version: 66.04
glider: 512
mission: 1
dive: 661
start: 2 8 111 11 26 48
data:
$ID,512
$MISSION,1
$DIVE,661
$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,-20274.43
$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,63
$R_STBD_OVSHOOT,64
$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
$GPS1,111744,2254.091,-15802.358,11,1.7,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.9
$GPS2,112556,2254.133,-15802.365,16,1.7,16,10.1
$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,-197096.7,624.5,578.2,210787.0,-3326.3
$KALMAN_Y,-564873.9,-779.0,260.4,702185.1,-1078.6
$MHEAD_RNG_PITCHd_Wd,59.6,11770,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.38,0.000,2,0.000,0.000,30,2754,3387
$GC,84,-0.85,-146.0,4.2,-4.7,8,109,10.48,2.20,-6.30,0.000,4,0.219,0.039,2585,1312,3766
$GC,185,-0.85,-146.0,40.9,-15.5,20,193,0.00,2.30,0.00,0.000,6,0.000,0.078,2576,2640,3768
$GC,449,-0.85,-146.0,107.1,-25.5,45,453,0.00,2.05,0.00,0.000,4,0.000,0.084,2567,3845,3769
$GC,552,-0.85,-146.0,128.3,-18.9,54,556,0.00,1.65,0.00,0.000,6,0.000,0.024,2568,2711,3768
$GC,822,-0.85,-146.0,183.0,-19.3,79,826,0.00,2.08,0.00,0.000,4,0.000,0.028,2567,1293,3770
$GC,847,-0.85,-146.0,188.3,-20.8,81,852,0.12,2.28,0.00,0.000,6,0.153,0.074,2588,2656,3770
$GC,1132,-0.85,-146.0,230.9,-14.4,93,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2658,3771
$GC,1375,-0.85,-146.0,265.8,-14.4,99,1379,0.00,2.05,0.00,0.000,4,0.000,0.077,2581,3893,3772
$GC,1422,-0.85,-146.0,272.3,-12.8,100,1426,0.00,1.75,0.00,0.000,6,0.000,0.025,2581,2689,3772
$GC,1714,-0.85,-146.0,313.7,-14.0,107,1718,0.00,2.05,0.00,0.000,4,0.000,0.029,2581,1293,3772
$GC,1760,-0.85,-146.0,319.6,-10.6,108,1765,0.00,2.33,0.00,0.000,6,0.000,0.070,2576,2705,3771
$GC,2045,-0.85,-146.0,356.5,-13.0,115,2049,0.00,1.98,0.00,0.000,4,0.000,0.080,2567,3888,3771
$GC,2093,-0.85,-146.0,362.1,-11.4,116,2097,0.00,1.75,0.00,0.000,6,0.000,0.026,2567,2702,3771
$GC,2383,-0.85,-146.0,399.2,-12.8,123,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2696,3770
$GC,2626,-0.85,-146.0,430.2,-12.8,129,2630,0.00,2.08,0.00,0.000,4,0.000,0.030,2567,1297,3769
$GC,2666,-0.85,-146.0,435.3,-12.0,129,2672,0.00,2.33,0.00,0.000,6,0.000,0.068,2563,2706,3769
$GC,2918,-0.85,-146.0,467.1,-13.0,136,2922,0.00,1.98,0.00,0.000,4,0.000,0.077,2553,3895,3767
$GC,2958,-0.85,-146.0,472.6,-13.4,136,2965,0.12,1.75,0.00,0.000,6,0.144,0.027,2586,2695,3767
$GC,3209,-0.85,-146.0,498.5,-10.4,143,3213,0.00,2.08,0.00,0.000,4,0.000,0.032,2586,1298,3765
$GC,3249,-0.85,-146.0,502.9,-10.2,143,3255,0.00,2.30,0.00,0.000,6,0.000,0.062,2578,2712,3765
$GC,3500,-0.85,-146.0,529.7,-10.8,150,3503,0.00,2.12,0.00,0.000,4,0.000,0.030,2577,1301,3762
$GC,3534,-0.85,-146.0,533.6,-10.8,150,3538,0.00,2.30,0.00,0.000,6,0.000,0.067,2577,2696,3762
$GC,3786,-0.85,-146.0,558.7,-10.1,156,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2697,3761
$GC,4029,-0.85,-146.0,582.5,-9.6,162,4032,0.00,2.00,0.00,0.000,4,0.000,0.080,2567,3890,3759
$GC,4080,-0.85,-146.0,587.5,-8.4,163,4084,0.00,1.75,0.00,0.000,6,0.000,0.027,2567,2699,3759
$STATE,4199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4199,begin apogee
$GC,4209,-0.32,0.0,600.1,10.6,166,4336,0.60,0.00,124.28,1.086,6,0.122,0.000,2755,2584,3170
