version: 66.04
glider: 512
mission: 1
dive: 473
start: 1 23 111 15 45 10
data:
$ID,512
$MISSION,1
$DIVE,473
$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,-15200.63
$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,72
$R_STBD_OVSHOOT,45
$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
$GPS1,153554,2253.657,-15757.929,32,1.7,50,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-79.9
$GPS2,154419,2253.628,-15757.964,12,1.7,17,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.066,0.256
$KALMAN_X,-172424.4,465.0,-181.0,194601.0,-2062.9
$KALMAN_Y,-459241.6,-382.6,-20.4,595505.6,-3125.4
$MHEAD_RNG_PITCHd_Wd,4.3,4210,-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,-155.7,0.0,0.0,0,55,0.00,0.00,-37.80,0.000,2,0.000,0.000,52,2682,2916
$GC,59,-0.84,-155.7,3.3,-6.5,5,98,11.60,2.00,-19.75,0.000,4,0.254,0.086,2611,3856,3958
$GC,202,-0.84,-155.7,35.7,-10.0,25,206,0.00,1.75,0.00,0.000,6,0.000,0.028,2618,2658,3961
$GC,471,-0.84,-155.7,81.7,-16.2,50,474,0.00,2.08,0.00,0.000,4,0.000,0.029,2628,1254,3962
$GC,551,-0.84,-155.7,90.3,-8.1,57,555,0.00,2.25,0.00,0.000,6,0.000,0.063,2619,2628,3962
$GC,815,-0.84,-155.7,124.0,-13.2,81,818,0.00,2.12,0.00,0.000,4,0.000,0.083,2606,3893,3964
$GC,863,-0.84,-155.7,130.0,-11.8,85,867,0.00,1.80,0.00,0.000,6,0.000,0.027,2614,2647,3964
$GC,1131,-0.84,-155.7,163.0,-12.1,110,1135,0.00,2.03,0.00,0.000,4,0.000,0.027,2624,1247,3965
$GC,1181,-0.84,-155.7,168.4,-8.8,114,1189,0.00,2.30,0.00,0.000,6,0.000,0.065,2619,2646,3966
$GC,1445,-0.84,-155.7,197.3,-11.4,139,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2647,3966
$GC,1716,-0.84,-155.7,225.7,-10.2,148,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2647,3967
$GC,1960,-0.84,-155.7,249.0,-9.4,154,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2647,3967
$GC,2204,-0.84,-155.7,270.6,-8.7,160,2208,0.00,2.05,0.00,0.000,4,0.000,0.027,2627,1245,3967
$GC,2234,-0.84,-155.7,273.1,-8.0,160,2238,0.00,2.25,0.00,0.000,6,0.000,0.057,2619,2658,3966
$GC,2490,-0.84,-155.7,292.5,-7.6,167,2493,0.00,2.05,0.00,0.000,4,0.000,0.079,2606,3887,3966
$GC,2518,-0.84,-155.7,294.8,-7.7,167,2521,0.00,1.80,0.00,0.000,6,0.000,0.030,2613,2646,3966
$GC,2780,-0.84,-155.7,315.9,-8.3,174,2783,0.00,2.03,0.00,0.000,4,0.000,0.028,2618,1259,3965
$GC,2813,-0.84,-155.7,318.7,-8.1,174,2817,0.00,2.22,0.00,0.000,6,0.000,0.058,2617,2653,3965
$GC,3071,-0.84,-155.7,339.0,-7.9,181,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2653,3964
$GC,3313,-0.84,-155.7,358.1,-7.9,187,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2653,3964
$GC,3557,-0.84,-155.7,377.4,-7.9,193,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2653,3962
$GC,3801,-0.84,-155.7,395.2,-7.3,199,3804,0.00,2.05,0.00,0.000,4,0.000,0.028,2618,1263,3961
$GC,3829,-0.84,-155.7,397.2,-7.0,199,3833,0.00,2.25,0.00,0.000,6,0.000,0.061,2613,2658,3961
$GC,4086,-0.84,-155.7,416.6,-7.7,206,4089,0.00,2.05,0.00,0.000,4,0.000,0.080,2603,3886,3960
$GC,4120,-0.84,-155.7,419.5,-8.0,206,4124,0.00,1.80,-0.03,0.000,6,0.000,0.031,2611,2649,3970
$GC,4376,-0.84,-155.7,438.1,-7.3,213,4379,0.00,2.05,0.00,0.000,4,0.000,0.028,2617,1253,3970
$GC,4422,-0.84,-155.7,441.3,-7.0,214,4426,0.00,2.25,0.00,0.000,6,0.000,0.060,2618,2651,3969
$GC,4707,-0.84,-155.7,465.9,-9.3,221,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2651,3968
$GC,4950,-0.84,-155.7,489.1,-9.5,227,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2651,3967
$GC,5195,-0.84,-155.7,512.6,-9.7,233,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2651,3965
