.5,320.5,11.2,258,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2600,2487
$GC,7923,0.88,164.5,295.1,9.7,264,7926,0.00,2.10,0.00,0.000,4,0.000,0.036,3156,1201,2486
$GC,7970,0.88,164.5,290.2,10.9,265,7974,0.00,2.28,0.00,0.000,6,0.000,0.054,3150,2623,2486
$GC,8254,0.88,164.5,261.2,10.5,272,8258,0.00,2.05,0.00,0.000,4,0.000,0.058,3140,3909,2485
$GC,8362,0.88,164.5,248.9,12.3,274,8365,0.00,1.92,0.00,0.000,6,0.000,0.028,3148,2614,2485
$GC,8637,0.97,236.4,228.4,6.4,281,8707,0.12,2.15,63.42,0.815,4,0.137,0.055,3176,3892,2195
$GC,8960,0.97,236.4,161.0,22.5,298,8967,0.00,1.92,0.00,0.000,6,0.000,0.028,3183,2629,2189
$GC,9224,0.97,236.4,105.0,18.5,323,9228,0.00,2.03,0.00,0.000,4,0.000,0.050,3176,3907,2187
$GC,9340,0.97,236.4,80.7,19.8,333,9344,0.00,1.90,0.00,0.000,6,0.000,0.026,3184,2619,2186
$GC,9610,0.97,236.4,36.0,16.7,358,9614,0.00,2.03,0.00,0.000,4,0.000,0.047,3176,3913,2186
$GC,9736,0.97,236.4,12.4,18.6,378,9745,0.00,1.92,0.00,0.000,6,0.000,0.025,3184,2615,2187
$STATE,9787,end climb,SURFACE_DEPTH_REACHED
$STATE,9787,begin surface coast
$FINISH,0.2,1.023935
$STATE,9805,end surface coast,CONTROL_FINISHED_OK
$STATE,9805,begin surface
$SM_CCo,9828,66.20,0.616,0,0,1732,350.04
$SM_GC,2.30,0.00,0.00,66.20,0.000,0.000,0.616,36,2741,1732,-8.87,1.16,350.04
$IRIDIUM_FIX,2239.35,-15752.82,070500,090906
$TT8_MAMPS,0.023777
$HUMID,1862
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,90.922
$10V_AH,10.7,50.731
$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,20.975,99.975,330.325,66.200,0.000,28.881,33.414,277.996,0.250,0.000,0.000,26.213,880.899,6789.027,439.350,1609.442,671.027,33.373,1142.877,0.000,1582.948,0.000,0.542,0.000
$DEVICE_MAMPS,217.828,78.234,1074.567,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.463,544.212,563.212,120.448,497.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31904,390
$CAP_FILE_SIZE,86353,0
$CFSIZE,260165632,234749952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,110211,151931,2246.025,-15755.984,41,1.7,42,10.1