version: 66.04
glider: 512
mission: 1
dive: 671
start: 2 9 111 14 55 28
data:
$ID,512
$MISSION,1
$DIVE,671
$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,-20499.107
$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,61
$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,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
$GPS1,144536,2253.360,-15754.431,34,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.1
$GPS2,145431,2253.439,-15754.370,16,1.4,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.103,-0.235
$KALMAN_X,-207825.4,760.5,381.5,235316.2,-1700.7
$KALMAN_Y,-561808.5,375.7,26.8,696912.9,2079.6
$MHEAD_RNG_PITCHd_Wd,146.3,13285,-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,-45.33,0.000,2,0.000,0.000,37,2764,2887
$GC,68,-0.85,-146.0,3.1,-4.1,6,102,10.43,2.22,-18.10,0.000,4,0.217,0.039,2581,1308,3758
$GC,191,-0.85,-146.0,31.3,-18.4,26,195,0.00,2.30,0.00,0.000,6,0.000,0.068,2572,2686,3760
$GC,461,-0.85,-146.0,103.1,-28.2,51,465,0.00,1.98,0.00,0.000,4,0.000,0.070,2562,3896,3761
$GC,519,-0.85,-146.0,117.5,-18.6,56,523,0.00,1.75,0.00,0.000,6,0.000,0.025,2562,2701,3761
$GC,788,-0.85,-146.0,175.1,-20.4,81,792,0.00,2.08,0.00,0.000,4,0.000,0.031,2562,1296,3762
$GC,824,-0.85,-146.0,182.3,-19.8,84,829,0.15,2.35,0.00,0.000,6,0.146,0.070,2591,2714,3762
$GC,1100,-0.85,-146.0,223.9,-14.7,98,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2715,3763
$GC,1344,-0.85,-146.0,257.8,-13.7,104,1347,0.00,2.12,0.00,0.000,4,0.000,0.028,2591,1290,3763
$GC,1391,-0.85,-146.0,263.5,-11.1,105,1395,0.00,2.35,0.00,0.000,6,0.000,0.070,2589,2711,3763
$GC,1677,-0.85,-146.0,299.5,-13.0,112,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2711,3763
$GC,1919,-0.85,-146.0,327.3,-11.0,118,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2710,3763
$GC,2163,-0.85,-146.0,353.2,-10.7,124,2166,0.00,2.12,0.00,0.000,4,0.000,0.031,2589,1288,3762
$GC,2192,-0.85,-146.0,356.5,-10.7,124,2196,0.00,2.35,0.00,0.000,6,0.000,0.070,2589,2706,3762
$GC,2455,-0.85,-146.0,383.2,-10.5,131,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2707,3760
$GC,2697,-0.85,-146.0,408.5,-10.4,137,2701,0.00,2.12,0.00,0.000,4,0.000,0.031,2596,1288,3759
$GC,2738,-0.85,-146.0,412.7,-9.5,137,2744,0.00,2.33,0.00,0.000,6,0.000,0.065,2588,2705,3759
$GC,2989,-0.85,-146.0,438.6,-10.5,144,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2705,3758
$GC,3232,-0.85,-146.0,462.0,-9.5,150,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2705,3756
$GC,3477,-0.85,-146.0,485.7,-9.9,156,3481,0.00,2.12,0.00,0.000,4,0.000,0.032,2595,1293,3754
$GC,3517,-0.85,-146.0,490.0,-9.4,156,3523,0.00,2.33,0.00,0.000,6,0.000,0.067,2589,2702,3754
$GC,3768,-0.85,-146.0,515.4,-10.2,163,3772,0.00,2.00,0.00,0.000,4,0.000,0.081,2580,3892,3752
$GC,3820,-0.85,-146.0,520.5,-9.2,164,3823,0.00,1.77,0.00,0.000,6,0.000,0.028,2586,2691,3751
$GC,4106,-0.85,-146.0,545.4,-8.8,171,4110,0.00,2.08,0.00,0.000,4,0.000,0.032,2596,1297,3749
$GC,4142,-0.85,-146.0,548.7,-8.5,171,4146,0.00,2.33,0.00,0.000,6,0.000,0.066,2589,2708,3750
$GC,4395,-0.85,-146.0,572.5,-9.8,177,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2709,3748
$GC,4637,-0.85,-146.0,597.5,-10.2,183,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2708,3747
