version: 66.04
glider: 512
mission: 1
dive: 668
start: 2 9 111 6 21 1
data:
$ID,512
$MISSION,1
$DIVE,668
$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,-20433.689
$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,43
$R_STBD_OVSHOOT,51
$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
$GPS1,061337,2254.109,-15755.835,37,1.7,37,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.9
$GPS2,062008,2254.153,-15755.826,11,2.0,11,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.174,-0.188
$KALMAN_X,-205472.1,142.3,-15.2,231485.5,-2766.3
$KALMAN_Y,-567437.7,-103.1,-70.0,704444.8,5.7
$MHEAD_RNG_PITCHd_Wd,127.2,13670,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.17,0.000,2,0.000,0.000,30,2734,2876
$GC,68,-0.85,-146.0,3.2,-4.9,6,102,10.45,2.22,-18.12,0.000,4,0.217,0.039,2585,1283,3757
$GC,143,-0.85,-146.0,22.6,-24.6,17,152,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2658,3758
$GC,416,-0.85,-146.0,94.1,-26.6,45,420,0.00,2.00,0.00,0.000,4,0.000,0.065,2568,3897,3760
$GC,510,-0.85,-146.0,116.1,-17.8,53,513,0.00,1.77,0.00,0.000,6,0.000,0.024,2567,2676,3760
$GC,780,-0.85,-146.0,173.5,-19.7,78,784,0.00,2.00,0.00,0.000,4,0.000,0.025,2568,1295,3761
$GC,872,-0.85,-146.0,188.9,-14.9,86,876,0.00,2.28,0.00,0.000,6,0.000,0.059,2562,2705,3762
$GC,1146,-0.85,-146.0,239.9,-19.1,97,1149,0.00,2.08,0.00,0.000,4,0.000,0.025,2562,1289,3763
$GC,1180,-0.85,-146.0,246.5,-18.2,97,1185,0.12,2.30,0.00,0.000,6,0.137,0.065,2585,2699,3762
$GC,1436,-0.85,-146.0,279.1,-12.6,104,1440,0.00,2.08,0.00,0.000,4,0.000,0.029,2585,1298,3763
$GC,1476,-0.85,-146.0,284.1,-11.2,104,1482,0.00,2.33,0.00,0.000,6,0.000,0.073,2577,2701,3763
$GC,1728,-0.85,-146.0,317.1,-13.7,111,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2702,3763
$GC,1971,-0.85,-146.0,351.2,-13.8,117,1975,0.00,2.10,0.00,0.000,4,0.000,0.031,2577,1296,3762
$GC,2022,-0.85,-146.0,357.8,-11.3,118,2026,0.00,2.30,0.00,0.000,6,0.000,0.066,2568,2701,3762
$GC,2300,-0.85,-146.0,394.1,-13.2,125,2304,0.00,2.08,0.00,0.000,4,0.000,0.031,2572,1304,3761
$GC,2319,-0.85,-146.0,396.8,-13.7,125,2324,0.00,2.30,0.00,0.000,6,0.000,0.066,2563,2703,3761
$GC,2587,-0.85,-146.0,432.7,-13.6,132,2591,0.00,1.98,0.00,0.000,4,0.000,0.077,2554,3894,3760
$GC,2622,-0.85,-146.0,437.6,-13.3,132,2626,0.12,1.75,0.00,0.000,6,0.143,0.026,2586,2705,3759
$GC,2878,-0.85,-146.0,465.8,-11.0,139,2881,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,1290,3758
$GC,2929,-0.85,-146.0,471.7,-10.6,140,2933,0.00,2.30,0.00,0.000,6,0.000,0.061,2578,2705,3758
$GC,3207,-0.85,-146.0,504.3,-11.9,147,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2704,3756
$GC,3451,-0.85,-146.0,529.5,-10.1,153,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2705,3754
$GC,3695,-0.85,-146.0,553.5,-10.0,159,3698,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,1295,3753
$GC,3735,-0.85,-146.0,557.4,-8.9,159,3741,0.00,2.30,0.00,0.000,6,0.000,0.062,2578,2704,3753
$GC,3987,-0.85,-146.0,582.0,-10.0,166,3991,0.00,2.12,0.00,0.000,4,0.000,0.031,2586,1292,3750
$GC,4022,-0.85,-146.0,585.6,-9.0,166,4026,0.00,2.30,0.00,0.000,6,0.000,0.061,2578,2702,3750
