version: 66.04
glider: 512
mission: 1
dive: 688
start: 2 11 111 15 29 7
data:
$ID,512
$MISSION,1
$DIVE,688
$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,-20850.871
$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,58
$R_STBD_OVSHOOT,54
$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
$GPS1,151931,2246.025,-15755.984,41,1.7,42,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.2
$GPS2,152814,2246.053,-15755.936,15,2.0,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.227,-0.118
$KALMAN_X,-192087.6,-98.1,-366.3,218515.7,2934.2
$KALMAN_Y,-533184.1,-168.5,136.4,655059.1,1420.4
$MHEAD_RNG_PITCHd_Wd,232.5,3634,-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,-45.38,0.000,2,0.000,0.000,31,2746,2895
$GC,69,-0.85,-146.0,3.2,-5.1,6,103,10.65,1.88,-17.40,0.000,4,0.222,0.074,2578,3859,3757
$GC,214,-0.85,-146.0,37.3,-16.4,26,217,0.00,1.70,0.00,0.000,6,0.000,0.025,2580,2701,3759
$GC,484,-0.85,-146.0,106.9,-22.9,51,488,0.00,2.08,0.00,0.000,4,0.000,0.029,2580,1290,3760
$GC,587,-0.85,-146.0,127.6,-15.0,60,591,0.00,2.22,0.00,0.000,6,0.000,0.060,2577,2668,3761
$GC,851,-0.85,-146.0,178.9,-19.3,84,855,0.00,2.03,0.00,0.000,4,0.000,0.025,2576,1280,3762
$GC,867,-0.85,-146.0,182.0,-19.9,85,872,0.12,2.28,0.00,0.000,6,0.160,0.058,2596,2701,3762
$GC,1145,-0.85,-146.0,227.3,-16.0,99,1148,0.00,2.10,0.00,0.000,4,0.000,0.029,2606,1295,3763
$GC,1196,-0.85,-146.0,234.7,-11.6,100,1200,0.00,2.28,0.00,0.000,6,0.000,0.058,2598,2714,3763
$GC,1475,-0.85,-146.0,268.6,-12.4,107,1479,0.00,2.10,0.00,0.000,4,0.000,0.027,2606,1294,3764
$GC,1515,-0.85,-146.0,273.0,-9.6,107,1521,0.00,2.25,0.00,0.000,6,0.000,0.056,2597,2706,3764
$GC,1766,-0.85,-146.0,300.6,-11.4,114,1769,0.00,1.92,0.00,0.000,4,0.000,0.067,2587,3893,3763
$GC,1800,-0.85,-146.0,304.8,-11.8,114,1804,0.00,1.75,0.00,0.000,6,0.000,0.025,2590,2689,3763
$GC,2058,-0.85,-146.0,333.7,-11.6,121,2062,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,1294,3763
$GC,2115,-0.85,-146.0,339.9,-8.8,122,2119,0.00,2.22,0.00,0.000,6,0.000,0.051,2591,2700,3763
$GC,2388,-0.85,-146.0,370.2,-11.3,129,2392,0.00,1.95,0.00,0.000,4,0.000,0.069,2581,3893,3761
$GC,2423,-0.85,-146.0,374.3,-11.3,129,2426,0.00,1.75,0.00,0.000,6,0.000,0.025,2582,2692,3761
$GC,2680,-0.85,-146.0,405.0,-12.4,136,2684,0.00,2.05,0.00,0.000,4,0.000,0.029,2584,1303,3760
$GC,2743,-0.85,-146.0,412.3,-10.0,137,2747,0.00,2.22,0.00,0.000,6,0.000,0.053,2576,2701,3760
$GC,3011,-0.85,-146.0,444.8,-12.3,144,3014,0.00,1.95,0.00,0.000,4,0.000,0.068,2567,3897,3759
$GC,3051,-0.85,-146.0,449.8,-12.0,144,3058,0.12,1.75,0.00,0.000,6,0.133,0.026,2601,2701,3758
$GC,3303,-0.85,-146.0,470.6,-8.1,151,3307,0.00,2.08,0.00,0.000,4,0.000,0.031,2611,1303,3757
$GC,3338,-0.85,-146.0,473.4,-7.3,151,3342,0.00,2.22,0.00,0.000,6,0.000,0.054,2603,2696,3757
$GC,3590,-0.85,-146.0,493.8,-8.4,157,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2696,3755
$GC,3833,-0.85,-146.0,514.8,-8.5,163,3837,0.00,2.12,0.00,0.000,4,0.000,0.030,2611,1291,3753
$GC,3873,-0.85,-146.0,518.3,-8.5,163,3879,0.00,2.28,0.00,0.000,6,0.000,0.057,2603,2705,3753
$GC,4124,-0.85,-146.0,539.6,-8.5,170,4128,0.00,1.95,0.00,0.000,4,0.000,0.071,2593,3887,3750
$GC,4150,-0.85,-146.0,541.8,-9.1,170,4153,0.00,1.75,0.00,0.000,6,0.000,0.028,2598,2696,3750
$GC,4418,-0.85,-146.0,561.6,-7.2,177,4421,0.00,2.08,0.00,0.000,4,0.000,0.032,2608,1306,3749
