version: 66.04
glider: 512
mission: 1
dive: 674
start: 2 9 111 22 49 55
data:
$ID,512
$MISSION,1
$DIVE,674
$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,-20548.768
$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,54
$R_STBD_OVSHOOT,49
$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
$GPS1,224037,2251.044,-15753.823,29,1.6,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.7
$GPS2,224902,2251.235,-15753.777,13,1.9,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.002,-0.256
$KALMAN_X,-207530.5,642.4,46.5,236498.5,-472.5
$KALMAN_Y,-557012.2,-71.3,72.5,688448.0,2633.1
$MHEAD_RNG_PITCHd_Wd,170.3,10426,-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,-45.22,0.000,2,0.000,0.000,33,2727,2887
$GC,69,-0.85,-146.0,3.3,-4.9,6,102,10.55,2.17,-17.70,0.000,4,0.219,0.037,2589,1288,3758
$GC,138,-0.85,-146.0,21.2,-24.2,16,147,0.00,2.33,0.00,0.000,6,0.000,0.068,2589,2669,3759
$GC,404,-0.85,-146.0,91.3,-28.5,44,408,0.00,2.03,0.00,0.000,4,0.000,0.025,2589,1284,3760
$GC,429,-0.85,-146.0,97.3,-24.6,46,434,0.00,2.35,0.00,0.000,6,0.000,0.066,2588,2711,3761
$GC,694,-0.85,-146.0,154.2,-20.2,70,698,0.00,2.08,0.00,0.000,4,0.000,0.024,2589,1287,3762
$GC,711,-0.85,-146.0,158.5,-20.2,71,719,0.00,2.33,0.00,0.000,6,0.000,0.060,2589,2704,3762
$GC,982,-0.85,-146.0,207.9,-18.7,94,986,0.00,1.95,0.00,0.000,4,0.000,0.074,2584,3886,3762
$GC,1039,-0.85,-146.0,217.4,-14.3,95,1043,0.00,1.73,0.00,0.000,6,0.000,0.023,2584,2689,3763
$GC,1320,-0.85,-146.0,259.6,-15.2,102,1323,0.00,2.03,0.00,0.000,4,0.000,0.028,2584,1301,3763
$GC,1360,-0.85,-146.0,265.6,-12.8,102,1366,0.00,2.30,0.00,0.000,6,0.000,0.066,2576,2702,3763
$GC,1611,-0.85,-146.0,303.8,-15.9,109,1614,0.00,2.05,0.00,0.000,4,0.000,0.025,2576,1304,3763
$GC,1634,-0.85,-146.0,307.5,-15.5,109,1638,0.00,2.30,0.00,0.000,6,0.000,0.067,2576,2702,3763
$GC,1897,-0.85,-146.0,342.6,-13.4,116,1900,0.00,1.95,0.00,0.000,4,0.000,0.069,2567,3897,3763
$GC,1926,-0.85,-146.0,346.9,-13.9,116,1930,0.12,1.73,0.00,0.000,6,0.142,0.023,2600,2701,3763
$GC,2187,-0.85,-146.0,374.4,-10.5,123,2191,0.00,2.05,0.00,0.000,4,0.000,0.030,2610,1306,3761
$GC,2222,-0.85,-146.0,378.1,-9.5,123,2226,0.00,2.28,0.00,0.000,6,0.000,0.061,2602,2708,3762
$GC,2475,-0.85,-146.0,402.8,-10.1,129,2478,0.00,2.10,0.00,0.000,4,0.000,0.029,2602,1295,3760
$GC,2492,-0.85,-146.0,404.9,-10.3,129,2497,0.00,2.30,0.00,0.000,6,0.000,0.064,2593,2707,3760
$GC,2763,-0.85,-146.0,433.2,-10.6,136,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2707,3759
$GC,3004,-0.85,-146.0,458.6,-10.4,142,3008,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1295,3757
$GC,3038,-0.85,-146.0,462.1,-10.0,142,3042,0.00,2.28,0.00,0.000,6,0.000,0.061,2590,2696,3758
$GC,3290,-0.85,-146.0,486.2,-9.6,148,3293,0.00,2.00,0.00,0.000,4,0.000,0.077,2581,3892,3756
$GC,3330,-0.85,-146.0,490.3,-9.3,148,3336,0.00,1.75,0.00,0.000,6,0.000,0.025,2586,2701,3755
$GC,3581,-0.85,-146.0,514.4,-9.9,155,3585,0.00,2.05,0.00,0.000,4,0.000,0.029,2595,1295,3753
$GC,3620,-0.85,-146.0,518.3,-9.5,155,3628,0.00,2.33,0.00,0.000,6,0.000,0.060,2590,2705,3753
$GC,3872,-0.85,-146.0,541.9,-9.6,162,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2706,3751
$GC,4115,-0.85,-146.0,564.0,-8.9,168,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2707,3749
