version: 66.04
glider: 512
mission: 1
dive: 673
start: 2 9 111 19 55 17
data:
$ID,512
$MISSION,1
$DIVE,673
$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,-20534.916
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$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,57
$R_STBD_OVSHOOT,63
$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
$GPS1,194627,2251.552,-15753.595,27,2.6,47,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.8
$GPS2,195425,2251.608,-15753.613,11,1.5,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.099,-0.236
$KALMAN_X,-209116.9,981.2,23.4,238066.3,-2447.5
$KALMAN_Y,-559319.8,336.4,-227.1,691340.4,2851.1
$MHEAD_RNG_PITCHd_Wd,192.5,11133,-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,-45.42,0.000,2,0.000,0.000,39,2752,2875
$GC,68,-0.85,-146.0,3.0,-4.4,6,109,10.75,2.20,-18.38,0.000,4,0.226,0.040,2600,1302,3756
$GC,171,-0.85,-146.0,26.7,-18.9,22,180,0.00,2.25,0.00,0.000,6,0.000,0.064,2591,2651,3759
$GC,437,-0.85,-146.0,97.4,-28.7,48,441,0.00,2.03,0.00,0.000,4,0.000,0.064,2581,3904,3760
$GC,466,-0.85,-146.0,105.3,-25.5,50,474,0.00,1.77,0.00,0.000,6,0.000,0.023,2581,2692,3760
$GC,729,-0.85,-146.0,163.5,-20.6,75,733,0.00,2.03,0.00,0.000,4,0.000,0.025,2581,1297,3761
$GC,779,-0.85,-146.0,172.8,-14.9,79,786,0.00,2.33,0.00,0.000,6,0.000,0.065,2576,2698,3761
$GC,1059,-0.85,-146.0,222.4,-18.2,97,1063,0.00,1.98,0.00,0.000,4,0.000,0.075,2567,3893,3763
$GC,1105,-0.85,-146.0,231.0,-16.2,98,1110,0.12,1.73,0.00,0.000,6,0.147,0.023,2599,2698,3763
$GC,1396,-0.85,-146.0,270.0,-13.0,105,1399,0.00,2.05,0.00,0.000,4,0.000,0.028,2610,1297,3764
$GC,1443,-0.85,-146.0,275.2,-10.2,106,1448,0.00,2.25,0.00,0.000,6,0.000,0.060,2601,2709,3764
$GC,1734,-0.85,-146.0,309.9,-12.0,113,1738,0.00,1.95,0.00,0.000,4,0.000,0.073,2591,3892,3764
$GC,1759,-0.85,-146.0,312.9,-12.1,113,1762,0.00,1.75,0.00,0.000,6,0.000,0.025,2596,2685,3764
$GC,2026,-0.85,-146.0,343.6,-11.7,120,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2678,3764
$GC,2273,-0.85,-146.0,369.9,-10.5,126,2276,0.00,2.05,0.00,0.000,4,0.000,0.030,2600,1294,3763
$GC,2308,-0.85,-146.0,373.5,-8.7,126,2312,0.00,2.28,0.00,0.000,6,0.000,0.063,2592,2698,3762
$GC,2564,-0.85,-146.0,399.3,-10.5,133,2568,0.00,1.98,0.00,0.000,4,0.000,0.075,2582,3897,3761
$GC,2598,-0.85,-146.0,403.1,-10.6,133,2601,0.00,1.75,0.00,0.000,6,0.000,0.025,2582,2693,3761
$GC,2854,-0.85,-146.0,431.3,-11.4,140,2858,0.00,2.05,0.00,0.000,4,0.000,0.028,2582,1299,3760
$GC,2923,-0.85,-146.0,439.2,-10.7,141,2927,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2699,3760
$GC,3185,-0.85,-146.0,472.4,-13.0,148,3188,0.00,1.98,0.00,0.000,4,0.000,0.075,2568,3892,3759
$GC,3213,-0.85,-146.0,476.2,-13.0,148,3218,0.08,1.77,0.00,0.000,6,0.135,0.025,2592,2694,3758
$GC,3476,-0.85,-146.0,501.1,-9.3,155,3480,0.00,2.05,0.00,0.000,4,0.000,0.030,2602,1292,3757
$GC,3510,-0.85,-146.0,504.4,-8.5,155,3514,0.00,2.30,0.00,0.000,6,0.000,0.058,2594,2717,3757
$GC,3762,-0.85,-146.0,525.9,-8.7,161,3766,0.00,1.95,0.00,0.000,4,0.000,0.073,2584,3896,3755
$GC,3786,-0.85,-146.0,528.2,-9.0,161,3789,0.00,1.75,0.00,0.000,6,0.000,0.025,2587,2699,3754
$GC,4054,-0.85,-146.0,552.7,-9.1,168,4058,0.00,2.08,0.00,0.000,4,0.000,0.029,2588,1293,3753
$GC,4101,-0.85,-146.0,556.8,-8.6,169,4105,0.00,2.30,0.00,0.000,6,0.000,0.063,2588,2701,3753
$GC,4389,-0.85,-146.0,582.8,-9.3,176,4393,0.00,1.98,0.00,0.000,4,0.000,0.074,2580,3892,3750
$GC,4430,-0.85,-146.0,586.9,-9.4,176,4436,0.00,1.75,0.00,0.000,6,0.000,0.025,2586,2699,3750
