version: 66.04
glider: 512
mission: 1
dive: 670
start: 2 9 111 12 2 56
data:
$ID,512
$MISSION,1
$DIVE,670
$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,-20482.166
$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,41
$R_STBD_OVSHOOT,70
$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
$GPS1,114336,2253.630,-15754.590,28,1.3,29,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.6
$GPS2,120204,2253.917,-15754.479,11,2.2,30,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.042,-0.253
$KALMAN_X,-208579.4,411.0,535.3,236093.5,-3376.5
$KALMAN_Y,-564214.2,-21.0,493.0,700137.6,1110.9
$MHEAD_RNG_PITCHd_Wd,179.4,14008,-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,-45.28,0.000,2,0.000,0.000,31,2748,2891
$GC,68,-0.85,-146.0,3.0,-4.4,6,109,10.40,2.22,-18.38,0.000,4,0.216,0.038,2582,1286,3758
$GC,182,-0.85,-146.0,28.6,-16.7,24,190,0.00,2.25,0.00,0.000,6,0.000,0.061,2574,2641,3759
$GC,447,-0.85,-146.0,97.9,-27.1,49,450,0.00,1.98,0.00,0.000,4,0.000,0.071,2564,3844,3760
$GC,541,-0.85,-146.0,119.7,-17.3,57,545,0.00,1.67,0.00,0.000,6,0.000,0.023,2564,2684,3760
$GC,811,-0.85,-146.0,176.2,-20.8,82,815,0.00,2.03,0.00,0.000,4,0.000,0.028,2564,1300,3761
$GC,862,-0.85,-146.0,187.2,-18.4,86,870,0.10,2.25,0.00,0.000,6,0.137,0.069,2586,2636,3761
$GC,1119,-0.85,-146.0,227.4,-16.0,99,1122,0.00,1.98,0.00,0.000,4,0.000,0.074,2579,3839,3761
$GC,1160,-0.85,-146.0,233.9,-14.6,99,1166,0.00,1.65,0.00,0.000,6,0.000,0.023,2579,2694,3761
$GC,1413,-0.85,-146.0,271.8,-15.3,106,1416,0.00,2.05,0.00,0.000,4,0.000,0.029,2578,1296,3762
$GC,1453,-0.85,-146.0,277.9,-12.9,106,1459,0.00,2.28,0.00,0.000,6,0.000,0.075,2576,2655,3762
$GC,1705,-0.85,-146.0,314.1,-14.6,113,1709,0.00,2.08,0.00,0.000,4,0.000,0.078,2567,3903,3761
$GC,1752,-0.85,-146.0,320.7,-12.8,114,1756,0.00,1.75,0.00,0.000,6,0.000,0.025,2567,2701,3761
$GC,2045,-0.85,-146.0,362.5,-14.4,121,2049,0.00,2.08,0.00,0.000,4,0.000,0.030,2566,1295,3760
$GC,2113,-0.85,-146.0,371.3,-10.9,122,2118,0.00,2.33,0.00,0.000,6,0.000,0.069,2563,2704,3760
$GC,2375,-0.85,-146.0,408.4,-14.8,129,2379,0.00,1.98,0.00,0.000,4,0.000,0.075,2553,3896,3758
$GC,2433,-0.85,-146.0,416.5,-12.8,130,2437,0.12,1.75,0.00,0.000,6,0.140,0.025,2586,2697,3757
$GC,2712,-0.85,-146.0,447.5,-10.7,137,2715,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,1297,3756
$GC,2735,-0.85,-146.0,450.0,-10.5,137,2739,0.00,2.30,0.00,0.000,6,0.000,0.064,2578,2705,3756
$GC,2997,-0.85,-146.0,479.0,-11.4,144,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2705,3753
$GC,3240,-0.85,-146.0,507.0,-11.4,150,3244,0.00,2.10,0.00,0.000,4,0.000,0.031,2578,1300,3751
$GC,3263,-0.85,-146.0,509.9,-12.0,150,3267,0.00,2.33,0.00,0.000,6,0.000,0.067,2576,2708,3751
$GC,3525,-0.85,-146.0,538.5,-11.0,157,3529,0.00,2.00,0.00,0.000,4,0.000,0.082,2576,3895,3749
$GC,3560,-0.85,-146.0,542.3,-10.0,157,3563,0.00,1.77,0.00,0.000,6,0.000,0.027,2576,2691,3749
$GC,3817,-0.85,-146.0,568.6,-10.4,164,3820,0.00,2.08,0.00,0.000,4,0.000,0.032,2576,1299,3747
$GC,3868,-0.85,-146.0,574.1,-8.7,165,3872,0.00,2.35,0.00,0.000,6,0.000,0.072,2576,2706,3747
$STATE,4143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4143,begin apogee
$GC,4152,-0.32,0.0,602.5,10.3,172,4278,0.57,0.00,123.12,1.064,6,0.124,0.000,2755,2618,3160
$STATE,4279,end apogee,CONTROL_FINISHED_OK