$STATE,4188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4188,begin apogee
$GC,4197,-0.32,0.0,602.2,9.9,170,4323,0.62,0.00,123.12,1.054,6,0.156,0.000,2756,2610,3160
$STATE,4324,end apogee,CONTROL_FINISHED_OK
$STATE,4324,begin climb
$GC,4328,0.85,146.0,608.5,0.0,173,4465,1.17,2.28,127.78,1.039,4,0.114,0.041,3140,1243,2563
$GC,4537,0.85,146.0,611.4,14.5,177,4543,0.00,2.30,0.00,0.000,6,0.000,0.061,3131,2627,2559
$GC,4790,0.85,146.0,571.4,16.1,184,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2627,2554
$GC,5031,0.85,146.0,535.2,14.6,190,5035,0.00,2.15,0.00,0.000,4,0.000,0.038,3140,1230,2552
$GC,5245,0.85,146.0,505.1,13.8,194,5249,0.00,2.28,0.00,0.000,6,0.000,0.060,3132,2629,2550
$GC,5496,0.85,146.0,471.8,13.0,200,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2629,2548
$GC,5741,0.85,146.0,443.7,11.4,206,5745,0.00,2.12,0.00,0.000,4,0.000,0.038,3141,1234,2547
$GC,5887,0.85,146.0,427.4,10.8,209,5892,0.00,2.22,0.00,0.000,6,0.000,0.054,3132,2628,2547
$GC,6163,0.85,146.0,399.5,10.0,216,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2628,2545
$GC,6405,0.88,164.2,377.9,8.8,222,6431,0.00,2.05,16.20,0.791,4,0.000,0.059,3123,3899,2489
$GC,6444,0.88,164.2,374.1,10.8,223,6448,0.00,1.90,0.00,0.000,6,0.000,0.030,3131,2639,2488
$GC,6735,0.88,164.2,339.5,11.6,230,6738,0.00,2.17,0.00,0.000,4,0.000,0.036,3143,1200,2486
$GC,6802,0.88,164.2,332.4,10.0,231,6807,0.00,2.30,0.00,0.000,6,0.000,0.054,3136,2632,2486
$GC,7065,0.88,164.2,303.7,11.1,238,7068,0.00,2.17,0.00,0.000,4,0.000,0.035,3145,1200,2485
$GC,7324,0.89,175.3,277.3,9.1,243,7339,0.00,2.28,10.55,0.784,6,0.000,0.054,3145,2624,2445
$GC,7620,0.89,175.3,245.7,10.8,251,7623,0.00,2.03,0.00,0.000,4,0.000,0.056,3146,3899,2442
$GC,7880,0.89,175.3,217.3,10.2,256,7884,0.00,1.90,0.00,0.000,6,0.000,0.027,3154,2615,2442
$GC,8139,0.97,242.2,198.5,6.6,263,8204,0.00,2.15,58.78,0.792,4,0.000,0.058,3150,3881,2171
$GC,8460,0.97,242.2,130.2,22.2,291,8464,0.00,1.90,0.00,0.000,6,0.000,0.029,3158,2634,2167
$GC,8729,0.97,242.2,81.4,17.7,316,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2627,2164
$GC,8984,0.97,242.2,34.4,18.5,340,8988,0.00,2.03,0.00,0.000,4,0.000,0.053,3158,3902,2164
$STATE,9138,end climb,SURFACE_DEPTH_REACHED
$STATE,9138,begin surface coast
$FINISH,0.3,1.024003
$STATE,9148,end surface coast,CONTROL_FINISHED_OK
$STATE,9148,begin surface
$SM_CCo,9172,56.00,0.629,0,0,1732,350.04
$SM_GC,2.15,0.00,0.00,56.00,0.000,0.000,0.629,40,2665,1732,-8.83,-0.99,350.04
$IRIDIUM_FIX,2246.36,-15756.28,050500,030311
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.6,88.332
$10V_AH,10.7,49.036
$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,20.700,85.300,336.425,56.000,0.000,25.475,43.973,178.372,0.250,0.000,0.000,11.677,808.275,6400.062,424.362,1443.769,547.958,33.365,1058.096,0.000,1432.807,0.000,0.542,0.000
$DEVICE_MAMPS,217.061,76.700,1053.858,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,249.124,519.414,535.180,114.495,476.154,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28727,368
$CAP_FILE_SIZE,75574,0
$CFSIZE,260165632,235597824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,090211,085604,2253.794,-15755.263,10,2.5,30,10.1