version: 66.04
glider: 512
mission: 1
dive: 669
start: 2 9 111 9 5 36
data:
$ID,512
$MISSION,1
$DIVE,669
$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,-20450.506
$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,54
$R_STBD_OVSHOOT,23
$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
$GPS1,085604,2253.794,-15755.263,10,2.5,30,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.6
$GPS2,090443,2253.900,-15755.241,16,1.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.212,-0.144
$KALMAN_X,-207009.5,247.9,359.5,233551.5,-2816.5
$KALMAN_Y,-565695.1,-173.5,250.3,701976.0,1294.4
$MHEAD_RNG_PITCHd_Wd,114.2,13506,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-52.88,0.000,2,0.000,0.000,37,2665,3134
$GC,76,-0.85,-146.0,3.6,-5.3,7,109,10.57,2.08,-11.65,0.000,4,0.222,0.041,2589,1288,3760
$GC,155,-0.85,-146.0,31.6,-26.0,19,159,0.00,2.30,0.00,0.000,6,0.000,0.063,2580,2693,3761
$GC,424,-0.85,-146.0,101.0,-26.6,44,428,0.00,1.98,0.00,0.000,4,0.000,0.069,2571,3899,3762
$GC,508,-0.85,-146.0,122.3,-18.8,51,515,0.00,1.77,0.00,0.000,6,0.000,0.024,2570,2696,3762
$GC,772,-0.85,-146.0,178.8,-22.1,76,776,0.00,2.05,0.00,0.000,4,0.000,0.026,2570,1291,3764
$GC,810,-0.85,-146.0,186.6,-19.9,79,814,0.00,2.30,0.00,0.000,6,0.000,0.064,2562,2700,3764
$GC,1084,-0.85,-146.0,239.7,-19.4,90,1088,0.00,2.05,0.00,0.000,4,0.000,0.025,2563,1295,3765
$GC,1118,-0.85,-146.0,245.7,-16.0,90,1123,0.12,2.30,0.00,0.000,6,0.146,0.062,2585,2704,3765
$GC,1370,-0.85,-146.0,278.9,-13.2,96,1374,0.00,1.95,0.00,0.000,4,0.000,0.067,2577,3899,3765
$GC,1405,-0.85,-146.0,283.6,-12.3,96,1409,0.00,1.75,0.00,0.000,6,0.000,0.024,2577,2681,3765
$GC,1661,-0.85,-146.0,318.5,-13.9,103,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2674,3765
$GC,1905,-0.85,-146.0,350.1,-12.8,109,1909,0.00,2.00,0.00,0.000,4,0.000,0.026,2577,1307,3764
$GC,1962,-0.85,-146.0,356.5,-9.5,110,1966,0.00,2.28,0.00,0.000,6,0.000,0.060,2576,2705,3764
$GC,2241,-0.85,-146.0,391.8,-13.3,117,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2706,3763
$GC,2486,-0.85,-146.0,422.1,-12.2,123,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2706,3762
$GC,2728,-0.85,-146.0,450.2,-11.5,129,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2706,3761
$GC,2972,-0.85,-146.0,477.9,-11.3,135,2975,0.00,2.08,0.00,0.000,4,0.000,0.031,2576,1319,3759
$GC,3013,-0.85,-146.0,482.5,-10.5,135,3020,0.00,2.35,0.00,0.000,6,0.000,0.074,2576,2701,3759
$GC,3264,-0.85,-146.0,510.4,-11.3,142,3268,0.00,1.98,0.00,0.000,4,0.000,0.075,2566,3892,3757
$GC,3304,-0.85,-146.0,515.2,-11.9,142,3310,0.00,1.73,0.00,0.000,6,0.000,0.026,2567,2714,3757
$GC,3555,-0.85,-146.0,544.2,-11.7,149,3559,0.00,2.12,0.00,0.000,4,0.000,0.034,2573,1296,3755
$GC,3603,-0.85,-146.0,548.9,-8.9,150,3607,0.00,2.35,0.00,0.000,6,0.000,0.072,2565,2703,3754
$GC,3888,-0.85,-146.0,577.8,-10.1,157,3892,0.00,1.98,0.00,0.000,4,0.000,0.077,2554,3886,3752
$GC,3917,-0.85,-146.0,581.3,-11.1,157,3921,0.08,1.77,0.00,0.000,6,0.139,0.027,2580,2698,3752
$STATE,4134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4134,begin apogee
$GC,4144,-0.32,0.0,600.9,9.0,163,4270,0.57,0.00,123.70,1.070,6,0.124,0.000,2761,2628,3160
$STATE,4271,end apogee,CONTROL_FINISHED_OK
$STATE,4271,begin climb