$STATE,4279,begin climb
$GC,4283,0.85,146.0,608.9,0.0,175,4417,1.10,0.00,128.85,1.060,6,0.076,0.000,3136,2618,2564
$GC,4655,0.85,146.0,585.7,15.8,184,4659,0.00,2.12,0.00,0.000,4,0.000,0.072,3136,3897,2555
$GC,4673,0.85,146.0,582.1,16.0,184,4676,0.00,1.92,0.00,0.000,6,0.000,0.031,3145,2628,2554
$GC,4947,0.85,146.0,541.7,14.2,191,4951,0.00,2.15,0.00,0.000,4,0.000,0.036,3156,1210,2552
$GC,5174,0.85,146.0,513.7,12.6,196,5178,0.00,2.28,0.00,0.000,6,0.000,0.053,3150,2635,2550
$GC,5460,0.85,146.0,480.1,11.7,203,5464,0.00,2.05,0.00,0.000,4,0.000,0.064,3150,3900,2548
$GC,5478,0.85,146.0,477.6,11.4,203,5481,0.00,1.92,0.00,0.000,6,0.000,0.030,3158,2614,2548
$GC,5751,0.85,146.0,447.2,11.2,210,5755,0.00,2.10,0.00,0.000,4,0.000,0.035,3168,1213,2546
$GC,5763,0.85,146.0,445.9,11.3,210,5767,0.00,2.25,0.00,0.000,6,0.000,0.051,3163,2627,2546
$GC,6036,0.85,146.0,417.4,10.3,217,6040,0.00,2.05,0.00,0.000,4,0.000,0.061,3163,3906,2545
$GC,6132,0.85,146.0,407.1,10.2,219,6136,0.00,1.92,0.00,0.000,6,0.000,0.031,3170,2621,2544
$GC,6419,0.86,148.6,379.7,9.5,226,6423,0.00,2.12,0.00,0.000,4,0.000,0.034,3181,1203,2544
$GC,6437,0.88,164.7,378.0,8.9,226,6456,0.00,2.28,14.52,0.895,6,0.000,0.052,3176,2631,2488
$GC,6708,0.88,164.7,343.4,13.7,233,6712,0.00,2.03,0.00,0.000,4,0.000,0.061,3176,3896,2484
$GC,6815,0.88,164.7,327.8,13.9,235,6820,0.17,1.90,0.00,0.000,6,0.271,0.028,3152,2621,2484
$GC,7089,0.88,164.7,295.3,12.1,242,7093,0.00,2.10,0.00,0.000,4,0.000,0.033,3161,1213,2483
$GC,7347,0.88,164.7,266.9,10.9,247,7352,0.00,2.22,0.00,0.000,6,0.000,0.044,3161,2638,2482
$GC,7605,0.88,164.7,240.7,10.2,254,7608,0.00,2.00,0.00,0.000,4,0.000,0.055,3161,3903,2481
$GC,7863,0.90,185.5,216.8,8.7,259,7888,0.00,1.90,18.90,0.803,6,0.000,0.027,3170,2607,2403
$GC,8150,0.90,185.5,185.1,10.9,274,8154,0.00,2.05,0.00,0.000,4,0.000,0.051,3163,3893,2400
$GC,8312,0.90,185.5,162.0,15.2,288,8320,0.00,1.90,0.00,0.000,6,0.000,0.027,3171,2621,2399
$GC,8577,0.90,185.5,130.1,11.1,313,8581,0.00,2.03,0.00,0.000,4,0.000,0.048,3163,3906,2399
$GC,8835,0.92,196.2,104.2,9.1,336,8850,0.00,1.88,10.32,0.660,6,0.000,0.025,3171,2615,2360
$GC,9108,0.96,229.0,83.4,8.2,361,9145,0.00,2.05,29.70,0.693,4,0.000,0.046,3164,3899,2225
$GC,9391,0.96,229.0,37.0,17.9,386,9399,0.00,1.90,0.00,0.000,6,0.000,0.025,3171,2627,2224
$STATE,9580,end climb,SURFACE_DEPTH_REACHED
$STATE,9580,begin surface coast
$FINISH,0.1,1.022483
$STATE,9597,end surface coast,CONTROL_FINISHED_OK
$STATE,9597,begin surface
$SM_CCo,9619,58.35,0.634,0,0,1733,350.04
$SM_GC,1.95,0.00,0.00,58.35,0.000,0.000,0.634,44,2764,1733,-8.82,1.81,350.04
$IRIDIUM_FIX,2244.02,-15754.11,050500,121241
$TT8_MAMPS,0.023777
$HUMID,1825
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,88.605
$10V_AH,10.7,49.223
$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,20.775,98.675,325.425,58.350,0.000,85.027,106.334,627.340,0.000,0.000,0.000,31.032,917.751,6565.179,428.681,1718.664,1159.670,33.367,1147.485,0.000,1690.348,0.000,0.543,0.000
$DEVICE_MAMPS,270.751,82.069,1063.829,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,285.196,643.077,662.062,141.261,580.426,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34973,421
$CAP_FILE_SIZE,90820,0
$CFSIZE,260165632,235487232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,090211,144536,2253.360,-15754.431,34,1.0,39,10.1