version: 66.04
glider: 512
mission: 1
dive: 660
start: 2 8 111 8 40 54
data:
$ID,512
$MISSION,1
$DIVE,660
$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,-20257.406
$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,64
$R_STBD_OVSHOOT,49
$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
$GPS1,083126,2253.555,-15803.269,31,2.1,51,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.2
$GPS2,084001,2253.608,-15803.301,12,1.1,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.221,0.130
$KALMAN_X,-195227.4,633.8,-213.5,208093.2,-1981.7
$KALMAN_Y,-564471.6,-764.5,421.6,700632.7,-1635.2
$MHEAD_RNG_PITCHd_Wd,49.4,13310,-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,15,begin dive
$GC,19,-0.85,-146.0,0.0,0.0,0,74,0.00,0.00,-52.75,0.000,2,0.000,0.000,26,2732,3144
$GC,79,-0.85,-146.0,3.9,-6.2,7,111,10.52,2.15,-11.18,0.000,4,0.219,0.041,2586,1300,3768
$GC,147,-0.85,-146.0,29.6,-32.7,17,155,0.00,2.33,0.00,0.000,6,0.000,0.072,2577,2669,3769
$GC,410,-0.85,-146.0,100.8,-24.4,42,413,0.00,2.05,0.00,0.000,4,0.000,0.081,2568,3886,3770
$GC,501,-0.85,-146.0,120.8,-16.4,50,504,0.00,1.73,0.00,0.000,6,0.000,0.025,2568,2691,3771
$GC,769,-0.85,-146.0,177.9,-20.9,75,773,0.00,2.03,0.00,0.000,4,0.000,0.025,2567,1294,3772
$GC,797,-0.85,-146.0,183.9,-19.8,77,805,0.08,2.33,0.00,0.000,6,0.143,0.064,2581,2699,3772
$GC,1066,-0.85,-146.0,232.8,-18.9,91,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2699,3773
$GC,1306,-0.85,-146.0,270.8,-14.9,97,1310,0.00,1.98,0.00,0.000,4,0.000,0.076,2573,3887,3774
$GC,1335,-0.85,-146.0,275.0,-14.6,97,1338,0.00,1.73,0.00,0.000,6,0.000,0.025,2573,2684,3774
$GC,1597,-0.85,-146.0,311.4,-13.9,104,1601,0.00,2.00,0.00,0.000,4,0.000,0.026,2573,1307,3774
$GC,1648,-0.85,-146.0,318.1,-11.2,105,1652,0.00,2.28,0.00,0.000,6,0.000,0.062,2563,2712,3774
$GC,1928,-0.85,-146.0,356.6,-14.3,112,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2712,3773
$GC,2170,-0.85,-146.0,390.4,-13.8,118,2174,0.00,1.95,0.00,0.000,4,0.000,0.074,2554,3889,3772
$GC,2199,-0.85,-146.0,394.6,-13.8,118,2203,0.12,1.73,0.00,0.000,6,0.141,0.026,2587,2686,3772
$GC,2460,-0.85,-146.0,422.6,-10.5,125,2464,0.00,2.00,0.00,0.000,4,0.000,0.027,2587,1313,3771
$GC,2501,-0.85,-146.0,426.7,-9.2,125,2508,0.00,2.30,0.00,0.000,6,0.000,0.063,2579,2697,3771
$GC,2751,-0.85,-146.0,454.5,-11.3,132,2755,0.00,2.03,0.00,0.000,4,0.000,0.085,2576,3889,3770
$GC,2803,-0.85,-146.0,460.3,-9.9,133,2806,0.00,1.70,0.00,0.000,6,0.000,0.026,2576,2712,3769
$GC,3087,-0.85,-146.0,492.9,-11.8,140,3091,0.00,2.05,0.00,0.000,4,0.000,0.029,2576,1314,3767
$GC,3135,-0.85,-146.0,498.4,-10.9,141,3139,0.00,2.28,0.00,0.000,6,0.000,0.065,2576,2703,3767
$GC,3419,-0.85,-146.0,533.5,-12.4,148,3423,0.00,2.00,0.00,0.000,4,0.000,0.080,2576,3890,3765
$GC,3448,-0.85,-146.0,537.1,-12.6,148,3452,0.00,1.75,0.00,0.000,6,0.000,0.028,2576,2696,3764
$GC,3710,-0.85,-146.0,566.7,-11.2,155,3714,0.00,2.08,0.00,0.000,4,0.000,0.032,2576,1303,3763
$GC,3740,-0.85,-146.0,570.3,-11.6,155,3744,0.00,2.33,0.00,0.000,6,0.000,0.070,2575,2701,3763
$GC,3996,-0.85,-146.0,596.9,-10.5,162,4000,0.00,2.03,0.00,0.000,4,0.000,0.082,2576,3896,3761
$STATE,4027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4027,begin apogee
$GC,4038,-0.32,0.0,600.5,9.4,162,4170,0.55,0.00,124.15,1.067,6,0.112,0.000,2758,2602,3169
$STATE,4171,end apogee,CONTROL_FINISHED_OK
