version: 66.04
glider: 512
mission: 1
dive: 677
start: 2 10 111 7 56 37
data:
$ID,512
$MISSION,1
$DIVE,677
$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,-20595.873
$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,41
$R_STBD_OVSHOOT,57
$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
$GPS1,073634,2249.767,-15753.631,12,2.5,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.5
$GPS2,075544,2250.053,-15753.493,10,1.4,10,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.002,-0.256
$KALMAN_X,-204054.4,-115.6,-246.0,234572.5,1701.8
$KALMAN_Y,-549293.3,-713.9,-450.1,679710.3,4518.4
$MHEAD_RNG_PITCHd_Wd,169.5,9276,-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,-45.25,0.000,2,0.000,0.000,40,2739,2889
$GC,69,-0.85,-146.0,3.1,-4.3,6,102,10.38,2.25,-18.02,0.000,4,0.214,0.043,2599,1293,3758
$GC,149,-0.85,-146.0,22.6,-21.9,18,157,0.00,2.28,0.00,0.000,6,0.000,0.066,2590,2653,3759
$GC,421,-0.85,-146.0,95.3,-27.5,46,424,0.00,2.03,0.00,0.000,4,0.000,0.067,2581,3892,3759
$GC,467,-0.85,-146.0,106.3,-22.7,50,471,0.00,1.75,0.00,0.000,6,0.000,0.025,2580,2696,3760
$GC,736,-0.85,-146.0,166.2,-18.9,75,739,0.00,2.08,0.00,0.000,4,0.000,0.029,2580,1281,3760
$GC,785,-0.85,-146.0,175.4,-15.4,79,793,0.00,2.35,0.00,0.000,6,0.000,0.064,2576,2701,3761
$GC,1054,-0.85,-146.0,222.7,-17.9,96,1058,0.00,2.10,0.00,0.000,4,0.000,0.028,2576,1283,3761
$GC,1105,-0.85,-146.0,231.0,-13.3,97,1109,0.00,2.33,0.00,0.000,6,0.000,0.065,2576,2706,3761
$GC,1384,-0.85,-146.0,273.5,-15.5,104,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2706,3761
$GC,1627,-0.85,-146.0,310.0,-14.9,110,1631,0.00,2.10,0.00,0.000,4,0.000,0.030,2576,1292,3761
$GC,1668,-0.85,-146.0,315.9,-13.4,110,1675,0.08,2.33,0.00,0.000,6,0.133,0.065,2592,2697,3761
$GC,1919,-0.85,-146.0,345.2,-12.1,117,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2699,3760
$GC,2165,-0.85,-146.0,373.3,-11.4,123,2168,0.00,2.10,0.00,0.000,4,0.000,0.029,2600,1293,3759
$GC,2187,-0.85,-146.0,376.3,-11.6,123,2192,0.00,2.28,0.00,0.000,6,0.000,0.059,2592,2702,3759
$GC,2450,-0.85,-146.0,405.5,-11.5,130,2453,0.00,1.95,0.00,0.000,4,0.000,0.071,2583,3893,3757
$GC,2478,-0.85,-146.0,409.0,-11.0,130,2482,0.00,1.75,0.00,0.000,6,0.000,0.025,2588,2690,3757
$GC,2741,-0.85,-146.0,436.4,-10.4,137,2744,0.00,2.05,0.00,0.000,4,0.000,0.031,2598,1300,3755
$GC,2753,-0.85,-146.0,437.9,-10.1,137,2757,0.00,2.25,0.00,0.000,6,0.000,0.056,2590,2702,3755
$GC,3026,-0.85,-146.0,464.8,-10.2,144,3029,0.00,1.95,0.00,0.000,4,0.000,0.070,2581,3894,3753
$GC,3072,-0.85,-146.0,469.7,-10.5,145,3076,0.00,1.75,0.00,0.000,6,0.000,0.025,2586,2698,3752
$GC,3363,-0.85,-146.0,499.0,-10.0,152,3367,0.00,2.08,0.00,0.000,4,0.000,0.031,2596,1294,3750
$GC,3391,-0.85,-146.0,502.0,-9.9,152,3396,0.00,2.28,0.00,0.000,6,0.000,0.057,2590,2705,3750
$GC,3654,-0.85,-146.0,526.8,-9.7,159,3657,0.00,1.98,0.00,0.000,4,0.000,0.073,2580,3905,3748
$GC,3677,-0.85,-146.0,529.2,-10.1,159,3680,0.00,1.77,0.00,0.000,6,0.000,0.028,2586,2702,3748
$GC,3946,-0.85,-146.0,554.2,-9.3,166,3950,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,1290,3746
$GC,3981,-0.85,-146.0,557.4,-8.5,166,3985,0.00,2.28,0.00,0.000,6,0.000,0.057,2590,2701,3746
$GC,4232,-0.85,-146.0,578.3,-8.5,172,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2702,3744