$GC,5437,-0.84,-155.7,536.5,-9.8,239,5440,0.00,2.05,0.00,0.000,4,0.000,0.029,2621,1259,3963
$GC,5694,-0.84,-155.7,561.7,-10.0,244,5698,0.00,2.28,0.00,0.000,6,0.000,0.061,2619,2652,3962
$GC,5945,-0.84,-155.7,584.9,-9.5,250,5948,0.00,2.08,0.00,0.000,4,0.000,0.029,2627,1255,3961
$STATE,6088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6088,begin apogee
$GC,6098,-0.32,0.0,600.5,11.0,253,6224,0.50,0.00,123.32,1.098,6,0.094,0.000,2794,2547,3367
$STATE,6225,end apogee,CONTROL_FINISHED_OK
$STATE,6225,begin climb
$GC,6228,0.84,155.7,609.7,0.0,256,6370,1.08,2.20,134.32,1.089,4,0.074,0.031,3178,1164,2732
$GC,6627,0.91,211.3,618.4,7.3,265,6683,0.00,2.22,48.47,1.078,6,0.000,0.046,3176,2564,2505
$GC,6951,0.91,211.3,557.8,20.4,273,6955,0.00,2.12,0.00,0.000,4,0.000,0.031,3185,1147,2497
$GC,7209,0.91,211.3,510.7,17.3,278,7213,0.00,2.22,0.00,0.000,6,0.000,0.047,3179,2550,2496
$GC,7459,0.91,211.3,466.9,17.1,284,7463,0.00,2.08,0.00,0.000,4,0.000,0.031,3187,1156,2494
$GC,7667,0.91,211.3,435.8,14.9,288,7671,0.00,2.22,0.00,0.000,6,0.000,0.053,3187,2554,2493
$GC,7922,0.91,211.3,397.0,15.3,295,7926,0.00,2.05,0.00,0.000,4,0.000,0.031,3197,1153,2492
$GC,7939,0.91,211.3,394.4,15.2,295,7943,0.00,2.22,0.00,0.000,6,0.000,0.048,3192,2562,2492
$GC,8206,0.91,211.3,355.0,15.0,302,8210,0.00,2.12,0.00,0.000,4,0.000,0.059,3192,3897,2491
$GC,8465,0.91,211.3,314.8,14.6,307,8468,0.00,1.98,0.00,0.000,6,0.000,0.029,3200,2565,2491
$GC,8720,0.91,211.3,283.3,11.9,314,8724,0.00,2.15,0.00,0.000,4,0.000,0.056,3200,3900,2490
$GC,8793,0.91,211.3,274.3,11.9,315,8797,0.00,2.00,0.00,0.000,6,0.000,0.028,3210,2541,2490
$GC,9056,0.91,211.3,245.7,10.5,322,9060,0.00,2.17,0.00,0.000,4,0.000,0.052,3205,3901,2490
$GC,9314,0.91,211.3,218.7,10.1,327,9318,0.00,2.00,0.00,0.000,6,0.000,0.030,3214,2552,2489
$GC,9570,0.96,253.5,197.7,7.9,334,9611,0.00,2.20,35.00,0.838,4,0.000,0.054,3214,3887,2332
$GC,9759,0.96,253.5,166.3,19.3,350,9766,0.00,2.03,0.00,0.000,6,0.000,0.028,3224,2550,2329
$GC,10022,0.96,253.5,120.2,17.6,375,10026,0.00,2.17,0.00,0.000,4,0.000,0.054,3218,3903,2327
$GC,10137,0.96,253.5,98.5,17.9,385,10141,0.00,2.00,0.00,0.000,6,0.000,0.028,3227,2549,2327
$GC,10406,0.96,253.5,66.3,10.4,410,10410,0.00,2.08,0.00,0.000,4,0.000,0.028,3237,1129,2326
$GC,10562,0.96,253.5,52.1,10.0,424,10566,0.00,2.25,0.00,0.000,6,0.000,0.045,3231,2558,2326
$GC,10828,0.98,271.9,22.8,8.8,455,10852,0.00,2.15,16.08,0.644,4,0.000,0.026,3240,1126,2258
$STATE,10964,end climb,SURFACE_DEPTH_REACHED
$STATE,10964,begin surface coast
$FINISH,0.4,1.023959
$STATE,10978,end surface coast,CONTROL_FINISHED_OK
$STATE,10979,begin surface
$SM_CCo,11002,48.00,0.644,0,0,1939,350.04
$SM_GC,1.11,0.00,0.00,48.00,0.000,0.000,0.644,47,2654,1939,-8.92,0.11,350.04
$IRIDIUM_FIX,2246.36,-15756.28,180400,151528
$TT8_MAMPS,0.023777
$HUMID,1793
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.6,61.864
$10V_AH,10.7,35.849
$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,22.025,96.875,357.200,48.000,0.000,53.663,68.959,199.509,0.000,0.000,0.000,17.510,1024.301,7571.312,425.743,1947.214,593.940,33.355,1220.376,0.000,1931.870,0.000,0.543,0.000
$DEVICE_MAMPS,253.877,85.904,1098.344,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,326.528,735.273,758.456,166.482,690.665,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38248,481
$CAP_FILE_SIZE,93781,0
$CFSIZE,260165632,242491392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,230111,185125,2254.311,-15758.206,84,1.0,84,10.1