version: 66.04
glider: 512
mission: 1
dive: 470
start: 1 23 111 7 2 59
data:
$ID,512
$MISSION,1
$DIVE,470
$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,-15154.586
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,065636,2253.348,-15759.396,36,1.8,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.2
$GPS2,070208,2253.329,-15759.361,15,1.9,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.008,0.264
$KALMAN_X,-170437.9,686.9,5.2,189808.0,-723.1
$KALMAN_Y,-453945.5,779.4,111.7,588357.2,-3325.3
$MHEAD_RNG_PITCHd_Wd,351.7,6595,-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,15,-0.84,-155.7,0.0,0.0,0,63,0.00,0.00,-46.28,0.000,2,0.000,0.000,44,2678,2983
$GC,67,-0.84,-155.7,3.3,-5.5,6,107,11.35,2.00,-18.73,0.000,4,0.247,0.084,2601,3866,3963
$GC,247,-0.84,-155.7,46.3,-13.7,28,251,0.00,1.83,0.00,0.000,6,0.000,0.026,2609,2647,3966
$GC,517,-0.84,-155.7,105.5,-22.1,53,520,0.00,2.08,0.00,0.000,4,0.000,0.030,2619,1242,3967
$GC,596,-0.84,-155.7,118.9,-11.3,60,600,0.00,2.30,0.00,0.000,6,0.000,0.070,2619,2626,3968
$GC,859,-0.84,-155.7,155.2,-14.3,84,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2626,3969
$GC,1113,-0.84,-155.7,188.7,-13.1,108,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2626,3970
$GC,1372,-0.84,-155.7,218.1,-11.0,121,1375,0.00,2.03,0.00,0.000,4,0.000,0.027,2622,1241,3971
$GC,1405,-0.84,-155.7,221.4,-8.9,121,1409,0.00,2.25,0.00,0.000,6,0.000,0.054,2619,2658,3971
$GC,1657,-0.84,-155.7,243.9,-9.3,127,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2659,3971
$GC,1899,-0.84,-155.7,268.0,-9.9,133,1903,0.00,2.08,0.00,0.000,4,0.000,0.028,2626,1241,3971
$GC,1933,-0.84,-155.7,271.4,-9.4,133,1937,0.00,2.25,0.00,0.000,6,0.000,0.056,2619,2653,3971
$GC,2184,-0.84,-155.7,294.6,-9.4,139,2187,0.00,2.03,0.00,0.000,4,0.000,0.074,2610,3891,3971
$GC,2212,-0.84,-155.7,297.3,-9.1,139,2216,0.00,1.85,0.00,0.000,6,0.000,0.029,2612,2637,3971
$GC,2475,-0.84,-155.7,320.5,-8.7,146,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2631,3970
$GC,2717,-0.84,-155.7,340.5,-8.2,152,2721,0.00,2.10,0.00,0.000,4,0.000,0.073,2604,3889,3969
$GC,2751,-0.84,-155.7,343.4,-8.4,152,2755,0.00,1.80,0.00,0.000,6,0.000,0.030,2612,2649,3969
$GC,3007,-0.84,-155.7,364.2,-8.1,159,3011,0.00,2.05,0.00,0.000,4,0.000,0.028,2617,1247,3969
$GC,3047,-0.84,-155.7,367.3,-7.7,159,3053,0.00,2.28,0.00,0.000,6,0.000,0.059,2616,2664,3968
$GC,3298,-0.84,-155.7,386.5,-7.9,166,3302,0.00,2.05,0.00,0.000,4,0.000,0.079,2606,3893,3967
$GC,3332,-0.84,-155.7,389.6,-7.9,166,3336,0.00,1.83,0.00,0.000,6,0.000,0.030,2614,2636,3966
$GC,3588,-0.84,-155.7,409.7,-7.8,173,3592,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1254,3966
$GC,3628,-0.84,-155.7,412.7,-7.0,173,3634,0.00,2.25,0.00,0.000,6,0.000,0.058,2616,2659,3965
$GC,3878,-0.84,-155.7,430.7,-7.1,180,3882,0.00,2.05,0.00,0.000,4,0.000,0.077,2616,3889,3964
$GC,3912,-0.84,-155.7,433.2,-6.4,180,3916,0.00,1.83,0.00,0.000,6,0.000,0.031,2617,2634,3963
$GC,4168,-0.84,-155.7,453.0,-8.1,187,4172,0.00,2.00,0.00,0.000,4,0.000,0.028,2628,1266,3962
$GC,4426,-0.84,-155.7,475.9,-7.4,192,4430,0.00,2.25,0.00,0.000,6,0.000,0.057,2628,2661,3961
$GC,4676,-0.84,-155.7,497.8,-8.9,198,4680,0.00,2.03,0.00,0.000,4,0.000,0.075,2628,3886,3959
$GC,4934,-0.84,-155.7,523.3,-9.0,203,4938,0.00,1.83,0.00,0.000,6,0.000,0.032,2630,2662,3957
$GC,5189,-0.84,-155.7,547.3,-9.8,210,5193,0.00,2.05,0.00,0.000,4,0.000,0.073,2629,3887,3956
