version: 66.04
glider: 512
mission: 1
dive: 651
start: 2 7 111 8 7 14
data:
$ID,512
$MISSION,1
$DIVE,651
$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,-20092.883
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2865
$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,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3170
$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
$GPS1,075958,2247.899,-15805.393,10,3.9,29,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.7
$GPS2,080622,2247.896,-15805.361,17,4.9,36,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.096,0.238
$KALMAN_X,-187674.2,173.6,-336.1,197582.4,1163.9
$KALMAN_Y,-552185.9,-1907.8,126.8,679219.7,-1466.0
$MHEAD_RNG_PITCHd_Wd,327.9,10382,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-45.20,0.000,2,0.000,0.000,36,2757,2885
$GC,67,-0.85,-146.0,3.1,-4.2,6,108,10.75,2.25,-18.12,0.000,4,0.229,0.044,2582,1307,3768
$GC,214,-0.85,-146.0,36.6,-17.9,27,218,0.00,2.30,0.00,0.000,6,0.000,0.082,2574,2643,3770
$GC,478,-0.85,-146.0,106.5,-25.9,51,482,0.00,2.00,0.00,0.000,4,0.000,0.080,2565,3841,3771
$GC,504,-0.85,-146.0,113.7,-27.9,53,508,0.00,1.67,0.00,0.000,6,0.000,0.026,2565,2719,3771
$GC,773,-0.85,-146.0,172.8,-22.6,78,776,0.00,2.12,0.00,0.000,4,0.000,0.035,2565,1299,3773
$GC,897,-0.85,-146.0,193.6,-13.1,89,901,0.12,2.28,0.00,0.000,6,0.150,0.077,2589,2653,3774
$GC,1149,-0.85,-146.0,231.3,-15.2,98,1153,0.00,2.12,0.00,0.000,4,0.000,0.088,2581,3900,3774
$GC,1212,-0.85,-146.0,240.2,-11.9,99,1215,0.00,1.77,0.00,0.000,6,0.000,0.025,2583,2699,3774
$GC,1488,-0.85,-146.0,277.7,-14.0,106,1491,0.00,2.10,0.00,0.000,4,0.000,0.035,2584,1301,3775
$GC,1567,-0.85,-146.0,287.4,-10.5,107,1571,0.00,2.33,0.00,0.000,6,0.000,0.072,2576,2706,3775
$GC,1818,-0.85,-146.0,323.1,-14.9,113,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3775
$GC,2063,-0.85,-146.0,358.0,-14.3,119,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3774
$GC,2305,-0.85,-146.0,391.0,-13.3,125,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2707,3774
$GC,2550,-0.85,-146.0,421.0,-12.1,131,2553,0.00,2.12,0.00,0.000,4,0.000,0.034,2576,1296,3773
$GC,2590,-0.85,-146.0,425.6,-10.2,131,2596,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2708,3773
$GC,2841,-0.85,-146.0,452.7,-11.0,138,2844,0.00,2.12,0.00,0.000,4,0.000,0.033,2576,1298,3772
$GC,2875,-0.85,-146.0,456.5,-10.8,138,2879,0.00,2.33,0.00,0.000,6,0.000,0.072,2576,2701,3771
$GC,3131,-0.85,-146.0,484.3,-11.1,145,3135,0.00,2.00,0.00,0.000,4,0.000,0.083,2575,3889,3770
$GC,3165,-0.85,-146.0,488.0,-10.4,145,3169,0.00,1.77,0.00,0.000,6,0.000,0.029,2574,2690,3769
$GC,3421,-0.85,-146.0,515.5,-10.9,152,3425,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,1300,3768
$GC,3495,-0.85,-146.0,523.2,-9.3,153,3499,0.00,2.33,0.00,0.000,6,0.000,0.070,2564,2702,3768
$GC,3751,-0.85,-146.0,554.9,-12.9,160,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2702,3766
$GC,3998,-0.85,-146.0,584.3,-12.0,166,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2702,3764
$STATE,4155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4155,begin apogee
$GC,4164,-0.32,0.0,602.9,11.4,170,4292,0.62,0.00,125.43,1.083,6,0.123,0.000,2759,2584,3170
$STATE,4293,end apogee,CONTROL_FINISHED_OK
$STATE,4293,begin climb
$GC,4297,0.85,146.0,609.4,0.0,173,4435,1.02,2.28,128.85,1.058,4,0.048,0.063,3150,3892,2573
