version: 66.04
glider: 512
mission: 1
dive: 663
start: 2 8 111 17 10 53
data:
$ID,512
$MISSION,1
$DIVE,663
$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,-20337.934
$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,62
$R_STBD_OVSHOOT,58
$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
$GPS1,165756,2254.027,-15800.308,12,1.8,12,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.7
$GPS2,171001,2254.022,-15800.348,43,1.9,43,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.244,0.079
$KALMAN_X,-198561.9,229.6,23.2,216666.8,-2495.9
$KALMAN_Y,-567545.6,564.7,-259.9,703839.5,-1053.5
$MHEAD_RNG_PITCHd_Wd,61.9,8327,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.17,0.000,2,0.000,0.000,28,2742,2904
$GC,68,-0.85,-146.0,3.4,-4.8,6,101,10.62,0.00,-17.50,0.000,6,0.222,0.000,2579,2742,3768
$GC,366,-0.85,-146.0,83.4,-24.6,40,370,0.00,2.12,0.00,0.000,4,0.000,0.027,2583,1305,3770
$GC,426,-0.85,-146.0,97.1,-19.2,45,430,0.00,2.22,0.00,0.000,6,0.000,0.067,2577,2661,3770
$GC,691,-0.85,-146.0,153.2,-20.9,69,694,0.00,2.03,0.00,0.000,4,0.000,0.072,2567,3893,3772
$GC,760,-0.85,-146.0,166.7,-16.6,75,764,0.00,1.73,0.00,0.000,6,0.000,0.024,2567,2693,3772
$GC,1024,-0.85,-146.0,215.9,-18.4,94,1028,0.00,2.03,0.00,0.000,4,0.000,0.025,2566,1292,3773
$GC,1075,-0.85,-146.0,224.3,-13.1,95,1080,0.00,2.30,0.00,0.000,6,0.000,0.063,2563,2709,3773
$GC,1356,-0.85,-146.0,269.0,-16.5,102,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2710,3773
$GC,1598,-0.85,-146.0,305.0,-14.5,108,1602,0.00,2.10,0.00,0.000,4,0.000,0.026,2563,1291,3773
$GC,1655,-0.85,-146.0,313.0,-11.8,109,1660,0.12,2.28,0.00,0.000,6,0.134,0.061,2586,2701,3773
$GC,1929,-0.85,-146.0,346.0,-12.6,116,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2702,3772
$GC,2171,-0.85,-146.0,377.6,-12.8,122,2175,0.00,2.08,0.00,0.000,4,0.000,0.027,2586,1291,3771
$GC,2206,-0.85,-146.0,381.9,-11.3,122,2210,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2700,3771
$GC,2457,-0.85,-146.0,410.9,-11.6,128,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2700,3769
$GC,2700,-0.85,-146.0,438.2,-11.1,134,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2700,3768
$GC,2944,-0.85,-146.0,465.7,-11.5,140,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2700,3766
$GC,3190,-0.85,-146.0,492.5,-10.9,146,3193,0.00,2.10,0.00,0.000,4,0.000,0.031,2578,1310,3764
$GC,3218,-0.85,-146.0,496.0,-11.3,146,3222,0.00,2.28,0.00,0.000,6,0.000,0.067,2576,2700,3764
$GC,3480,-0.85,-146.0,522.0,-9.8,153,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2700,3762
$GC,3723,-0.85,-146.0,546.4,-10.2,159,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2700,3760
$GC,3967,-0.85,-146.0,572.9,-11.0,165,3971,0.00,2.10,0.00,0.000,4,0.000,0.031,2576,1304,3759
$GC,4001,-0.85,-146.0,576.7,-10.6,165,4006,0.00,2.33,0.00,0.000,6,0.000,0.071,2576,2698,3759
$STATE,4250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4250,begin apogee
$GC,4259,-0.32,0.0,602.4,10.4,171,4385,0.57,0.00,123.57,1.056,6,0.119,0.000,2758,2608,3170
$STATE,4386,end apogee,CONTROL_FINISHED_OK