$GC,4458,-0.85,-146.0,564.6,-7.1,177,4464,0.00,2.28,0.00,0.000,6,0.000,0.060,2600,2706,3749
$GC,4709,-0.85,-146.0,583.0,-7.6,184,4713,0.00,1.98,0.00,0.000,4,0.000,0.076,2590,3891,3747
$GC,4746,-0.85,-146.0,586.1,-8.3,184,4750,0.00,1.77,0.00,0.000,6,0.000,0.029,2596,2691,3747
$STATE,4918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4918,begin apogee
$GC,4927,-0.32,0.0,600.4,8.1,189,5053,0.55,0.00,123.38,1.075,6,0.114,0.000,2773,2683,3160
$STATE,5054,end apogee,CONTROL_FINISHED_OK
$STATE,5054,begin climb
$GC,5058,0.85,146.0,607.0,0.0,192,5194,1.08,2.10,128.45,1.043,4,0.081,0.064,3137,3883,2563
$GC,5457,0.85,146.0,576.8,17.4,201,5461,0.00,1.92,0.00,0.000,6,0.000,0.032,3145,2644,2556
$GC,5747,0.85,146.0,532.1,14.8,208,5751,0.00,2.03,0.00,0.000,4,0.000,0.058,3137,3898,2551
$GC,6006,0.85,146.0,496.5,13.0,213,6010,0.00,1.95,0.00,0.000,6,0.000,0.031,3145,2600,2551
$GC,6263,0.85,146.0,465.8,11.7,220,6266,0.00,2.10,0.00,0.000,4,0.000,0.057,3138,3904,2548
$GC,6521,0.85,146.0,434.6,11.5,225,6525,0.00,1.92,0.00,0.000,6,0.000,0.031,3146,2623,2547
$GC,6778,0.86,150.7,409.3,9.4,232,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2618,2546
$GC,7022,0.88,164.8,387.8,9.0,238,7050,0.00,2.15,16.83,0.818,4,0.000,0.033,3157,1210,2488
$GC,7170,0.88,164.8,372.2,11.4,241,7174,0.00,2.25,0.00,0.000,6,0.000,0.050,3148,2625,2486
$GC,7438,0.88,164.8,342.1,10.7,248,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2625,2484
$GC,7683,0.88,164.8,315.4,11.6,254,7686,0.00,2.15,0.00,0.000,4,0.000,0.031,3157,1200,2483
$GC,7812,0.88,164.8,301.5,10.9,256,7818,0.00,2.28,0.00,0.000,6,0.000,0.049,3148,2635,2483
$GC,8063,0.88,164.8,273.5,10.8,263,8067,0.00,2.00,0.00,0.000,4,0.000,0.058,3138,3892,2482
$GC,8322,0.88,164.8,241.5,13.1,268,8326,0.00,1.90,0.00,0.000,6,0.000,0.028,3146,2609,2481
$GC,8579,1.03,287.3,225.7,4.2,275,8691,0.17,2.12,105.82,0.814,4,0.100,0.051,3205,3893,1987
$GC,8816,1.03,287.3,165.5,35.7,285,8820,0.00,1.95,0.00,0.000,6,0.000,0.028,3213,2598,1982
$GC,9086,1.03,287.3,82.0,25.9,310,9089,0.00,2.08,0.00,0.000,4,0.000,0.028,3224,1197,1978
$GC,9113,1.03,287.3,74.7,25.7,312,9122,0.00,2.30,0.00,0.000,6,0.000,0.045,3218,2624,1976
$GC,9383,1.03,287.3,3.7,28.7,345,9390,0.00,2.05,0.00,0.000,4,0.000,0.055,3218,3896,1973
$STATE,9396,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.1,1.013493
$STATE,9408,end surface coast,CONTROL_FINISHED_OK
$STATE,9408,begin surface
$SM_CCo,9433,35.05,0.627,0,0,1732,350.04
$SM_GC,1.25,0.00,0.00,35.05,0.000,0.000,0.627,38,2672,1732,-8.87,-0.79,350.04
$IRIDIUM_FIX,2239.35,-15757.16,070500,121204
$TT8_MAMPS,0.023777
$HUMID,1942
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.5,91.054
$10V_AH,10.6,50.808
$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,21.250,98.125,374.475,35.050,0.000,25.262,32.612,323.497,0.000,0.000,0.000,15.606,816.766,6559.629,443.466,1473.880,702.416,33.370,1127.874,0.000,1455.882,0.000,0.542,0.000
$DEVICE_MAMPS,221.663,75.933,1074.567,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,236.318,453.981,467.039,100.225,409.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28682,349
$CAP_FILE_SIZE,84329,0
$CFSIZE,260165632,234708992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,110211,180824,2245.410,-15756.562,27,1.2,44,10.1