$GC,4696,0.85,146.0,578.0,18.9,182,4700,0.00,1.95,0.00,0.000,6,0.000,0.030,3158,2599,2566
$GC,4987,0.85,146.0,533.8,14.8,189,4990,0.00,2.08,0.00,0.000,4,0.000,0.054,3159,3898,2562
$GC,5127,0.85,146.0,513.0,14.2,192,5131,0.00,1.95,0.00,0.000,6,0.000,0.028,3167,2594,2561
$GC,5412,0.85,146.0,477.3,12.0,199,5416,0.00,2.12,0.00,0.000,4,0.000,0.037,3178,1188,2560
$GC,5576,0.85,146.0,458.2,11.5,202,5580,0.15,2.22,0.00,0.000,6,0.225,0.050,3144,2603,2559
$GC,5832,0.85,146.0,432.4,9.8,209,5835,0.00,2.12,0.00,0.000,4,0.000,0.034,3154,1195,2557
$GC,6090,0.86,146.9,407.0,9.6,214,6094,0.00,2.22,0.00,0.000,6,0.000,0.049,3151,2604,2557
$GC,6341,0.86,146.9,382.9,9.9,220,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2604,2555
$GC,6587,0.87,157.0,359.9,9.2,226,6600,0.00,2.15,7.30,0.780,4,0.000,0.058,3150,3903,2530
$GC,6632,0.87,157.0,355.4,10.0,227,6636,0.00,1.95,0.00,0.000,6,0.000,0.030,3159,2600,2529
$GC,6922,0.87,157.0,324.6,10.3,234,6926,0.00,2.10,0.00,0.000,4,0.000,0.058,3159,3893,2528
$GC,6962,0.87,157.0,320.5,10.3,234,6968,0.00,1.92,0.00,0.000,6,0.000,0.027,3168,2590,2528
$GC,7214,0.87,157.0,295.5,10.0,241,7217,0.00,2.10,0.00,0.000,4,0.000,0.055,3164,3893,2528
$GC,7360,0.87,157.0,280.4,10.6,244,7364,0.00,1.90,0.00,0.000,6,0.000,0.027,3172,2598,2528
$GC,7641,0.90,179.6,256.2,8.6,251,7675,0.00,2.12,23.55,0.772,4,0.000,0.053,3172,3884,2436
$GC,7733,0.90,179.6,245.8,14.1,253,7737,0.00,1.95,0.00,0.000,6,0.000,0.028,3180,2581,2436
$GC,8017,0.90,179.6,207.5,13.6,260,8021,0.00,2.05,0.00,0.000,4,0.000,0.028,3191,1183,2433
$GC,8065,0.90,179.6,202.1,11.6,261,8070,0.15,2.25,0.00,0.000,6,0.219,0.046,3159,2609,2433
$GC,8334,0.91,188.2,175.0,9.2,283,8347,0.00,2.12,8.50,0.680,4,0.000,0.058,3159,3898,2402
$GC,8601,0.91,188.2,144.5,11.3,306,8610,0.00,1.95,0.00,0.000,6,0.000,0.027,3167,2585,2401
$GC,8866,0.91,190.0,118.2,9.5,331,8870,0.00,2.08,0.00,0.000,4,0.000,0.052,3163,3892,2400
$GC,8902,0.91,190.0,114.0,11.3,334,8906,0.00,1.88,0.00,0.000,6,0.000,0.025,3171,2608,2400
$GC,9173,0.97,238.7,91.6,7.4,359,9223,0.00,2.17,44.60,0.693,4,0.000,0.027,3181,1191,2195
$GC,9381,0.97,238.7,60.9,15.7,377,9385,0.00,2.25,0.00,0.000,6,0.000,0.045,3179,2604,2190
$GC,9648,0.97,238.7,10.8,19.9,410,9656,0.00,2.08,0.00,0.000,4,0.000,0.054,3178,3893,2190
$STATE,9683,end climb,SURFACE_DEPTH_REACHED
$STATE,9684,begin surface coast
$FINISH,0.3,1.024110
$STATE,9696,end surface coast,CONTROL_FINISHED_OK
$STATE,9696,begin surface
$SM_CCo,9719,56.30,0.630,0,0,1743,350.04
$SM_GC,2.11,0.00,0.00,56.30,0.000,0.000,0.630,40,2671,1743,-8.83,-0.82,350.04
$IRIDIUM_FIX,2239.35,-15802.37,030500,060630
$TT8_MAMPS,0.023777
$HUMID,1833
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.6,86.189
$10V_AH,10.7,47.618
$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,21.200,91.975,338.225,56.300,0.000,25.309,36.871,175.306,0.000,0.000,0.000,37.570,903.336,6598.416,434.494,1700.334,532.690,33.369,1142.000,0.000,1659.273,0.000,0.543,0.000
$DEVICE_MAMPS,229.333,88.205,1083.004,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.238,636.323,653.613,134.078,559.569,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35138,418
$CAP_FILE_SIZE,82473,0
$CFSIZE,260165632,236298240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,1
$GPS,070211,105137,2248.684,-15805.879,43,0.8,43,10.1