version: 66.04
glider: 512
mission: 1
dive: 657
start: 2 8 111 0 52 19
data:
$ID,512
$MISSION,1
$DIVE,657
$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,-20187.887
$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,59
$R_STBD_OVSHOOT,46
$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
$GPS1,003725,2252.997,-15805.586,59,1.0,59,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.8
$GPS2,005126,2253.081,-15805.550,15,1.8,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.240,0.089
$KALMAN_X,-189456.2,-953.9,169.3,199659.3,285.7
$KALMAN_Y,-564930.1,2108.5,766.2,696883.9,-5472.9
$MHEAD_RNG_PITCHd_Wd,59.7,17164,-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,13,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.20,0.000,2,0.000,0.000,32,2730,2896
$GC,69,-0.85,-146.0,3.1,-4.1,6,109,10.52,2.20,-18.25,0.000,4,0.220,0.041,2583,1299,3768
$GC,124,-0.85,-146.0,17.1,-26.9,13,132,0.00,2.30,0.00,0.000,6,0.000,0.065,2575,2676,3769
$GC,390,-0.85,-146.0,90.5,-24.9,42,394,0.00,2.00,0.00,0.000,4,0.000,0.070,2566,3901,3771
$GC,517,-0.85,-146.0,114.5,-16.4,53,521,0.00,1.75,0.00,0.000,6,0.000,0.024,2566,2692,3771
$GC,786,-0.85,-146.0,170.1,-22.7,78,790,0.00,2.03,0.00,0.000,4,0.000,0.026,2566,1298,3772
$GC,889,-0.85,-146.0,187.8,-13.7,87,893,0.00,2.30,0.00,0.000,6,0.000,0.062,2563,2715,3772
$GC,1173,-0.85,-146.0,236.3,-17.1,99,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2714,3773
$GC,1417,-0.85,-146.0,276.3,-16.9,105,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2715,3772
$GC,1662,-0.85,-146.0,315.2,-15.8,111,1665,0.00,2.10,0.00,0.000,4,0.000,0.027,2562,1298,3772
$GC,1724,-0.85,-146.0,324.3,-12.0,112,1728,0.00,2.30,0.00,0.000,6,0.000,0.065,2563,2701,3772
$GC,1999,-0.85,-146.0,362.6,-14.3,119,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2702,3772
$GC,2241,-0.85,-146.0,398.0,-14.7,125,2245,0.00,2.08,0.00,0.000,4,0.000,0.027,2563,1290,3769
$GC,2294,-0.85,-146.0,405.0,-11.6,126,2298,0.00,2.33,0.00,0.000,6,0.000,0.065,2563,2709,3769
$GC,2573,-0.85,-146.0,443.0,-13.9,133,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2709,3767
$GC,2818,-0.85,-146.0,473.9,-12.5,139,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2709,3765
$GC,3060,-0.85,-146.0,504.2,-12.5,145,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2710,3764
$GC,3305,-0.85,-146.0,534.4,-12.4,151,3308,0.00,2.00,0.00,0.000,4,0.000,0.083,2553,3894,3762
$GC,3345,-0.85,-146.0,539.7,-12.0,151,3351,0.12,1.75,0.00,0.000,6,0.136,0.028,2587,2705,3762
$GC,3596,-0.85,-146.0,563.1,-9.4,158,3599,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,1293,3760
$GC,3658,-0.85,-146.0,568.8,-8.7,159,3662,0.00,2.33,0.00,0.000,6,0.000,0.069,2587,2701,3760
$GC,3930,-0.85,-146.0,591.7,-8.6,166,3933,0.00,2.03,0.00,0.000,4,0.000,0.086,2587,3889,3758
$GC,3970,-0.85,-146.0,595.3,-7.3,166,3976,0.00,1.77,0.00,0.000,6,0.000,0.028,2588,2683,3757
$STATE,4055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4055,begin apogee
$GC,4064,-0.32,0.0,602.3,7.8,169,4189,0.52,0.00,122.97,1.057,6,0.110,0.000,2759,2601,3170
