version: 66.04
glider: 512
mission: 1
dive: 665
start: 2 8 111 22 48 41
data:
$ID,512
$MISSION,1
$DIVE,665
$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,-20372.322
$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,44
$R_STBD_OVSHOOT,26
$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
$GPS1,223336,2255.012,-15758.289,40,0.9,46,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.2
$GPS2,224749,2255.194,-15758.395,11,1.7,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.255,-0.023
$KALMAN_X,-201136.5,288.1,214.4,222362.9,-2254.4
$KALMAN_Y,-569009.9,907.7,552.1,706302.2,-2465.9
$MHEAD_RNG_PITCHd_Wd,85.1,5850,-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,-45.22,0.000,2,0.000,0.000,39,2666,2897
$GC,69,-0.85,-146.0,3.1,-4.0,6,101,10.38,0.00,-17.92,0.000,6,0.216,0.000,2575,2666,3768
$GC,366,-0.85,-146.0,89.4,-28.8,40,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2666,3770
$GC,631,-0.85,-146.0,153.5,-20.5,65,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2666,3771
$GC,903,-0.85,-146.0,207.9,-18.2,88,906,0.00,2.03,0.00,0.000,4,0.000,0.028,2575,1288,3772
$GC,920,-0.85,-146.0,211.2,-18.1,88,924,0.00,2.30,0.00,0.000,6,0.000,0.067,2567,2688,3772
$GC,1187,-0.85,-146.0,257.8,-17.6,95,1191,0.00,2.03,0.00,0.000,4,0.000,0.082,2558,3893,3772
$GC,1261,-0.85,-146.0,269.8,-13.4,96,1265,0.12,1.75,0.00,0.000,6,0.141,0.025,2590,2694,3772
$GC,1524,-0.85,-146.0,303.3,-12.6,103,1528,0.00,2.05,0.00,0.000,4,0.000,0.030,2599,1297,3773
$GC,1581,-0.85,-146.0,309.2,-8.4,104,1585,0.00,2.30,0.00,0.000,6,0.000,0.064,2592,2707,3772
$GC,1855,-0.85,-146.0,336.2,-10.1,111,1859,0.00,1.95,0.00,0.000,4,0.000,0.077,2583,3893,3771
$GC,1889,-0.85,-146.0,340.0,-10.1,111,1893,0.00,1.75,0.00,0.000,6,0.000,0.025,2583,2689,3771
$GC,2146,-0.85,-146.0,368.3,-11.3,118,2150,0.00,2.05,0.00,0.000,4,0.000,0.031,2583,1300,3770
$GC,2197,-0.85,-146.0,373.8,-9.6,119,2201,0.00,2.30,0.00,0.000,6,0.000,0.066,2576,2702,3770
$GC,2478,-0.85,-146.0,406.2,-11.9,126,2482,0.00,2.00,0.00,0.000,4,0.000,0.081,2574,3892,3767
$GC,2512,-0.85,-146.0,410.6,-11.5,126,2516,0.00,1.75,0.00,0.000,6,0.000,0.025,2574,2692,3767
$GC,2771,-0.85,-146.0,440.1,-11.7,133,2774,0.00,2.05,0.00,0.000,4,0.000,0.031,2574,1303,3765
$GC,2810,-0.85,-146.0,445.0,-10.5,133,2817,0.00,2.33,0.00,0.000,6,0.000,0.070,2564,2703,3766
$GC,3062,-0.85,-146.0,477.3,-13.4,140,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2703,3764
$GC,3306,-0.85,-146.0,510.7,-13.6,146,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2702,3762
$GC,3549,-0.85,-146.0,542.7,-12.9,152,3552,0.00,2.12,0.00,0.000,4,0.000,0.031,2564,1299,3760
$GC,3605,-0.85,-146.0,549.5,-10.9,153,3610,0.12,2.33,0.00,0.000,6,0.137,0.068,2587,2705,3760
$GC,3879,-0.85,-146.0,574.0,-8.9,160,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2705,3758
$GC,4123,-0.85,-146.0,595.6,-8.9,166,4127,0.00,2.12,0.00,0.000,4,0.000,0.033,2587,1299,3756
$GC,4170,-0.85,-146.0,599.8,-8.0,167,4174,0.00,2.25,0.00,0.000,3,0.000,0.068,2578,2662,3756
$STATE,4175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4175,begin apogee
$GC,4184,-0.32,0.0,600.6,8.3,167,4310,0.52,0.00,122.53,1.058,6,0.117,0.000,2751,2664,3169