$STATE,4337,end apogee,CONTROL_FINISHED_OK
$STATE,4337,begin climb
$GC,4341,0.85,146.0,606.5,0.0,169,4478,1.05,2.28,129.60,1.068,4,0.055,0.064,3145,3886,2573
$GC,4740,0.85,146.0,581.7,14.9,178,4743,0.00,1.92,0.00,0.000,6,0.000,0.029,3154,2609,2565
$GC,5030,0.85,146.0,541.5,13.7,185,5034,0.00,2.08,0.00,0.000,4,0.000,0.055,3150,3902,2561
$GC,5224,0.85,146.0,513.8,13.6,189,5228,0.00,1.95,0.00,0.000,6,0.000,0.031,3158,2602,2560
$GC,5504,0.85,146.0,479.0,12.1,196,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2597,2559
$GC,5747,0.86,150.3,454.8,9.4,202,5751,0.00,2.08,0.00,0.000,4,0.000,0.051,3152,3901,2557
$GC,6006,0.86,150.3,427.5,10.2,207,6009,0.00,1.95,0.00,0.000,6,0.000,0.029,3161,2595,2557
$GC,6262,0.86,150.3,401.7,10.5,214,6266,0.00,2.12,0.00,0.000,4,0.000,0.057,3161,3906,2555
$GC,6426,0.86,150.3,382.7,11.3,217,6430,0.00,1.95,0.00,0.000,6,0.000,0.027,3170,2589,2554
$GC,6688,0.87,155.0,356.5,9.4,224,6699,0.00,2.12,5.90,0.735,4,0.000,0.053,3163,3899,2536
$GC,6790,0.88,167.8,346.8,9.1,226,6816,0.00,1.92,15.05,0.772,6,0.000,0.028,3172,2594,2485
$GC,7061,0.88,167.8,315.5,11.7,233,7064,0.00,2.10,0.00,0.000,4,0.000,0.050,3163,3909,2482
$GC,7207,0.88,167.8,298.3,11.8,236,7211,0.00,1.95,0.00,0.000,6,0.000,0.026,3171,2595,2481
$GC,7486,0.88,167.8,268.8,10.6,243,7490,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1174,2480
$GC,7566,0.88,167.8,261.0,9.8,244,7570,0.00,2.25,0.00,0.000,6,0.000,0.044,3177,2606,2480
$GC,7817,0.90,179.2,237.1,9.1,250,7832,0.00,2.05,10.75,0.764,4,0.000,0.055,3176,3893,2440
$GC,8085,0.90,179.2,204.3,13.6,256,8090,0.15,1.95,0.00,0.000,6,0.249,0.026,3155,2566,2439
$GC,8354,0.95,227.4,180.1,7.5,278,8403,0.00,2.08,42.85,0.796,4,0.000,0.027,3164,1183,2244
$GC,8451,0.95,227.4,167.3,18.2,286,8456,0.00,2.25,0.00,0.000,6,0.000,0.045,3163,2598,2242
$GC,8722,0.95,227.4,117.8,16.2,311,8726,0.00,2.08,0.00,0.000,4,0.000,0.055,3162,3902,2238
$GC,8802,0.95,227.4,103.1,17.2,318,8806,0.00,1.92,0.00,0.000,6,0.000,0.026,3171,2596,2238
$GC,9072,0.95,227.4,61.7,16.5,343,9076,0.00,2.08,0.00,0.000,4,0.000,0.028,3181,1177,2238
$GC,9324,0.95,227.4,24.3,16.0,369,9332,0.00,2.28,0.00,0.000,6,0.000,0.048,3178,2595,2238
$STATE,9444,end climb,SURFACE_DEPTH_REACHED
$STATE,9444,begin surface coast
$FINISH,0.2,1.024128
$STATE,9465,end surface coast,CONTROL_FINISHED_OK
$STATE,9465,begin surface
$SM_CCo,9487,61.40,0.643,0,0,1742,350.04
$SM_GC,1.86,0.00,0.00,61.40,0.000,0.000,0.643,42,2724,1742,-8.82,0.71,350.04
$IRIDIUM_FIX,2244.02,-15803.66,040500,080814
$TT8_MAMPS,0.023777
$HUMID,1832
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,87.437
$10V_AH,10.7,48.455
$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,20.875,90.825,328.425,61.400,0.000,24.794,41.271,285.897,0.000,0.000,0.000,16.394,873.886,6406.760,432.622,1673.068,658.106,33.370,1148.823,0.000,1653.432,0.000,0.542,0.000
$DEVICE_MAMPS,248.508,83.603,1086.072,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,266.859,582.373,598.516,127.286,524.828,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31953,394
$CAP_FILE_SIZE,83633,0
$CFSIZE,260165632,235880448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,080211,140725,2254.321,-15801.224,45,1.8,45,10.1