version: 66.04
glider: 512
mission: 1
dive: 476
start: 1 24 111 0 8 11
data:
$ID,512
$MISSION,1
$DIVE,476
$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,-15253.868
$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,52
$R_STBD_OVSHOOT,28
$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
$GPS1,000236,2254.982,-15756.580,41,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.5
$GPS2,000719,2254.989,-15756.542,13,1.0,18,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.249,0.089
$KALMAN_X,-175259.5,-843.2,-185.5,201207.8,-1665.6
$KALMAN_Y,-464409.6,905.9,390.6,601488.7,-3986.9
$MHEAD_RNG_PITCHd_Wd,60.2,3281,-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,-155.7,0.0,0.0,0,93,0.00,0.00,-75.78,0.000,2,0.000,0.000,54,2681,3043
$GC,97,-0.84,-155.7,3.5,-6.1,10,130,11.75,2.08,-16.98,0.000,4,0.262,0.088,2611,3887,3963
$GC,160,-0.84,-155.7,25.3,-35.7,19,169,0.00,1.88,0.00,0.000,6,0.000,0.030,2618,2660,3965
$GC,427,-0.84,-155.7,79.4,-20.3,45,431,0.00,2.10,0.00,0.000,4,0.000,0.031,2629,1234,3967
$GC,521,-0.84,-155.7,92.2,-8.2,53,528,0.00,2.35,0.00,0.000,6,0.000,0.068,2620,2645,3967
$GC,784,-0.84,-155.7,128.9,-13.8,78,787,0.00,2.08,0.00,0.000,4,0.000,0.081,2609,3886,3969
$GC,821,-0.84,-155.7,133.5,-13.7,81,825,0.00,1.85,0.00,0.000,6,0.000,0.028,2615,2614,3969
$GC,1090,-0.84,-155.7,168.1,-12.6,106,1093,0.00,1.98,0.00,0.000,4,0.000,0.027,2625,1250,3971
$GC,1117,-0.84,-155.7,171.8,-11.2,108,1126,0.00,2.30,0.00,0.000,6,0.000,0.064,2619,2642,3971
$GC,1382,-0.84,-155.7,196.5,-9.6,133,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2642,3972
$GC,1664,-0.84,-155.7,224.2,-9.9,143,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2642,3972
$GC,1908,-0.84,-155.7,247.3,-9.2,149,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2643,3973
$GC,2152,-0.84,-155.7,267.9,-8.4,155,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2643,3973
$GC,2397,-0.84,-155.7,288.7,-8.5,161,2400,0.00,2.05,0.00,0.000,4,0.000,0.028,2627,1247,3972
$GC,2425,-0.84,-155.7,291.3,-8.8,161,2429,0.00,2.25,0.00,0.000,6,0.000,0.056,2619,2660,3973
$GC,2681,-0.84,-155.7,312.2,-8.4,168,2684,0.00,2.03,0.00,0.000,4,0.000,0.074,2612,3893,3972
$GC,2704,-0.84,-155.7,314.3,-8.6,168,2707,0.00,1.83,0.00,0.000,6,0.000,0.030,2615,2635,3972
$GC,2971,-0.84,-155.7,335.4,-7.9,175,2975,0.00,2.00,0.00,0.000,4,0.000,0.028,2617,1260,3971
$GC,2999,-0.84,-155.7,337.8,-8.0,175,3003,0.00,2.22,0.00,0.000,6,0.000,0.058,2608,2656,3971
$GC,3255,-0.84,-155.7,355.8,-6.8,182,3258,0.00,2.05,0.00,0.000,4,0.000,0.082,2599,3878,3970
$GC,3294,-0.84,-155.7,358.3,-5.5,182,3300,0.00,1.80,0.00,0.000,6,0.000,0.029,2606,2634,3970
$GC,3545,-0.84,-155.7,375.9,-7.2,189,3548,0.00,2.00,0.00,0.000,4,0.000,0.028,2616,1266,3970
$GC,3579,-0.84,-155.7,378.5,-7.1,189,3583,0.00,2.22,0.00,0.000,6,0.000,0.058,2616,2654,3970
$GC,3830,-0.84,-155.7,397.4,-7.7,195,3833,0.00,2.03,0.00,0.000,4,0.000,0.075,2606,3895,3968
$GC,3858,-0.84,-155.7,399.8,-7.6,195,3861,0.00,1.80,0.00,0.000,6,0.000,0.031,2614,2652,3968
$GC,4119,-0.84,-155.7,419.1,-7.4,202,4123,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1263,3968
$GC,4153,-0.84,-155.7,421.7,-7.3,202,4157,0.00,2.22,0.00,0.000,6,0.000,0.058,2617,2651,3968