$GC,5408,-0.84,-155.7,569.6,-9.5,214,5414,0.00,1.83,0.00,0.000,6,0.000,0.030,2635,2635,3955
$GC,5659,-0.84,-155.7,594.5,-10.2,221,5663,0.00,2.08,0.00,0.000,4,0.000,0.066,2634,3892,3953
$GC,5698,-0.84,-155.7,598.9,-10.3,221,5704,0.00,1.83,0.00,0.000,6,0.000,0.031,2641,2641,3953
$STATE,5742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5742,begin apogee
$GC,5750,-0.32,0.0,603.7,10.3,223,5874,0.45,0.00,121.45,1.089,6,0.091,0.000,2794,2564,3367
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5878,0.84,155.7,613.4,0.0,226,6020,1.08,2.28,133.80,1.068,4,0.074,0.028,3178,1151,2731
$GC,6278,0.89,191.6,619.9,8.1,235,6316,0.00,2.22,31.20,1.044,6,0.000,0.045,3176,2550,2586
$GC,6558,0.89,191.6,578.1,15.9,242,6562,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,1143,2580
$GC,6816,0.89,191.6,544.1,11.7,247,6820,0.00,2.22,0.00,0.000,6,0.000,0.047,3178,2550,2578
$GC,7067,0.89,191.6,513.6,12.3,253,7071,0.00,2.10,0.00,0.000,4,0.000,0.033,3187,1142,2576
$GC,7325,0.89,191.6,482.9,12.0,258,7329,0.00,2.22,0.00,0.000,6,0.000,0.052,3187,2546,2575
$GC,7575,0.89,191.6,454.0,11.2,264,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2546,2574
$GC,7819,0.89,191.6,429.0,9.8,270,7823,0.00,2.08,0.00,0.000,4,0.000,0.031,3197,1154,2573
$GC,7942,0.94,233.2,417.9,7.9,272,7982,0.00,2.22,35.53,0.987,6,0.000,0.051,3192,2552,2416
$GC,8233,0.94,233.2,369.3,18.3,280,8236,0.00,2.12,0.00,0.000,4,0.000,0.031,3200,1148,2410
$GC,8369,0.94,233.2,345.2,17.5,283,8373,0.00,2.22,0.00,0.000,6,0.000,0.048,3200,2557,2409
$GC,8652,0.94,233.2,298.5,16.0,290,8656,0.00,2.15,0.00,0.000,4,0.000,0.056,3200,3905,2408
$GC,8815,0.94,233.2,271.6,16.9,293,8819,0.00,2.03,0.00,0.000,6,0.000,0.030,3210,2548,2407
$GC,9077,0.94,233.2,233.4,14.2,300,9080,0.00,2.10,0.00,0.000,4,0.000,0.031,3221,1129,2407
$GC,9335,0.94,233.2,199.5,13.2,305,9339,0.00,2.25,0.00,0.000,6,0.000,0.048,3218,2549,2406
$GC,9597,0.94,233.2,166.2,14.1,329,9601,0.00,2.08,0.00,0.000,4,0.000,0.030,3227,1136,2406
$GC,9757,0.94,233.2,147.4,13.7,343,9761,0.00,2.25,0.00,0.000,6,0.000,0.049,3218,2557,2406
$GC,10021,0.94,233.2,114.4,11.2,367,10025,0.00,2.12,0.00,0.000,4,0.000,0.054,3218,3905,2406
$GC,10278,1.04,318.4,94.9,6.1,390,10355,0.00,2.00,70.55,0.731,6,0.000,0.027,3227,2529,2069
$GC,10614,1.04,318.4,14.3,27.9,425,10622,0.00,2.05,0.00,0.000,4,0.000,0.026,3237,1150,2062
$STATE,10654,end climb,SURFACE_DEPTH_REACHED
$STATE,10654,begin surface coast
$FINISH,0.3,1.022919
$STATE,10666,end surface coast,CONTROL_FINISHED_OK
$STATE,10667,begin surface
$SM_CCo,10690,15.40,0.614,0,0,1940,350.04
$SM_GC,3.08,0.00,0.00,15.40,0.000,0.000,0.614,44,2656,1940,-8.93,0.17,350.04
$IRIDIUM_FIX,2244.02,-15757.16,180400,030349
$TT8_MAMPS,0.023777
$HUMID,1840
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,23.7,61.460
$10V_AH,10.7,35.577
$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,21.950,100.200,392.525,15.400,0.000,31.083,36.778,139.267,0.500,0.000,0.000,16.005,973.931,7263.300,432.673,1899.494,471.798,33.363,1253.247,0.000,1876.327,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,84.370,1089.140,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,293.855,636.369,653.941,124.220,517.708,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35175,434
$CAP_FILE_SIZE,92025,0
$CFSIZE,260165632,242622464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,230111,100254,2253.811,-15759.029,32,1.7,50,10.1