$GC,4359,-0.85,-146.0,585.6,-8.9,174,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2706,3748
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4529,-0.32,0.0,601.5,9.8,178,4655,0.60,0.00,123.55,1.077,6,0.146,0.000,2766,2618,3160
$STATE,4656,end apogee,CONTROL_FINISHED_OK
$STATE,4656,begin climb
$GC,4660,0.85,146.0,609.0,0.0,181,4796,1.17,2.20,129.10,1.054,4,0.110,0.066,3137,3901,2563
$GC,5058,0.85,146.0,584.1,16.3,190,5062,0.00,1.92,0.00,0.000,6,0.000,0.033,3145,2643,2556
$GC,5348,0.85,146.0,541.1,14.0,197,5352,0.00,2.05,0.00,0.000,4,0.000,0.063,3137,3897,2552
$GC,5607,0.85,146.0,504.4,13.9,202,5611,0.00,1.95,0.00,0.000,6,0.000,0.031,3145,2613,2550
$GC,5863,0.85,146.0,472.4,12.3,209,5867,0.00,2.08,0.00,0.000,4,0.000,0.059,3137,3898,2548
$GC,6122,0.85,146.0,437.7,12.8,214,6126,0.00,1.92,0.00,0.000,6,0.000,0.029,3145,2619,2548
$GC,6379,0.85,146.0,410.6,10.2,221,6383,0.00,2.12,0.00,0.000,4,0.000,0.037,3155,1216,2546
$GC,6436,0.86,150.0,404.9,9.4,222,6440,0.00,2.25,0.00,0.000,6,0.000,0.052,3150,2626,2546
$GC,6710,0.87,158.9,379.2,9.2,229,6724,0.00,2.20,9.20,0.827,4,0.000,0.034,3158,1186,2512
$GC,6980,0.87,158.9,348.7,11.8,235,6984,0.00,2.30,0.00,0.000,6,0.000,0.050,3150,2636,2511
$GC,7265,0.87,158.9,316.2,11.2,242,7268,0.00,2.15,0.00,0.000,4,0.000,0.033,3158,1210,2509
$GC,7361,0.87,158.9,306.2,9.9,244,7365,0.00,2.25,0.00,0.000,6,0.000,0.051,3150,2627,2509
$GC,7646,0.89,174.0,280.5,8.9,251,7663,0.00,0.00,14.95,0.816,6,0.000,0.000,3150,2627,2450
$GC,7889,0.89,174.0,255.4,10.8,257,7893,0.00,2.15,0.00,0.000,4,0.000,0.031,3159,1196,2446
$GC,8148,0.89,174.0,228.0,10.0,262,8152,0.00,2.28,0.00,0.000,6,0.000,0.049,3150,2632,2446
$GC,8401,0.89,176.3,203.3,9.5,268,8405,0.00,2.12,0.00,0.000,4,0.000,0.030,3158,1203,2445
$GC,8508,0.92,196.0,193.7,8.7,274,8539,0.00,2.30,19.95,0.757,6,0.000,0.051,3150,2627,2361
$GC,8795,0.92,196.0,156.8,13.0,301,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2627,2358
$GC,9058,0.92,196.0,119.9,13.0,326,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2627,2357
$GC,9312,0.97,235.9,93.3,7.8,350,9355,0.12,2.20,35.40,0.679,4,0.104,0.029,3201,1201,2197
$GC,9608,0.97,235.9,47.9,16.5,376,9612,0.00,2.28,0.00,0.000,6,0.000,0.051,3201,2629,2193
$STATE,9824,end climb,SURFACE_DEPTH_REACHED
$STATE,9824,begin surface coast
$FINISH,0.3,1.023926
$STATE,9836,end surface coast,CONTROL_FINISHED_OK
$STATE,9836,begin surface
$SM_CCo,9859,64.62,0.601,0,0,1732,350.04
$SM_GC,2.09,0.00,0.00,64.62,0.000,0.000,0.601,40,2726,1732,-8.86,0.71,350.04
$IRIDIUM_FIX,2244.02,-15751.94,050500,191918
$TT8_MAMPS,0.023777
$HUMID,1842
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,89.134
$10V_AH,10.7,49.552
$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,21.125,89.475,332.150,64.625,0.000,26.550,40.256,292.429,0.250,0.000,0.000,13.222,898.448,6756.907,439.492,1655.742,682.556,33.370,1146.418,0.000,1641.338,0.000,0.542,0.000
$DEVICE_MAMPS,218.595,78.234,1076.868,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,276.943,602.669,621.745,126.841,524.811,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35160,409
$CAP_FILE_SIZE,84871,0
$CFSIZE,260165632,235323392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,100211,013634,2250.579,-15753.544,11,9.4,30,10.1