version: 66.04
glider: 512
mission: 1
dive: 689
start: 2 11 111 18 30 47
data:
$ID,512
$MISSION,1
$DIVE,689
$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,-20869.691
$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,39
$R_STBD_OVSHOOT,18
$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
$GPS1,180824,2245.410,-15756.562,27,1.2,44,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.8
$GPS2,182955,2245.446,-15756.564,12,1.4,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.240,-0.090
$KALMAN_X,-190484.0,-142.9,-232.5,215749.8,3043.9
$KALMAN_Y,-532559.9,-310.2,-64.9,653653.6,1058.0
$MHEAD_RNG_PITCHd_Wd,239.3,3569,-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,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.33,0.000,2,0.000,0.000,34,2672,2905
$GC,69,-0.85,-146.0,3.3,-4.6,6,102,10.62,2.08,-17.00,0.000,4,0.220,0.079,2585,3892,3757
$GC,213,-0.85,-146.0,38.4,-15.7,26,217,0.00,1.77,0.00,0.000,6,0.000,0.025,2588,2680,3760
$GC,483,-0.85,-146.0,103.8,-19.7,51,487,0.00,2.05,0.00,0.000,4,0.000,0.027,2588,1281,3760
$GC,554,-0.85,-146.0,116.3,-13.5,57,558,0.00,2.35,0.00,0.000,6,0.000,0.067,2579,2710,3761
$GC,817,-0.85,-146.0,166.3,-17.9,81,821,0.00,1.95,0.00,0.000,4,0.000,0.074,2569,3891,3761
$GC,834,-0.85,-146.0,169.9,-18.0,82,841,0.00,1.77,0.00,0.000,6,0.000,0.025,2570,2685,3761
$GC,1124,-0.85,-146.0,226.2,-20.2,101,1128,0.12,2.03,0.00,0.000,4,0.166,0.028,2610,1310,3761
$GC,1181,-0.85,-146.0,234.6,-10.6,102,1185,0.00,2.25,0.00,0.000,6,0.000,0.058,2602,2707,3761
$GC,1455,-0.85,-146.0,267.3,-11.8,109,1458,0.00,2.08,0.00,0.000,4,0.000,0.028,2603,1305,3761
$GC,1506,-0.85,-146.0,272.6,-9.7,110,1510,0.00,2.30,0.00,0.000,6,0.000,0.065,2594,2706,3761
$GC,1784,-0.85,-146.0,306.9,-12.8,117,1788,0.00,1.95,0.00,0.000,4,0.000,0.073,2584,3892,3761
$GC,1842,-0.85,-146.0,313.9,-11.4,118,1845,0.00,1.73,0.00,0.000,6,0.000,0.025,2586,2707,3761
$GC,2121,-0.85,-146.0,348.6,-12.4,125,2124,0.00,2.08,0.00,0.000,4,0.000,0.029,2586,1294,3760
$GC,2213,-0.85,-146.0,358.4,-9.2,127,2217,0.00,2.28,0.00,0.000,6,0.000,0.058,2578,2712,3760
$GC,2499,-0.85,-146.0,394.0,-12.7,134,2503,0.00,1.95,0.00,0.000,4,0.000,0.074,2574,3892,3758
$GC,2528,-0.85,-146.0,398.1,-12.3,134,2532,0.00,1.77,0.00,0.000,6,0.000,0.025,2574,2695,3758
$GC,2791,-0.85,-146.0,429.6,-12.4,141,2795,0.00,2.05,0.00,0.000,4,0.000,0.030,2574,1304,3756
$GC,2849,-0.85,-146.0,436.7,-10.8,142,2853,0.12,2.28,0.00,0.000,6,0.137,0.061,2598,2707,3756
$GC,3122,-0.85,-146.0,460.2,-8.4,149,3126,0.00,1.95,0.00,0.000,4,0.000,0.072,2590,3893,3753
$GC,3157,-0.85,-146.0,463.4,-9.0,149,3160,0.00,1.75,0.00,0.000,6,0.000,0.027,2593,2698,3753
$GC,3415,-0.85,-146.0,485.3,-8.8,156,3419,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,1292,3751
$GC,3450,-0.85,-146.0,488.6,-9.0,156,3454,0.00,2.28,0.00,0.000,6,0.000,0.056,2592,2712,3752
$GC,3701,-0.85,-146.0,510.8,-8.8,162,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2712,3749
$GC,3945,-0.85,-146.0,531.5,-8.4,168,3949,0.00,2.12,0.00,0.000,4,0.000,0.031,2597,1295,3748
$GC,3968,-0.85,-146.0,533.5,-8.4,168,3973,0.00,2.28,0.00,0.000,6,0.000,0.060,2589,2699,3748
$GC,4231,-0.85,-146.0,554.8,-8.1,175,4235,0.00,2.00,0.00,0.000,4,0.000,0.077,2580,3897,3746
