version: 66.04
glider: 512
mission: 1
dive: 662
start: 2 8 111 14 16 55
data:
$ID,512
$MISSION,1
$DIVE,662
$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,-20293.314
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,140725,2254.321,-15801.224,45,1.8,45,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-77.4
$GPS2,141602,2254.352,-15801.199,18,1.0,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.253,0.042
$KALMAN_X,-197806.8,402.2,663.1,213630.9,-3540.3
$KALMAN_Y,-565682.8,-196.1,-190.0,703270.9,-464.3
$MHEAD_RNG_PITCHd_Wd,70.4,9851,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-52.83,0.000,2,0.000,0.000,28,2725,3138
$GC,76,-0.85,-146.0,3.6,-5.1,7,109,10.60,2.15,-11.62,0.000,4,0.221,0.040,2588,1298,3767
$GC,134,-0.85,-146.0,26.0,-40.1,15,142,0.00,2.33,0.00,0.000,6,0.000,0.066,2580,2681,3769
$GC,407,-0.85,-146.0,97.1,-26.2,41,411,0.00,2.05,0.00,0.000,4,0.000,0.026,2580,1287,3770
$GC,436,-0.85,-146.0,105.6,-26.7,43,443,0.00,2.33,0.00,0.000,6,0.000,0.060,2569,2703,3770
$GC,699,-0.85,-146.0,163.9,-20.8,68,702,0.00,1.95,0.00,0.000,4,0.000,0.066,2559,3884,3771
$GC,760,-0.85,-146.0,176.3,-17.4,73,767,0.00,1.75,0.00,0.000,6,0.000,0.025,2560,2691,3771
$GC,1047,-0.85,-146.0,232.9,-19.6,89,1050,0.00,2.03,0.00,0.000,4,0.000,0.025,2560,1291,3773
$GC,1109,-0.85,-146.0,242.6,-12.6,90,1114,0.15,2.30,0.00,0.000,6,0.136,0.062,2593,2710,3773
$GC,1378,-0.85,-146.0,276.1,-13.0,97,1381,0.00,1.95,0.00,0.000,4,0.000,0.072,2586,3895,3773
$GC,1425,-0.85,-146.0,282.1,-10.9,98,1429,0.00,1.73,0.00,0.000,6,0.000,0.024,2585,2693,3773
$GC,1715,-0.85,-146.0,317.0,-11.8,105,1719,0.00,2.03,0.00,0.000,4,0.000,0.026,2585,1298,3773
$GC,1779,-0.85,-146.0,323.7,-9.1,106,1784,0.00,2.28,0.00,0.000,6,0.000,0.058,2577,2705,3773
$GC,2048,-0.85,-146.0,356.1,-12.5,113,2051,0.00,1.92,0.00,0.000,4,0.000,0.071,2567,3885,3772
$GC,2088,-0.85,-146.0,361.5,-12.0,113,2094,0.00,1.73,0.00,0.000,6,0.000,0.025,2567,2689,3772
$GC,2339,-0.85,-146.0,395.1,-13.5,120,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2682,3771
$GC,2583,-0.85,-146.0,426.0,-12.7,126,2587,0.00,2.03,0.00,0.000,4,0.000,0.028,2567,1303,3769
$GC,2612,-0.85,-146.0,430.0,-13.2,126,2616,0.00,2.30,0.00,0.000,6,0.000,0.064,2563,2697,3770
$GC,2869,-0.85,-146.0,462.6,-13.0,133,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2697,3768
$GC,3113,-0.85,-146.0,493.4,-12.7,139,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2697,3766
$GC,3356,-0.85,-146.0,522.5,-11.8,145,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2698,3765
$GC,3600,-0.85,-146.0,552.3,-12.2,151,3604,0.00,2.08,0.00,0.000,4,0.000,0.031,2563,1317,3763
$GC,3669,-0.85,-146.0,560.5,-11.7,152,3673,0.12,2.30,0.00,0.000,6,0.143,0.069,2585,2703,3763
$GC,3930,-0.85,-146.0,586.2,-9.8,159,3934,0.00,2.00,0.00,0.000,4,0.000,0.081,2577,3889,3760
$GC,3964,-0.85,-146.0,589.7,-9.7,159,3968,0.00,1.73,0.00,0.000,6,0.000,0.028,2577,2712,3760
$STATE,4095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4095,begin apogee
$GC,4105,-0.32,0.0,603.0,10.1,163,4232,0.57,0.00,124.22,1.072,6,0.115,0.000,2760,2601,3170
$STATE,4233,end apogee,CONTROL_FINISHED_OK
$STATE,4233,begin climb