$STATE,4310,end apogee,CONTROL_FINISHED_OK
$STATE,4310,begin climb
$GC,4314,0.85,146.0,607.4,0.0,170,4452,1.10,2.15,128.30,1.032,4,0.061,0.066,3146,3889,2572
$GC,4557,0.85,146.0,604.1,16.9,176,4561,0.00,1.95,0.00,0.000,6,0.000,0.031,3154,2607,2567
$GC,4847,0.85,146.0,558.8,14.8,183,4851,0.00,2.15,0.00,0.000,4,0.000,0.038,3164,1192,2562
$GC,4943,0.85,146.0,545.3,14.5,185,4948,0.00,2.22,0.00,0.000,6,0.000,0.051,3162,2594,2561
$GC,5223,0.85,146.0,507.5,13.7,192,5226,0.00,2.12,0.00,0.000,4,0.000,0.036,3171,1197,2559
$GC,5481,0.85,146.0,477.2,10.3,197,5485,0.00,2.22,0.00,0.000,6,0.000,0.052,3163,2603,2558
$GC,5738,0.85,146.0,449.7,10.6,204,5742,0.00,2.12,0.00,0.000,4,0.000,0.034,3171,1187,2556
$GC,5794,0.85,146.0,443.7,10.2,205,5798,0.00,2.25,0.00,0.000,6,0.000,0.049,3163,2609,2556
$GC,6068,0.85,146.0,414.1,10.6,212,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2609,2554
$GC,6312,0.88,168.3,392.6,8.6,218,6336,0.00,2.15,17.58,0.893,4,0.000,0.061,3162,3899,2482
$GC,6406,0.88,168.3,382.0,13.1,220,6410,0.00,1.95,0.00,0.000,6,0.000,0.028,3171,2592,2481
$GC,6691,0.88,168.3,345.8,12.5,227,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2585,2479
$GC,6934,0.88,168.3,315.5,12.5,233,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2585,2478
$GC,7178,0.88,168.3,283.7,13.4,239,7182,0.00,2.10,0.00,0.000,4,0.000,0.033,3181,1174,2477
$GC,7201,0.88,168.3,281.1,11.0,239,7205,0.00,2.25,0.00,0.000,6,0.000,0.050,3176,2602,2477
$GC,7464,0.88,168.3,251.7,11.3,246,7467,0.00,2.10,0.00,0.000,4,0.000,0.031,3184,1192,2476
$GC,7648,0.94,214.0,238.1,7.6,250,7694,0.00,2.20,40.42,0.815,6,0.000,0.046,3179,2604,2296
$GC,7955,0.94,214.0,187.4,19.3,261,7958,0.00,2.08,0.00,0.000,4,0.000,0.054,3176,3900,2289
$GC,8091,0.94,214.0,160.1,18.3,273,8095,0.00,1.95,0.00,0.000,6,0.000,0.028,3184,2594,2288
$GC,8360,0.94,214.0,111.8,16.3,298,8364,0.00,2.10,0.00,0.000,4,0.000,0.029,3194,1172,2288
$GC,8542,0.94,214.0,84.5,12.0,314,8546,0.00,2.28,0.00,0.000,6,0.000,0.048,3192,2607,2287
$GC,8806,0.94,214.0,53.5,13.2,338,8810,0.00,2.05,0.00,0.000,4,0.000,0.057,3192,3897,2287
$GC,9060,0.94,214.0,14.1,13.4,370,9068,0.10,1.95,0.00,0.000,6,0.237,0.025,3177,2578,2287
$STATE,9143,end climb,SURFACE_DEPTH_REACHED
$STATE,9143,begin surface coast
$FINISH,0.2,1.024030
$STATE,9166,end surface coast,CONTROL_FINISHED_OK
$STATE,9169,begin surface
$SM_CCo,9191,78.85,0.609,0,0,1742,350.04
$SM_GC,1.95,0.00,0.00,78.85,0.000,0.000,0.609,39,2715,1742,-8.83,0.42,350.04
$IRIDIUM_FIX,2246.36,-15801.49,040500,222231
$TT8_MAMPS,0.023777
$HUMID,1832
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.6,87.953
$10V_AH,10.7,48.808
$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,20.675,80.000,308.825,78.850,0.000,56.014,91.456,500.394,0.000,0.000,0.000,16.670,839.801,6393.036,425.891,1516.205,952.513,33.370,1064.162,0.000,1500.912,0.000,0.544,0.000
$DEVICE_MAMPS,237.003,82.069,1057.693,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.180,571.113,588.694,130.721,538.706,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32089,389
$CAP_FILE_SIZE,81706,0
$CFSIZE,260165632,235708416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,090211,012428,2254.900,-15757.417,12,2.2,32,10.1