$STATE,4190,end apogee,CONTROL_FINISHED_OK
$STATE,4190,begin climb
$GC,4194,0.85,146.0,607.9,0.0,172,4331,1.05,2.25,128.30,1.039,4,0.055,0.062,3148,3898,2572
$GC,4593,0.85,146.0,575.6,18.2,181,4597,0.00,1.92,0.00,0.000,6,0.000,0.028,3158,2610,2565
$GC,4883,0.85,146.0,530.6,15.1,188,4886,0.00,2.12,0.00,0.000,4,0.000,0.031,3168,1180,2561
$GC,4906,0.85,146.0,527.3,14.3,188,4910,0.00,2.28,0.00,0.000,6,0.000,0.051,3168,2604,2561
$GC,5168,0.85,146.0,490.9,13.4,195,5171,0.00,2.08,0.00,0.000,4,0.000,0.058,3163,3903,2559
$GC,5426,0.85,146.0,455.3,13.2,200,5430,0.15,1.95,0.00,0.000,6,0.265,0.028,3144,2585,2558
$GC,5682,0.85,146.0,427.0,10.9,207,5686,0.00,2.12,0.00,0.000,4,0.000,0.055,3137,3898,2556
$GC,5784,0.85,146.0,415.9,10.5,209,5788,0.00,1.92,0.00,0.000,6,0.000,0.028,3146,2599,2556
$GC,6064,0.87,161.8,390.0,8.9,216,6083,0.00,2.12,11.77,0.856,4,0.000,0.054,3146,3898,2510
$GC,6118,0.87,161.8,384.5,11.7,217,6122,0.00,1.92,0.00,0.000,6,0.000,0.027,3155,2598,2509
$GC,6398,0.87,161.8,351.6,11.9,224,6401,0.00,2.08,0.00,0.000,4,0.000,0.031,3165,1184,2507
$GC,6656,0.87,161.8,323.0,10.1,229,6660,0.00,2.25,0.00,0.000,6,0.000,0.051,3165,2608,2506
$GC,6907,0.87,161.8,296.5,10.4,235,6911,0.00,2.10,0.00,0.000,4,0.000,0.029,3175,1183,2506
$GC,7166,0.88,163.4,271.3,9.5,240,7170,0.00,2.25,0.00,0.000,6,0.000,0.051,3175,2602,2505
$GC,7423,0.88,163.4,245.9,10.1,247,7427,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1179,2505
$GC,7440,0.88,163.4,244.0,10.7,247,7445,0.15,2.25,0.00,0.000,6,0.216,0.048,3152,2602,2504
$GC,7708,0.88,166.1,217.2,9.5,254,7717,0.00,2.12,4.75,0.594,4,0.000,0.028,3161,1177,2492
$GC,7971,1.03,289.7,205.1,4.1,259,8085,0.10,2.25,107.47,0.798,6,0.100,0.045,3196,2613,1987
$GC,8339,1.03,289.7,112.8,32.8,288,8343,0.00,2.12,0.00,0.000,4,0.000,0.028,3207,1191,1978
$GC,8386,1.03,289.7,98.4,28.2,292,8390,0.00,2.25,0.00,0.000,6,0.000,0.047,3205,2595,1976
$GC,8650,1.03,289.7,28.2,27.4,316,8658,0.00,2.10,0.00,0.000,4,0.000,0.028,3214,1193,1976
$GC,8721,1.03,289.7,7.7,28.4,328,8729,0.00,2.25,0.00,0.000,6,0.000,0.045,3214,2600,1974
$STATE,8735,end climb,SURFACE_DEPTH_REACHED
$STATE,8735,begin surface coast
$FINISH,0.2,1.024028
$STATE,8747,end surface coast,CONTROL_FINISHED_OK
$STATE,8747,begin surface
$SM_CCo,8770,30.58,0.635,0,0,1742,350.04
$SM_GC,0.78,0.00,0.00,30.58,0.000,0.000,0.635,35,2760,1742,-8.84,1.70,350.04
$IRIDIUM_FIX,2244.02,-15806.70,040500,000021
$TT8_MAMPS,0.023777
$HUMID,1934
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.6,86.934
$10V_AH,10.6,48.129
$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,21.000,80.375,375.275,30.575,0.000,55.083,75.119,507.011,0.250,0.000,0.000,15.377,763.822,6119.924,428.034,1409.987,925.144,33.367,1079.246,0.000,1391.141,0.000,0.543,0.000
$DEVICE_MAMPS,264.615,85.904,1056.926,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,224.667,445.255,459.648,94.226,385.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25668,332
$CAP_FILE_SIZE,81126,0
$CFSIZE,260165632,236056576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,080211,032015,2252.820,-15804.549,12,1.9,32,10.1