$STATE,4171,begin climb
$GC,4175,0.85,146.0,608.4,0.0,166,4311,1.02,2.25,128.70,1.064,4,0.045,0.031,3164,1203,2574
$GC,4569,0.85,146.0,583.6,14.2,175,4573,0.00,2.28,0.00,0.000,6,0.000,0.053,3163,2609,2566
$GC,4854,0.85,146.0,540.7,15.3,182,4858,0.00,2.08,0.00,0.000,4,0.000,0.061,3163,3899,2562
$GC,4978,0.85,146.0,521.5,14.6,184,4983,0.15,1.92,0.00,0.000,6,0.247,0.028,3143,2595,2560
$GC,5235,0.85,146.0,490.3,11.9,191,5239,0.00,2.08,0.00,0.000,4,0.000,0.030,3152,1194,2559
$GC,5270,0.85,146.0,486.1,11.0,191,5274,0.00,2.25,0.00,0.000,6,0.000,0.050,3150,2608,2559
$GC,5520,0.85,146.0,456.5,11.6,197,5524,0.00,2.10,0.00,0.000,4,0.000,0.030,3159,1194,2558
$GC,5588,0.85,146.0,449.6,9.8,198,5593,0.00,2.25,0.00,0.000,6,0.000,0.050,3159,2613,2558
$GC,5850,0.85,146.0,422.9,10.2,205,5854,0.00,2.12,0.00,0.000,4,0.000,0.031,3168,1184,2556
$GC,6109,0.86,149.3,398.6,9.5,210,6113,0.00,2.25,0.00,0.000,6,0.000,0.052,3166,2595,2555
$GC,6361,0.86,150.8,374.4,9.6,216,6365,0.00,2.10,0.00,0.000,4,0.000,0.031,3175,1198,2553
$GC,6419,0.87,158.2,369.0,9.3,217,6433,0.00,2.22,8.55,0.828,6,0.000,0.050,3175,2602,2524
$GC,6696,0.87,158.2,338.6,11.1,224,6700,0.00,2.05,0.00,0.000,4,0.000,0.054,3175,3895,2522
$GC,6954,0.87,158.2,307.6,11.1,229,6959,0.17,1.92,0.00,0.000,6,0.243,0.028,3149,2591,2521
$GC,7212,0.92,195.0,286.8,8.0,236,7254,0.00,2.15,33.75,0.884,4,0.000,0.030,3158,1197,2374
$GC,7356,0.92,195.0,268.5,14.5,239,7360,0.00,2.25,0.00,0.000,6,0.000,0.046,3150,2602,2371
$GC,7631,0.92,195.0,226.1,15.4,246,7634,0.00,2.08,0.00,0.000,4,0.000,0.059,3150,3899,2368
$GC,7772,0.92,195.0,203.5,16.1,249,7775,0.00,1.92,0.00,0.000,6,0.000,0.028,3158,2607,2367
$GC,8038,0.92,195.0,170.2,13.3,271,8042,0.00,2.10,0.00,0.000,4,0.000,0.028,3169,1177,2367
$GC,8052,0.92,195.0,167.8,14.3,272,8056,0.00,2.25,0.00,0.000,6,0.000,0.048,3165,2602,2367
$GC,8322,0.92,195.0,130.3,10.9,297,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2602,2367
$GC,8585,0.92,195.0,103.9,9.6,322,8589,0.00,2.03,0.00,0.000,4,0.000,0.052,3163,3897,2367
$GC,8677,0.96,228.6,96.0,8.1,330,8716,0.00,1.92,29.08,0.717,6,0.000,0.026,3172,2573,2238
$GC,8977,0.96,228.6,54.1,15.8,357,8980,0.00,2.03,0.00,0.000,4,0.000,0.026,3182,1189,2235
$GC,9057,0.96,228.6,40.7,16.4,364,9061,0.00,2.22,0.00,0.000,6,0.000,0.042,3179,2608,2234
$STATE,9260,end climb,SURFACE_DEPTH_REACHED
$STATE,9261,begin surface coast
$FINISH,1.1,1.023998
$STATE,9273,end surface coast,CONTROL_FINISHED_OK
$STATE,9273,begin surface
$SM_CCo,9298,57.25,0.632,0,0,1743,350.04
$SM_GC,1.84,0.00,0.00,57.25,0.000,0.000,0.632,38,2754,1743,-8.83,1.53,350.04
$IRIDIUM_FIX,2246.36,-15803.66,040500,060601
$TT8_MAMPS,0.023777
$HUMID,1831
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.6,87.312
$10V_AH,10.7,48.368
$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,23.225,99.700,324.225,57.250,0.000,24.684,32.707,322.011,0.000,0.000,0.000,17.677,874.776,6265.154,431.841,1621.729,683.195,33.366,1129.741,0.000,1603.867,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,85.137,1066.897,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.629,600.364,618.181,129.077,530.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31954,398
$CAP_FILE_SIZE,84172,0
$CFSIZE,260165632,235925504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,080211,111744,2254.091,-15802.358,11,1.7,12,10.1