version: 66.04
glider: 512
mission: 1
dive: 469
start: 1 23 111 3 50 35
data:
$ID,512
$MISSION,1
$DIVE,469
$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,160
$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,-15137.95
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2900
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,034043,2252.799,-15759.747,8,1.8,13,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-78.5
$GPS2,034946,2252.726,-15759.643,13,2.3,32,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.028,0.263
$KALMAN_X,-169542.6,-356.0,-32.3,189513.7,-899.8
$KALMAN_Y,-452021.2,993.7,62.8,585146.5,-3389.5
$MHEAD_RNG_PITCHd_Wd,356.0,7212,-16.2,-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,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-38.08,0.000,2,0.000,0.000,55,2683,2940
$GC,60,-0.84,-155.7,3.2,-5.9,5,99,11.40,2.03,-19.88,0.000,4,0.249,0.086,2610,3873,3961
$GC,182,-0.84,-155.7,34.2,-12.8,23,186,0.00,1.83,0.00,0.000,6,0.000,0.027,2615,2642,3963
$GC,450,-0.84,-155.7,91.5,-19.9,48,454,0.00,2.03,0.00,0.000,4,0.000,0.027,2626,1257,3964
$GC,511,-0.84,-155.7,100.5,-8.6,53,518,0.00,2.33,0.00,0.000,6,0.000,0.069,2619,2640,3965
$GC,773,-0.84,-155.7,129.8,-12.0,78,777,0.00,2.03,0.00,0.000,4,0.000,0.025,2626,1254,3966
$GC,801,-0.84,-155.7,133.3,-11.7,80,809,0.00,2.33,0.00,0.000,6,0.000,0.066,2619,2653,3966
$GC,1063,-0.84,-155.7,163.2,-12.6,105,1067,0.00,2.05,0.00,0.000,4,0.000,0.025,2626,1247,3966
$GC,1087,-0.84,-155.7,166.2,-12.4,107,1091,0.00,2.28,0.00,0.000,6,0.000,0.062,2619,2657,3966
$GC,1350,-0.84,-155.7,194.7,-10.6,131,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2657,3967
$GC,1608,-0.84,-155.7,219.8,-9.6,141,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2656,3967
$GC,1849,-0.84,-155.7,242.7,-9.4,147,1852,0.00,2.05,0.00,0.000,4,0.000,0.026,2624,1250,3967
$GC,1888,-0.84,-155.7,246.2,-7.8,147,1894,0.00,2.28,0.00,0.000,6,0.000,0.061,2619,2661,3967
$GC,2139,-0.84,-155.7,268.3,-9.1,154,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2661,3967
$GC,2382,-0.84,-155.7,290.3,-9.0,160,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2661,3966
$GC,2627,-0.84,-155.7,311.1,-8.5,166,2630,0.00,2.08,0.00,0.000,4,0.000,0.028,2626,1252,3965
$GC,2655,-0.84,-155.7,313.5,-8.0,166,2659,0.00,2.28,0.00,0.000,6,0.000,0.064,2619,2657,3965
$GC,2911,-0.84,-155.7,332.8,-7.7,173,2915,0.00,2.05,0.00,0.000,4,0.000,0.083,2610,3884,3963
$GC,2939,-0.84,-155.7,335.1,-8.4,173,2943,0.00,1.83,0.00,0.000,6,0.000,0.029,2615,2650,3963
$GC,3201,-0.84,-155.7,355.0,-7.7,180,3205,0.00,2.05,0.00,0.000,4,0.000,0.028,2617,1248,3961
$GC,3229,-0.84,-155.7,357.3,-7.9,180,3234,0.00,2.25,0.00,0.000,6,0.000,0.060,2617,2651,3962
$GC,3486,-0.84,-155.7,376.2,-7.3,187,3489,0.00,2.05,0.00,0.000,4,0.000,0.080,2609,3883,3960
$GC,3514,-0.84,-155.7,378.1,-6.9,187,3517,0.00,1.80,0.00,0.000,6,0.000,0.031,2615,2647,3961
$GC,3775,-0.84,-155.7,394.9,-6.4,194,3779,0.00,2.05,-0.05,0.000,4,0.000,0.041,2616,1269,3976
$GC,3809,-0.84,-155.7,397.3,-6.4,194,3813,0.00,2.22,0.00,0.000,6,0.000,0.056,2608,2659,3976
$GC,4067,-0.84,-155.7,417.3,-8.1,201,4070,0.00,2.05,0.00,0.000,4,0.000,0.077,2598,3893,3975
$GC,4095,-0.84,-155.7,420.0,-9.0,201,4099,0.00,1.85,0.00,0.000,6,0.000,0.030,2606,2644,3975
$GC,4356,-0.84,-155.7,444.5,-9.7,208,4360,0.00,2.03,0.00,0.000,4,0.000,0.028,2616,1256,3973
$GC,4402,-0.84,-155.7,448.8,-8.8,209,4407,0.00,2.22,0.00,0.000,6,0.000,0.056,2607,2653,3973
$GC,4688,-0.84,-155.7,478.0,-10.7,216,4691,0.00,2.05,0.00,0.000,4,0.000,0.077,2606,3883,3972
$GC,4723,-0.84,-155.7,482.2,-12.3,216,4726,0.00,1.80,0.00,0.000,6,0.000,0.031,2613,2647,3971
