version: 66.04
glider: 512
mission: 1
dive: 667
start: 2 9 111 3 30 1
data:
$ID,512
$MISSION,1
$DIVE,667
$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,-20421.383
$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,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,032125,2254.542,-15756.591,45,1.3,45,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.5
$GPS2,032908,2254.623,-15756.583,12,1.1,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.249,-0.060
$KALMAN_X,-204007.8,213.8,69.0,228564.6,-3797.7
$KALMAN_Y,-567726.5,156.4,18.1,705248.9,-704.4
$MHEAD_RNG_PITCHd_Wd,93.4,2783,-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,-45.40,0.000,2,0.000,0.000,36,2689,2897
$GC,68,-0.85,-146.0,3.4,-4.6,6,102,10.38,2.15,-17.02,0.000,4,0.217,0.041,2578,1288,3757
$GC,117,-0.85,-146.0,17.8,-32.1,12,125,0.00,2.38,0.00,0.000,6,0.000,0.068,2569,2688,3758
$GC,390,-0.85,-146.0,94.4,-27.9,41,394,0.00,2.03,0.00,0.000,4,0.000,0.078,2560,3897,3761
$GC,471,-0.85,-146.0,112.5,-16.8,48,474,0.00,1.77,0.00,0.000,6,0.000,0.027,2560,2698,3761
$GC,741,-0.85,-146.0,167.7,-20.2,73,745,0.00,2.10,0.00,0.000,4,0.000,0.031,2560,1280,3762
$GC,832,-0.85,-146.0,183.7,-14.1,81,837,0.12,2.35,0.00,0.000,6,0.140,0.068,2583,2704,3763
$GC,1109,-0.85,-146.0,227.0,-16.0,95,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2705,3765
$GC,1353,-0.85,-146.0,262.4,-14.1,101,1357,0.00,2.12,0.00,0.000,4,0.000,0.031,2584,1280,3765
$GC,1415,-0.85,-146.0,270.2,-10.3,102,1419,0.00,2.35,0.00,0.000,6,0.000,0.065,2576,2710,3765
$GC,1684,-0.85,-146.0,308.6,-14.9,109,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2711,3765
$GC,1927,-0.85,-146.0,343.6,-14.4,115,1931,0.00,2.12,0.00,0.000,4,0.000,0.036,2577,1293,3764
$GC,1975,-0.85,-146.0,349.8,-11.4,116,1979,0.00,2.35,0.00,0.000,6,0.000,0.070,2576,2715,3764
$GC,2260,-0.85,-146.0,387.0,-13.1,123,2264,0.00,2.15,0.00,0.000,4,0.000,0.036,2576,1293,3764
$GC,2289,-0.85,-146.0,391.0,-12.9,123,2293,0.00,2.33,0.00,0.000,6,0.000,0.067,2566,2703,3763
$GC,2545,-0.85,-146.0,424.0,-13.1,130,2549,0.00,1.98,0.00,0.000,4,0.000,0.077,2556,3889,3762
$GC,2568,-0.85,-146.0,427.2,-12.8,130,2573,0.12,1.77,0.00,0.000,6,0.146,0.025,2589,2675,3762
$GC,2836,-0.85,-146.0,451.9,-9.1,137,2840,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,1306,3761
$GC,2877,-0.85,-146.0,455.6,-7.8,137,2883,0.00,2.28,0.00,0.000,6,0.000,0.061,2590,2708,3761
$GC,3128,-0.85,-146.0,479.4,-9.9,144,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2709,3760
$GC,3372,-0.85,-146.0,505.0,-10.6,150,3376,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1305,3759
$GC,3422,-0.85,-146.0,510.0,-8.6,151,3427,0.00,2.28,0.00,0.000,6,0.000,0.063,2590,2703,3759
$GC,3702,-0.85,-146.0,538.4,-10.3,158,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2703,3757
$GC,3945,-0.85,-146.0,563.3,-10.2,164,3949,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1305,3755
$GC,3979,-0.85,-146.0,566.7,-9.6,164,3983,0.00,2.28,0.00,0.000,6,0.000,0.062,2589,2699,3755
$GC,4236,-0.85,-146.0,591.5,-9.8,171,4240,0.00,2.10,0.00,0.000,4,0.000,0.031,2597,1298,3753
$GC,4284,-0.85,-146.0,596.0,-8.3,172,4288,0.00,2.30,0.00,0.000,6,0.000,0.064,2588,2703,3753
$STATE,4361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4361,begin apogee
$GC,4370,-0.32,0.0,603.9,9.8,174,4497,0.57,0.00,124.45,1.052,6,0.150,0.000,2756,2624,3160