$GC,4254,-0.85,-146.0,557.0,-9.3,175,4258,0.00,1.77,0.00,0.000,6,0.000,0.028,2581,2690,3745
$GC,4523,-0.85,-146.0,581.0,-9.2,182,4526,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,1292,3744
$GC,4558,-0.85,-146.0,584.4,-8.7,182,4562,0.00,2.30,0.00,0.000,6,0.000,0.059,2578,2711,3743
$STATE,4725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4725,begin apogee
$GC,4734,-0.32,0.0,600.8,9.8,186,4859,0.60,0.00,122.12,1.070,6,0.117,0.000,2769,2623,3160
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4864,0.85,146.0,607.1,0.0,189,5001,1.10,2.20,128.07,1.044,4,0.084,0.061,3137,3894,2563
$GC,5263,0.85,146.0,574.9,17.0,198,5266,0.00,1.90,0.00,0.000,6,0.000,0.031,3145,2641,2555
$GC,5553,0.85,146.0,532.4,14.0,205,5557,0.00,2.05,0.00,0.000,4,0.000,0.057,3137,3901,2551
$GC,5812,0.85,146.0,496.3,13.6,210,5815,0.00,1.92,0.00,0.000,6,0.000,0.031,3145,2624,2550
$GC,6069,0.85,146.0,466.6,11.4,217,6073,0.00,2.05,0.00,0.000,4,0.000,0.056,3138,3898,2547
$GC,6327,0.85,146.0,434.1,12.3,222,6330,0.00,1.92,0.00,0.000,6,0.000,0.029,3145,2610,2547
$GC,6584,0.85,146.0,408.1,9.8,229,6587,0.00,2.10,0.00,0.000,4,0.000,0.034,3156,1215,2545
$GC,6837,0.90,179.1,385.9,8.1,234,6871,0.00,2.22,27.45,0.931,6,0.000,0.048,3148,2630,2429
$GC,7141,0.90,179.1,341.7,15.5,242,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2630,2422
$GC,7384,0.90,179.1,305.2,15.3,248,7388,0.00,2.12,0.00,0.000,4,0.000,0.032,3156,1213,2421
$GC,7541,0.90,179.1,282.6,13.6,251,7545,0.00,2.28,0.00,0.000,6,0.000,0.050,3148,2632,2420
$GC,7810,0.90,179.1,247.4,12.6,258,7814,0.00,2.12,0.00,0.000,4,0.000,0.031,3156,1214,2419
$GC,8069,0.91,186.9,221.1,9.3,263,8082,0.00,2.22,6.55,0.688,6,0.000,0.046,3150,2634,2398
$GC,8330,0.91,186.9,192.8,12.0,273,8334,0.00,2.12,0.00,0.000,4,0.000,0.031,3158,1214,2397
$GC,8555,0.91,186.9,165.7,12.1,293,8559,0.00,2.22,0.00,0.000,6,0.000,0.045,3150,2629,2397
$GC,8821,0.98,247.2,141.1,6.9,317,8880,0.12,2.20,53.35,0.741,4,0.092,0.028,3205,1203,2151
$GC,8919,0.98,247.2,128.3,20.8,325,8926,0.00,2.30,0.00,0.000,6,0.000,0.047,3205,2613,2148
$GC,9184,0.98,247.2,77.1,19.2,350,9188,0.00,2.10,0.00,0.000,4,0.000,0.028,3214,1196,2146
$GC,9439,0.98,247.2,29.3,18.9,373,9447,0.00,2.28,0.00,0.000,6,0.000,0.042,3214,2626,2145
$STATE,9564,end climb,SURFACE_DEPTH_REACHED
$STATE,9564,begin surface coast
$FINISH,0.3,1.023821
$STATE,9580,end surface coast,CONTROL_FINISHED_OK
$STATE,9580,begin surface
$SM_CCo,9602,55.08,0.616,0,0,1732,350.04
$SM_GC,2.21,0.00,0.00,55.08,0.000,0.000,0.616,38,2738,1732,-8.87,1.07,350.04
$IRIDIUM_FIX,2234.68,-15755.87,070500,181807
$TT8_MAMPS,0.023777
$HUMID,1844
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,91.210
$10V_AH,10.7,50.905
$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,21.050,95.875,337.550,55.075,0.000,113.343,156.855,676.071,0.000,0.000,0.000,18.192,900.827,6616.128,423.647,1724.107,1288.490,33.371,1160.190,0.000,1698.125,0.000,0.542,0.000
$DEVICE_MAMPS,220.129,79.001,1069.965,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.585,586.893,602.798,124.871,517.880,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31909,398
$CAP_FILE_SIZE,96981,0
$CFSIZE,260165632,234651648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,110211,211258,2245.036,-15757.679,9,6.7,28,10.1