$GC,4237,0.85,146.0,609.6,0.0,166,4372,1.05,0.00,128.57,1.035,6,0.055,0.000,3150,2601,2573
$GC,4648,0.85,146.0,584.6,14.9,176,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2601,2564
$GC,4891,0.85,146.0,548.7,14.5,182,4895,0.00,2.10,0.00,0.000,4,0.000,0.058,3150,3903,2561
$GC,4902,0.85,146.0,546.7,14.2,182,4906,0.00,1.95,0.00,0.000,6,0.000,0.029,3159,2601,2561
$GC,5182,0.85,146.0,506.6,14.1,189,5185,0.00,2.12,0.00,0.000,4,0.000,0.033,3170,1180,2560
$GC,5440,0.85,146.0,474.6,11.7,194,5444,0.00,2.25,0.00,0.000,6,0.000,0.051,3165,2602,2558
$GC,5691,0.85,146.0,445.3,11.5,200,5695,0.00,2.12,0.00,0.000,4,0.000,0.031,3174,1177,2556
$GC,5950,0.86,149.6,418.1,9.5,205,5954,0.15,2.25,0.00,0.000,6,0.225,0.048,3143,2600,2556
$GC,6206,0.87,158.1,394.0,9.2,212,6216,0.00,0.00,8.48,0.825,6,0.000,0.000,3143,2600,2525
$GC,6449,0.87,158.1,366.9,11.5,218,6453,0.00,2.08,0.00,0.000,4,0.000,0.058,3137,3900,2523
$GC,6512,0.87,158.1,359.6,11.4,219,6516,0.00,1.95,0.00,0.000,6,0.000,0.028,3146,2592,2523
$GC,6787,0.87,158.1,328.7,11.5,226,6790,0.00,2.08,0.00,0.000,4,0.000,0.031,3156,1189,2522
$GC,6804,0.87,158.1,326.6,11.7,226,6808,0.00,2.25,0.00,0.000,6,0.000,0.050,3151,2605,2522
$GC,7071,0.87,158.1,299.8,10.0,233,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2605,2521
$GC,7316,0.91,188.5,279.3,8.3,239,7357,0.00,2.17,30.00,0.801,4,0.000,0.029,3159,1184,2400
$GC,7583,0.91,188.5,244.1,12.7,245,7587,0.00,2.25,0.00,0.000,6,0.000,0.051,3159,2600,2396
$GC,7874,0.91,188.5,203.2,14.0,252,7878,0.00,2.10,0.00,0.000,4,0.000,0.028,3169,1177,2394
$GC,8126,0.91,188.5,173.4,11.9,271,8133,0.00,2.28,0.00,0.000,6,0.000,0.048,3169,2600,2394
$GC,8389,0.91,188.5,141.1,10.2,296,8393,0.00,2.05,0.00,0.000,4,0.000,0.052,3163,3905,2394
$GC,8525,0.91,188.5,126.4,12.2,308,8529,0.00,1.92,0.00,0.000,6,0.000,0.027,3171,2592,2393
$GC,8795,0.91,188.5,101.5,10.1,333,8799,0.00,2.10,0.00,0.000,4,0.000,0.055,3172,3891,2393
$GC,8812,0.91,189.5,99.4,9.6,334,8821,0.00,1.92,0.00,0.000,6,0.000,0.025,3180,2594,2394
$GC,9077,0.98,243.8,80.7,7.2,359,9131,0.00,2.12,47.83,0.670,4,0.000,0.028,3190,1207,2174
$GC,9380,0.98,243.8,29.8,17.0,386,9388,0.00,2.20,0.00,0.000,6,0.000,0.043,3191,2604,2168
$STATE,9511,end climb,SURFACE_DEPTH_REACHED
$STATE,9511,begin surface coast
$FINISH,0.4,1.024073
$STATE,9528,end surface coast,CONTROL_FINISHED_OK
$STATE,9528,begin surface
$SM_CCo,9551,54.10,0.598,0,0,1742,350.04
$SM_GC,2.18,0.00,0.00,54.10,0.000,0.000,0.598,37,2738,1742,-8.84,1.07,350.04
$IRIDIUM_FIX,2246.36,-15801.49,040500,111141
$TT8_MAMPS,0.025311
$HUMID,1829
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.6,87.561
$10V_AH,10.7,48.545
$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,21.025,83.450,339.100,54.100,0.000,28.821,35.038,315.350,0.250,0.000,0.000,18.256,874.401,6534.871,435.954,1596.662,685.037,33.372,1114.615,0.000,1582.715,0.000,0.543,0.000
$DEVICE_MAMPS,224.731,80.535,1072.266,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,278.858,625.105,642.740,130.603,538.741,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35073,412
$CAP_FILE_SIZE,80610,0
$CFSIZE,260165632,235835392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,080211,165756,2254.027,-15800.308,12,1.8,12,10.1