$STATE,4498,end apogee,CONTROL_FINISHED_OK
$STATE,4498,begin climb
$GC,4502,0.85,146.0,611.3,0.0,177,4639,1.17,2.30,128.48,1.042,4,0.107,0.041,3145,1230,2563
$GC,4750,0.85,146.0,612.4,14.7,182,4754,0.00,2.33,0.00,0.000,6,0.000,0.064,3136,2627,2557
$GC,5006,0.85,146.0,576.1,13.8,189,5010,0.00,2.15,0.00,0.000,4,0.000,0.040,3145,1240,2553
$GC,5143,0.85,146.0,558.1,13.1,192,5147,0.00,2.25,0.00,0.000,6,0.000,0.055,3136,2635,2553
$GC,5427,0.85,146.0,517.4,14.2,199,5431,0.00,2.05,0.00,0.000,4,0.000,0.064,3126,3904,2549
$GC,5569,0.85,146.0,498.1,13.4,202,5572,0.00,1.92,0.00,0.000,6,0.000,0.035,3134,2636,2548
$GC,5853,0.85,146.0,467.5,10.5,209,5857,0.00,2.17,0.00,0.000,4,0.000,0.040,3146,1213,2547
$GC,5961,0.86,146.2,456.8,9.6,211,5965,0.00,2.25,0.00,0.000,6,0.000,0.056,3146,2627,2546
$GC,6236,0.86,146.2,428.4,10.6,218,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2628,2545
$GC,6478,0.86,146.2,403.5,10.2,224,6481,0.00,2.17,0.00,0.000,4,0.000,0.036,3154,1201,2545
$GC,6506,0.88,162.4,400.8,8.9,224,6524,0.00,2.30,12.55,0.872,6,0.000,0.055,3149,2627,2496
$GC,6768,0.88,162.4,370.0,12.5,231,6772,0.00,2.05,0.00,0.000,4,0.000,0.061,3149,3906,2495
$GC,6843,0.88,162.4,360.0,14.0,232,6847,0.00,1.95,0.00,0.000,6,0.000,0.032,3157,2628,2494
$GC,7107,0.88,162.4,327.2,12.2,239,7110,0.00,2.15,0.00,0.000,4,0.000,0.035,3168,1197,2494
$GC,7365,0.88,162.4,297.7,12.6,244,7369,0.00,2.28,0.00,0.000,6,0.000,0.050,3162,2629,2493
$GC,7623,0.88,162.4,270.2,9.9,251,7627,0.00,2.17,0.00,0.000,4,0.000,0.034,3171,1187,2492
$GC,7885,0.91,188.7,246.3,8.4,256,7914,0.00,2.28,24.00,0.807,6,0.000,0.048,3162,2630,2390
$GC,8184,0.91,188.7,205.9,14.6,264,8187,0.00,2.15,0.00,0.000,4,0.000,0.031,3171,1200,2386
$GC,8357,0.91,188.7,182.9,11.4,276,8366,0.00,2.28,0.00,0.000,6,0.000,0.049,3163,2616,2385
$GC,8622,0.91,188.7,151.5,11.0,301,8626,0.00,2.15,0.00,0.000,4,0.000,0.031,3171,1184,2384
$GC,8881,0.91,191.0,121.8,9.5,324,8885,0.00,2.30,0.00,0.000,6,0.000,0.051,3163,2634,2384
$GC,9144,0.99,256.2,102.3,6.7,348,9208,0.00,2.28,57.80,0.694,4,0.000,0.030,3172,1187,2114
$GC,9302,0.99,256.2,78.6,20.9,361,9306,0.00,2.30,0.00,0.000,6,0.000,0.049,3163,2627,2108
$GC,9567,0.99,256.2,22.1,20.4,388,9575,0.00,2.05,0.00,0.000,4,0.000,0.056,3163,3888,2107
$GC,9621,0.99,256.2,10.2,22.9,397,9629,0.00,1.92,0.00,0.000,6,0.000,0.025,3170,2608,2106
$STATE,9651,end climb,SURFACE_DEPTH_REACHED
$STATE,9651,begin surface coast
$FINISH,0.5,1.023975
$STATE,9663,end surface coast,CONTROL_FINISHED_OK
$STATE,9664,begin surface
$SM_CCo,9686,48.70,0.601,0,0,1732,350.04
$SM_GC,1.82,0.00,0.00,48.70,0.000,0.000,0.601,34,2734,1732,-8.85,0.96,350.04
$IRIDIUM_FIX,2246.36,-15756.28,050500,010119
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,23.5,88.215
$10V_AH,10.7,48.958
$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,20.550,99.850,347.275,48.700,0.000,30.264,37.136,271.224,0.750,0.000,0.000,12.963,888.218,6618.456,427.766,1622.500,651.132,33.367,1138.194,0.000,1614.683,0.000,0.544,0.000
$DEVICE_MAMPS,217.061,78.234,1051.557,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,273.482,593.664,616.074,123.092,504.020,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31938,404
$CAP_FILE_SIZE,84372,0
$CFSIZE,260165632,235630592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,090211,061337,2254.109,-15755.835,37,1.7,37,10.1