$GC,4981,-0.84,-155.7,505.9,-9.2,223,4984,0.00,2.03,0.00,0.000,4,0.000,0.029,2617,1270,3970
$GC,5239,-0.84,-155.7,528.1,-7.6,228,5243,0.00,2.22,0.00,0.000,6,0.000,0.055,2617,2659,3968
$GC,5495,-0.84,-155.7,548.2,-8.2,235,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2659,3967
$GC,5739,-0.84,-155.7,569.2,-8.8,241,5743,0.00,2.08,0.00,0.000,4,0.000,0.031,2617,1263,3966
$GC,5997,-0.84,-155.7,592.9,-10.5,246,6002,0.00,2.25,0.00,0.000,6,0.000,0.060,2617,2648,3964
$STATE,6084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6084,begin apogee
$GC,6092,-0.32,0.0,600.8,9.1,248,6218,0.50,0.00,123.45,1.082,6,0.074,0.000,2795,2560,3367
$STATE,6219,end apogee,CONTROL_FINISHED_OK
$STATE,6219,begin climb
$GC,6222,0.84,155.7,610.6,0.0,251,6363,1.08,2.25,133.45,1.063,4,0.074,0.030,3178,1151,2732
$GC,6621,0.89,197.7,619.5,7.9,260,6662,0.00,2.25,36.17,1.045,6,0.000,0.047,3178,2560,2561
$GC,6950,0.89,197.7,564.8,18.2,268,6953,0.00,2.15,0.00,0.000,4,0.000,0.030,3187,1140,2555
$GC,7078,0.89,197.7,543.8,15.6,270,7085,0.00,2.25,0.00,0.000,6,0.000,0.048,3187,2546,2554
$GC,7329,0.89,197.7,504.8,15.3,277,7332,0.00,2.17,0.00,0.000,4,0.000,0.061,3188,3900,2552
$GC,7586,0.89,197.7,466.8,12.9,282,7590,0.00,2.00,0.00,0.000,6,0.000,0.030,3197,2546,2550
$GC,7843,0.89,197.7,437.3,11.5,289,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2539,2550
$GC,8085,0.89,197.7,410.3,10.9,295,8089,0.00,2.17,0.00,0.000,4,0.000,0.058,3192,3891,2548
$GC,8287,0.89,197.7,387.7,10.5,299,8291,0.00,1.98,0.00,0.000,6,0.000,0.029,3200,2557,2548
$GC,8557,0.89,197.7,360.7,10.3,306,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2550,2547
$GC,8798,0.93,230.1,339.6,8.3,312,8828,0.00,0.00,27.62,0.917,6,0.000,0.000,3201,2550,2429
$GC,9042,0.93,230.1,304.0,16.1,318,9046,0.00,2.17,0.00,0.000,4,0.000,0.054,3201,3903,2423
$GC,9300,0.93,230.1,258.1,17.5,323,9303,0.00,2.03,0.00,0.000,6,0.000,0.030,3210,2549,2423
$GC,9556,0.93,230.1,216.8,16.4,330,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2542,2422
$GC,9806,0.93,230.1,179.1,13.7,345,9809,0.00,2.08,0.00,0.000,4,0.000,0.031,3221,1130,2422
$GC,9886,0.93,230.1,169.9,11.4,352,9890,0.00,2.25,0.00,0.000,6,0.000,0.049,3218,2552,2422
$GC,10149,0.93,230.1,141.0,11.7,376,10152,0.00,2.10,0.00,0.000,4,0.000,0.029,3227,1127,2422
$GC,10406,0.93,230.1,114.2,10.5,399,10410,0.00,2.20,0.00,0.000,6,0.000,0.042,3218,2557,2422
$GC,10670,1.13,388.8,97.0,3.0,423,10809,0.15,2.25,130.80,0.718,4,0.109,0.028,3277,1135,1781
$GC,10927,1.13,388.8,29.3,37.5,445,10935,0.00,2.30,0.00,0.000,6,0.000,0.046,3270,2544,1773
$STATE,10999,end climb,SURFACE_DEPTH_REACHED
$STATE,10999,begin surface coast
$FINISH,0.4,1.023864
$STATE,11006,end surface coast,CONTROL_FINISHED_OK
$STATE,11007,begin surface
$SM_CCo,11088,0.00,0.000,0,0,1765,392.96
$SM_GC,1.10,9.23,0.00,0.00,0.077,0.000,0.000,45,2678,1765,-8.87,0.79,392.96
$IRIDIUM_FIX,2241.69,-15759.32,180400,030319
$TT8_MAMPS,0.023777
$HUMID,1872
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,20.90
$XPDR_PINGS,1
$24V_AH,23.7,61.335
$10V_AH,10.7,35.484
$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,22.350,97.275,451.500,0.000,0.000,49.083,69.924,216.330,0.250,0.000,0.000,33.414,991.233,7730.087,451.647,1849.740,605.995,33.361,1252.826,0.000,1814.338,0.000,0.542,0.000
$DEVICE_MAMPS,248.508,85.904,1082.237,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,310.912,676.875,695.789,127.661,530.857,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38295,459
$CAP_FILE_SIZE,93714,0
$CFSIZE,260165632,242663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,230111,065636,2253.348,-15759.396,36,1.8,36,10.1