$STATE,4674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4674,begin apogee
$GC,4683,-0.32,0.0,601.5,10.1,184,4810,0.55,0.00,123.97,1.101,6,0.137,0.000,2755,2621,3160
$STATE,4810,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4814,0.85,146.0,608.7,0.0,187,4951,1.15,2.20,129.25,1.068,4,0.101,0.070,3123,3893,2563
$GC,5079,0.85,146.0,602.7,16.9,193,5083,0.00,1.92,0.00,0.000,6,0.000,0.032,3130,2642,2558
$GC,5364,0.85,146.0,557.7,15.9,200,5368,0.00,2.05,0.00,0.000,4,0.000,0.061,3123,3899,2553
$GC,5559,0.85,146.0,527.1,14.6,204,5562,0.00,1.95,0.00,0.000,6,0.000,0.033,3131,2618,2552
$GC,5840,0.85,146.0,492.9,11.7,211,5844,0.00,2.12,0.00,0.000,4,0.000,0.064,3124,3903,2550
$GC,6099,0.85,146.0,462.9,11.9,216,6103,0.00,1.95,0.00,0.000,6,0.000,0.033,3131,2617,2548
$GC,6355,0.85,146.0,436.0,10.5,223,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2611,2547
$GC,6599,0.85,146.0,409.9,11.2,229,6603,0.00,2.15,0.00,0.000,4,0.000,0.039,3142,1205,2546
$GC,6858,0.85,146.0,383.3,9.8,234,6862,0.00,2.30,0.00,0.000,6,0.000,0.057,3137,2635,2545
$GC,7116,0.91,190.5,362.5,7.6,241,7166,0.00,2.22,39.62,0.900,4,0.000,0.036,3145,1206,2383
$GC,7353,0.91,190.5,328.2,16.6,246,7357,0.00,2.30,0.00,0.000,6,0.000,0.057,3146,2623,2378
$GC,7620,0.91,190.5,283.4,16.3,253,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2624,2375
$GC,7864,0.91,190.5,245.2,15.8,259,7868,0.00,2.15,0.00,0.000,4,0.000,0.032,3154,1201,2374
$GC,8017,0.91,190.5,224.4,14.3,262,8021,0.00,2.28,0.00,0.000,6,0.000,0.052,3150,2629,2374
$GC,8279,0.91,190.5,191.1,12.2,274,8283,0.00,2.12,0.00,0.000,4,0.000,0.031,3158,1199,2373
$GC,8351,0.91,190.5,182.3,13.0,280,8355,0.00,2.25,0.00,0.000,6,0.000,0.050,3150,2629,2373
$GC,8621,0.91,190.5,144.8,14.6,305,8625,0.00,2.15,0.00,0.000,4,0.000,0.029,3158,1184,2372
$GC,8640,0.91,190.5,142.1,13.4,306,8648,0.00,2.33,0.00,0.000,6,0.000,0.052,3150,2625,2372
$GC,8905,0.91,193.2,111.0,9.5,331,8909,0.00,2.12,0.00,0.000,4,0.000,0.028,3158,1178,2373
$GC,8919,0.91,193.2,109.3,10.2,332,8923,0.00,2.30,0.00,0.000,6,0.000,0.051,3159,2629,2373
$GC,9189,1.06,310.4,92.0,4.4,357,9303,0.15,2.10,101.62,0.723,4,0.104,0.048,3205,3893,1892
$GC,9310,1.06,310.4,69.8,31.5,367,9319,0.00,1.98,0.00,0.000,6,0.000,0.025,3213,2605,1891
$STATE,9527,end climb,SURFACE_DEPTH_REACHED
$STATE,9527,begin surface coast
$FINISH,0.2,1.024031
$STATE,9539,end surface coast,CONTROL_FINISHED_OK
$STATE,9539,begin surface
$SM_CCo,9562,20.40,0.622,0,0,1732,350.04
$SM_GC,1.34,0.00,0.00,20.40,0.000,0.000,0.622,40,2749,1732,-8.83,1.39,350.04
$IRIDIUM_FIX,2244.02,-15756.28,050500,121205
$TT8_MAMPS,0.023777
$HUMID,1894
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.5,88.740
$10V_AH,10.7,49.307
$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,20.950,81.900,394.475,20.400,0.000,31.316,32.879,332.747,0.250,0.000,0.000,16.314,843.818,6645.423,428.490,1506.451,701.769,33.363,1095.471,0.000,1495.601,0.000,0.543,0.000
$DEVICE_MAMPS,217.061,80.535,1101.412,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.876,580.138,596.549,116.688,483.117,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31786,396
$CAP_FILE_SIZE,79980,0
$CFSIZE,260165632,235458560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,090211,173602,2252.438,-15753.979,7,2.0,8,10.1