$GC,4275,0.85,146.0,607.4,0.0,166,4411,1.08,2.28,128.48,1.069,4,0.081,0.036,3141,1238,2564
$GC,4673,0.85,146.0,584.1,14.2,175,4677,0.00,2.25,0.00,0.000,6,0.000,0.053,3137,2635,2556
$GC,4957,0.85,146.0,540.8,15.1,182,4961,0.00,2.15,0.00,0.000,4,0.000,0.036,3146,1220,2552
$GC,4969,0.85,146.0,539.0,14.9,182,4973,0.00,2.28,0.00,0.000,6,0.000,0.056,3146,2634,2552
$GC,5243,0.85,146.0,498.4,14.9,189,5246,0.00,2.15,0.00,0.000,4,0.000,0.036,3155,1220,2550
$GC,5395,0.85,146.0,477.2,13.2,192,5399,0.00,2.25,0.00,0.000,6,0.000,0.054,3150,2626,2549
$GC,5662,0.85,146.0,442.3,12.6,199,5666,0.00,2.12,0.00,0.000,4,0.000,0.035,3158,1227,2547
$GC,5799,0.85,146.0,427.4,11.3,202,5803,0.00,2.22,0.00,0.000,6,0.000,0.054,3158,2625,2547
$GC,6084,0.85,146.0,398.9,9.7,209,6088,0.00,2.03,0.00,0.000,4,0.000,0.056,3150,3897,2545
$GC,6124,0.85,146.0,395.0,9.8,209,6130,0.00,1.88,0.00,0.000,6,0.000,0.027,3158,2632,2545
$GC,6376,0.88,166.7,372.9,8.7,216,6405,0.00,2.20,18.20,0.831,4,0.000,0.034,3169,1212,2480
$GC,6424,0.88,166.7,367.9,10.3,217,6428,0.00,2.25,0.00,0.000,6,0.000,0.049,3162,2624,2479
$GC,6703,0.88,166.7,332.9,12.8,224,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2624,2477
$GC,6947,0.88,166.7,303.4,12.3,230,6951,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1208,2476
$GC,7204,0.88,166.7,275.0,10.6,235,7208,0.00,2.25,0.00,0.000,6,0.000,0.048,3163,2631,2475
$GC,7457,0.88,166.7,247.3,10.8,241,7460,0.00,2.03,0.00,0.000,4,0.000,0.061,3162,3894,2474
$GC,7531,0.91,187.8,240.6,8.7,242,7556,0.00,1.90,19.60,0.824,6,0.000,0.028,3171,2607,2393
$GC,7835,0.91,187.8,200.5,13.9,250,7839,0.00,2.08,0.00,0.000,4,0.000,0.029,3181,1221,2389
$GC,8093,0.91,187.8,170.0,11.7,270,8097,0.00,2.20,0.00,0.000,6,0.000,0.046,3179,2628,2388
$GC,8363,0.91,187.8,134.4,14.4,295,8367,0.00,2.10,0.00,0.000,4,0.000,0.027,3187,1203,2388
$GC,8457,0.94,218.4,124.8,8.3,303,8494,0.00,2.22,27.15,0.729,6,0.000,0.045,3187,2631,2269
$GC,8750,0.94,218.4,86.4,14.2,330,8753,0.00,2.10,0.00,0.000,4,0.000,0.026,3198,1207,2264
$GC,8800,0.94,218.4,79.1,14.5,334,8808,0.00,2.28,0.00,0.000,6,0.000,0.044,3193,2622,2264
$GC,9065,0.94,218.4,43.4,14.5,359,9068,0.00,2.00,0.00,0.000,4,0.000,0.050,3192,3907,2264
$GC,9279,0.94,218.4,6.6,17.3,391,9287,0.10,1.90,0.00,0.000,6,0.232,0.025,3176,2639,2264
$STATE,9299,end climb,SURFACE_DEPTH_REACHED
$STATE,9299,begin surface coast
$FINISH,0.4,1.023982
$STATE,9316,end surface coast,CONTROL_FINISHED_OK
$STATE,9316,begin surface
$SM_CCo,9339,69.28,0.622,0,0,1732,350.04
$SM_GC,1.60,0.00,0.00,69.28,0.000,0.000,0.622,45,2747,1732,-8.81,1.33,350.04
$IRIDIUM_FIX,2246.36,-15758.45,050500,060636
$TT8_MAMPS,0.02301
$HUMID,1840
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.5,88.457
$10V_AH,10.7,49.123
$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,20.800,92.525,317.125,69.275,0.000,23.148,43.521,312.375,0.000,0.000,0.000,16.188,858.386,6390.431,438.756,1561.813,684.128,33.369,1107.289,0.000,1546.088,0.000,0.543,0.000
$DEVICE_MAMPS,232.401,136.526,1069.965,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.787,595.468,614.549,130.551,538.039,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32025,397
$CAP_FILE_SIZE,81730,0
$CFSIZE,260165632,235548672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,090211,114336,2253.630,-15754.590,28,1.3,29,10.1