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4481,-0.32,0.0,600.9,9.4,178,4607,0.60,0.00,122.45,1.071,6,0.140,0.000,2769,2615,3160
$STATE,4607,end apogee,CONTROL_FINISHED_OK
$STATE,4607,begin climb
$GC,4611,0.85,146.0,608.3,0.0,181,4748,1.15,2.28,128.45,1.045,4,0.102,0.038,3155,1228,2564
$GC,5009,0.85,146.0,588.5,14.1,190,5014,0.00,2.28,0.00,0.000,6,0.000,0.055,3150,2640,2555
$GC,5294,0.85,146.0,547.0,14.4,197,5298,0.00,2.17,0.00,0.000,4,0.000,0.036,3158,1215,2551
$GC,5553,0.85,146.0,511.9,13.2,202,5557,0.00,2.25,0.00,0.000,6,0.000,0.051,3150,2624,2550
$GC,5809,0.85,146.0,479.8,12.0,209,5813,0.00,2.12,0.00,0.000,4,0.000,0.035,3158,1220,2548
$GC,6068,0.85,146.0,452.3,11.0,214,6072,0.00,2.25,0.00,0.000,6,0.000,0.052,3150,2630,2547
$GC,6319,0.85,146.0,423.9,11.4,220,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2630,2546
$GC,6564,0.85,146.0,398.5,10.0,226,6568,0.00,2.05,0.00,0.000,4,0.000,0.064,3149,3899,2544
$GC,6593,0.86,150.2,395.7,9.4,226,6597,0.00,1.92,0.00,0.000,6,0.000,0.030,3157,2631,2544
$GC,6855,0.90,179.2,373.8,8.3,233,6897,0.00,2.10,29.02,0.881,4,0.000,0.054,3150,3897,2428
$GC,7071,0.90,179.2,339.6,18.7,237,7078,0.00,1.92,0.00,0.000,6,0.000,0.029,3158,2620,2425
$GC,7324,0.90,179.2,299.9,15.4,244,7328,0.00,2.12,0.00,0.000,4,0.000,0.035,3168,1201,2423
$GC,7336,0.90,179.2,297.9,15.0,244,7340,0.00,2.28,0.00,0.000,6,0.000,0.050,3163,2634,2423
$GC,7610,0.90,179.2,258.9,14.3,251,7614,0.00,2.17,0.00,0.000,4,0.000,0.033,3171,1202,2422
$GC,7871,0.90,179.2,227.4,13.2,256,7875,0.00,2.25,0.00,0.000,6,0.000,0.050,3163,2628,2421
$GC,8123,0.90,179.2,199.9,10.7,262,8127,0.00,2.12,0.00,0.000,4,0.000,0.031,3172,1203,2420
$GC,8384,0.94,218.0,175.7,7.9,285,8434,0.00,2.22,35.92,0.746,6,0.000,0.049,3164,2627,2270
$GC,8689,0.94,218.0,130.5,17.5,313,8693,0.00,2.15,0.00,0.000,4,0.000,0.031,3172,1196,2265
$GC,8769,0.94,218.0,118.5,15.3,320,8773,0.00,2.25,0.00,0.000,6,0.000,0.045,3165,2630,2264
$GC,9032,0.94,218.0,85.1,14.1,344,9035,0.00,2.00,0.00,0.000,4,0.000,0.054,3163,3896,2264
$GC,9289,0.94,218.0,49.1,12.9,367,9293,0.00,1.90,0.00,0.000,6,0.000,0.025,3171,2598,2264
$GC,9556,0.94,218.0,15.7,12.4,402,9564,0.00,2.10,0.00,0.000,4,0.000,0.051,3172,3890,2264
$STATE,9634,end climb,SURFACE_DEPTH_REACHED
$STATE,9634,begin surface coast
$FINISH,0.4,1.023936
$STATE,9652,end surface coast,CONTROL_FINISHED_OK
$STATE,9652,begin surface
$SM_CCo,9675,69.12,0.617,0,0,1733,350.04
$SM_GC,2.00,0.00,0.00,69.12,0.000,0.000,0.617,40,2686,1733,-8.86,-0.40,350.04
$IRIDIUM_FIX,2244.02,-15756.28,060500,070724
$TT8_MAMPS,0.023777
$HUMID,1811
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.6,89.548
$10V_AH,10.7,49.842
$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,20.525,96.975,315.850,69.125,0.000,89.480,112.716,679.785,0.000,0.000,0.000,10.358,910.487,6636.234,435.982,1693.234,1223.254,33.369,1146.700,0.000,1683.146,0.000,0.543,0.000
$DEVICE_MAMPS,213.993,72.865,1071.499,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.957,638.634,658.854,143.243,590.869,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35055,419
$CAP_FILE_SIZE,89687,0
$CFSIZE,260165632,235184128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,2,0
$GPS,100211,104025,2249.773,-15753.377,39,1.7,40,10.1