$STATE,4386,begin climb
$GC,4390,0.85,146.0,608.7,0.0,174,4525,1.02,2.25,129.10,1.029,4,0.050,0.038,3158,1213,2574
$GC,4723,0.85,146.0,592.6,15.1,181,4727,0.00,2.22,0.00,0.000,6,0.000,0.051,3158,2602,2567
$GC,4973,0.85,146.0,554.7,14.8,187,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2602,2563
$GC,5219,0.85,146.0,519.9,14.0,193,5223,0.00,2.12,0.00,0.000,4,0.000,0.035,3167,1196,2561
$GC,5382,0.85,146.0,500.0,11.1,196,5387,0.00,2.22,0.00,0.000,6,0.000,0.049,3163,2605,2559
$GC,5639,0.85,146.0,470.8,11.6,203,5643,0.00,2.08,0.00,0.000,4,0.000,0.059,3163,3902,2558
$GC,5821,0.85,146.0,447.3,13.5,207,5824,0.00,1.92,0.00,0.000,6,0.000,0.029,3170,2604,2557
$GC,6113,0.85,146.0,415.5,10.6,214,6117,0.12,2.10,0.00,0.000,4,0.242,0.052,3147,3906,2555
$GC,6203,0.85,146.0,406.1,10.1,216,6206,0.00,1.95,0.00,0.000,6,0.000,0.028,3156,2590,2555
$GC,6488,0.86,152.3,379.0,9.3,223,6491,0.00,2.10,0.00,0.000,4,0.000,0.054,3150,3894,2554
$GC,6673,0.88,162.5,362.4,9.2,227,6691,0.00,1.92,12.23,0.851,6,0.000,0.028,3159,2580,2507
$GC,6960,0.88,162.5,329.3,12.0,234,6963,0.00,2.05,0.00,0.000,4,0.000,0.028,3169,1195,2505
$GC,7034,0.88,162.5,321.2,10.6,235,7038,0.00,2.22,0.00,0.000,6,0.000,0.048,3167,2599,2505
$GC,7290,0.88,162.5,295.0,10.1,242,7294,0.00,2.08,0.00,0.000,4,0.000,0.029,3175,1196,2503
$GC,7549,0.94,213.7,272.4,7.3,247,7602,0.00,2.20,46.03,0.848,6,0.000,0.045,3175,2603,2298
$GC,7846,0.94,213.7,221.6,19.8,255,7850,0.00,2.10,0.00,0.000,4,0.000,0.027,3185,1189,2291
$GC,7863,0.94,213.7,218.3,18.8,255,7868,0.00,2.22,0.00,0.000,6,0.000,0.044,3179,2596,2291
$GC,8124,0.94,213.7,169.6,20.8,272,8128,0.00,2.08,0.00,0.000,4,0.000,0.027,3187,1196,2289
$GC,8283,0.94,213.7,142.6,16.5,286,8287,0.00,2.22,0.00,0.000,6,0.000,0.046,3187,2613,2288
$GC,8546,0.94,213.7,96.8,16.3,310,8549,0.00,2.10,0.00,0.000,4,0.000,0.028,3197,1188,2288
$GC,8674,0.94,213.7,77.3,14.2,321,8682,0.00,2.25,0.00,0.000,6,0.000,0.046,3192,2593,2288
$GC,8938,0.94,213.7,42.6,13.7,346,8942,0.00,2.05,0.00,0.000,4,0.000,0.053,3192,3894,2288
$STATE,9187,end climb,SURFACE_DEPTH_REACHED
$STATE,9187,begin surface coast
$FINISH,0.3,1.024167
$STATE,9204,end surface coast,CONTROL_FINISHED_OK
$STATE,9204,begin surface
$SM_CCo,9228,72.47,0.612,0,0,1743,350.04
$SM_GC,1.59,0.00,0.00,72.47,0.000,0.000,0.612,39,2672,1743,-8.83,-0.79,350.04
$IRIDIUM_FIX,2244.02,-15759.32,040500,171748
$TT8_MAMPS,0.023777
$HUMID,1852
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.6,87.689
$10V_AH,10.7,48.632
$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,20.925,76.375,310.925,72.475,0.000,58.231,72.187,358.149,0.500,0.000,0.000,43.990,835.336,6432.033,437.648,1541.258,784.173,33.370,1046.298,0.000,1503.088,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,72.098,1056.159,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,263.697,573.312,590.912,131.719,542.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32025,388
$CAP_FILE_SIZE,76629,0
$CFSIZE,260165632,235798528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,1
$GPS,080211,194724,2254.375,-15759.247,28,1.7,47,10.1