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4606,-0.32,0.0,602.9,9.4,181,4733,0.57,0.00,124.03,1.059,6,0.128,0.000,2765,2620,3160
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4738,0.85,146.0,610.0,0.0,184,4875,1.12,2.25,128.70,1.046,4,0.094,0.032,3153,1234,2563
$GC,5054,0.85,146.0,598.8,15.4,191,5058,0.00,2.25,0.00,0.000,6,0.000,0.052,3150,2628,2556
$GC,5328,0.85,146.0,557.7,14.9,198,5332,0.00,2.05,0.00,0.000,4,0.000,0.061,3150,3905,2553
$GC,5357,0.85,146.0,553.1,15.8,198,5361,0.00,1.90,0.00,0.000,6,0.000,0.031,3157,2647,2552
$GC,5619,0.85,146.0,516.1,13.8,205,5623,0.00,2.03,0.00,0.000,4,0.000,0.054,3150,3903,2550
$GC,5630,0.85,146.0,514.4,13.8,205,5634,0.00,1.92,0.00,0.000,6,0.000,0.028,3158,2622,2550
$GC,5910,0.85,146.0,480.5,11.9,212,5914,0.00,2.08,0.00,0.000,4,0.000,0.053,3151,3904,2549
$GC,6011,0.85,146.0,467.7,12.0,214,6015,0.00,1.92,0.00,0.000,6,0.000,0.029,3158,2621,2548
$GC,6292,0.85,146.0,435.4,11.7,221,6295,0.00,2.12,0.00,0.000,4,0.000,0.034,3170,1205,2547
$GC,6303,0.85,146.0,433.7,12.0,221,6308,0.00,2.28,0.00,0.000,6,0.000,0.053,3162,2631,2547
$GC,6577,0.85,146.0,402.7,10.9,228,6581,0.00,2.15,0.00,0.000,4,0.000,0.032,3171,1208,2546
$GC,6835,0.85,146.0,379.3,9.8,233,6839,0.00,2.25,0.00,0.000,6,0.000,0.050,3162,2631,2544
$GC,7087,0.86,147.4,355.9,9.6,239,7090,0.00,2.12,0.00,0.000,4,0.000,0.031,3171,1205,2544
$GC,7345,0.86,147.4,331.2,10.0,244,7349,0.00,2.25,0.00,0.000,6,0.000,0.052,3163,2623,2544
$GC,7597,0.89,173.6,309.2,8.5,250,7631,0.00,2.08,24.05,0.798,4,0.000,0.054,3163,3897,2451
$GC,7666,0.89,173.6,302.3,11.7,251,7670,0.00,1.92,0.00,0.000,6,0.000,0.026,3170,2608,2450
$GC,7928,0.89,173.6,271.6,10.9,258,7932,0.00,2.08,0.00,0.000,4,0.000,0.029,3182,1215,2448
$GC,7979,0.89,173.6,265.7,11.8,259,7983,0.00,2.22,0.00,0.000,6,0.000,0.046,3176,2626,2447
$GC,8264,0.89,173.6,234.4,11.3,266,8268,0.00,2.10,0.00,0.000,4,0.000,0.028,3184,1213,2446
$GC,8508,0.95,219.6,213.5,7.6,271,8554,0.00,2.22,40.62,0.798,6,0.000,0.044,3176,2636,2264
$GC,8816,0.95,219.6,158.2,21.5,293,8820,0.00,2.00,0.00,0.000,4,0.000,0.052,3176,3905,2258
$GC,9075,0.95,219.6,108.1,16.5,316,9079,0.00,1.90,0.00,0.000,6,0.000,0.025,3183,2620,2257
$GC,9345,0.95,219.6,67.1,13.3,341,9349,0.00,2.03,0.00,0.000,4,0.000,0.045,3178,3906,2257
$GC,9360,0.95,219.6,65.1,13.1,342,9364,0.00,1.90,0.00,0.000,6,0.000,0.024,3186,2606,2257
$GC,9625,0.95,219.6,23.8,17.3,369,9633,0.00,2.05,0.00,0.000,4,0.000,0.025,3197,1211,2257
$GC,9680,0.95,219.6,13.8,17.6,378,9688,0.00,2.22,0.00,0.000,6,0.000,0.041,3192,2632,2257
$STATE,9736,end climb,SURFACE_DEPTH_REACHED
$STATE,9736,begin surface coast
$FINISH,0.3,1.023888
$STATE,9754,end surface coast,CONTROL_FINISHED_OK
$STATE,9754,begin surface
$SM_CCo,9777,70.00,0.620,0,0,1732,350.04
$SM_GC,1.88,0.00,0.00,70.00,0.000,0.000,0.620,40,2726,1732,-8.86,0.74,350.04
$IRIDIUM_FIX,2244.02,-15751.06,050500,171701
$TT8_MAMPS,0.023777
$HUMID,1835
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,89.010
$10V_AH,10.7,49.463
$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,21.025,111.050,317.400,70.000,0.000,27.739,42.282,274.569,0.250,0.000,0.000,17.272,889.142,6720.394,443.668,1610.456,668.214,33.361,1159.700,0.000,1588.200,0.000,0.542,0.000
$DEVICE_MAMPS,226.265,84.370,1059.227,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.902,555.414,572.785,124.867,514.386,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31910,391
$CAP_FILE_SIZE,88163,0
$CFSIZE,260165632,235372544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,090211,224037,2251.044,-15753.823,29,1.6,29,10.1