$GC,4404,-0.84,-155.7,442.7,-8.8,208,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2651,3966
$GC,4647,-0.84,-155.7,464.5,-8.7,214,4651,0.00,2.05,0.00,0.000,4,0.000,0.029,2618,1261,3964
$GC,4726,-0.84,-155.7,472.1,-9.4,215,4730,0.00,2.25,0.00,0.000,6,0.000,0.060,2618,2651,3964
$GC,4978,-0.84,-155.7,493.5,-9.1,221,4982,0.00,2.05,0.00,0.000,4,0.000,0.029,2618,1266,3962
$GC,5238,-0.84,-155.7,518.1,-9.5,226,5242,0.00,2.22,0.00,0.000,6,0.000,0.054,2618,2652,3961
$GC,5489,-0.84,-155.7,542.7,-10.0,232,5493,0.00,2.03,0.00,0.000,4,0.000,0.029,2618,1264,3959
$GC,5746,-0.84,-155.7,567.7,-9.8,237,5750,0.00,2.25,0.00,0.000,6,0.000,0.058,2617,2658,3958
$GC,5997,-0.84,-155.7,590.6,-9.5,243,6000,0.00,2.08,0.00,0.000,4,0.000,0.031,2618,1258,3957
$STATE,6084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6085,begin apogee
$GC,6094,-0.32,0.0,600.0,10.0,245,6220,0.50,0.00,122.43,1.095,6,0.071,0.000,2797,2547,3367
$STATE,6220,end apogee,CONTROL_FINISHED_OK
$STATE,6220,begin climb
$GC,6223,0.84,155.7,609.5,0.0,248,6366,1.05,2.38,134.45,1.074,4,0.072,0.063,3163,3901,2731
$GC,6624,0.90,201.7,618.5,7.7,257,6669,0.00,2.00,39.95,1.058,6,0.000,0.030,3171,2556,2544
$GC,6948,0.90,201.7,565.6,18.0,265,6952,0.00,2.17,0.00,0.000,4,0.000,0.058,3171,3900,2536
$GC,7206,0.90,201.7,517.6,18.8,270,7210,0.00,2.00,0.00,0.000,6,0.000,0.031,3181,2560,2535
$GC,7462,0.90,201.7,477.5,15.5,277,7466,0.00,2.17,0.00,0.000,4,0.000,0.054,3176,3907,2533
$GC,7720,0.90,201.7,438.4,15.4,282,7724,0.00,2.03,0.00,0.000,6,0.000,0.031,3185,2544,2533
$GC,7976,0.90,201.7,407.3,11.7,289,7980,0.00,2.20,0.00,0.000,4,0.000,0.058,3177,3902,2531
$GC,8234,0.90,201.7,377.7,10.6,294,8238,0.00,2.03,0.00,0.000,6,0.000,0.031,3185,2538,2531
$GC,8491,0.90,201.7,351.0,10.6,301,8494,0.00,2.20,0.00,0.000,4,0.000,0.054,3177,3909,2530
$GC,8697,0.90,205.7,330.3,9.5,305,8701,0.00,2.03,0.00,0.000,6,0.000,0.029,3186,2538,2530
$GC,8964,0.93,230.4,306.8,8.6,312,8994,0.00,2.12,23.75,0.900,4,0.000,0.030,3195,1141,2427
$GC,9142,0.93,230.4,282.8,15.2,316,9147,0.00,2.25,0.00,0.000,6,0.000,0.048,3192,2559,2424
$GC,9428,0.93,230.4,242.0,13.8,323,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2560,2421
$GC,9670,0.93,230.4,210.2,12.9,329,9674,0.00,2.12,0.00,0.000,4,0.000,0.056,3192,3898,2422
$GC,9773,0.93,230.4,195.5,14.6,332,9777,0.00,2.00,0.00,0.000,6,0.000,0.028,3200,2545,2421
$GC,10041,0.93,230.4,157.0,13.2,357,10045,0.00,2.05,0.00,0.000,4,0.000,0.029,3211,1136,2421
$GC,10057,0.93,230.4,154.6,12.9,358,10064,0.00,2.25,0.00,0.000,6,0.000,0.044,3205,2549,2421
$GC,10321,0.93,230.4,121.9,12.1,383,10325,0.00,2.10,0.00,0.000,4,0.000,0.028,3214,1133,2421
$GC,10382,0.93,230.4,114.8,10.8,388,10390,0.00,2.28,0.00,0.000,6,0.000,0.048,3214,2550,2421
$GC,10646,1.00,281.8,89.6,7.5,413,10696,0.00,2.12,43.50,0.729,4,0.000,0.028,3224,1138,2217
$GC,10928,1.00,281.8,44.9,18.0,438,10932,0.00,2.25,0.00,0.000,6,0.000,0.047,3218,2557,2213
$STATE,11142,end climb,SURFACE_DEPTH_REACHED
$STATE,11142,begin surface coast
$FINISH,0.4,1.023974
$STATE,11155,end surface coast,CONTROL_FINISHED_OK
$STATE,11155,begin surface
$SM_CCo,11176,39.72,0.641,0,0,1940,350.04
$SM_GC,1.55,0.00,0.00,39.72,0.000,0.000,0.641,49,2696,1940,-8.91,1.30,350.04
$IRIDIUM_FIX,2248.70,-15758.45,180400,222241
$TT8_MAMPS,0.02301
$HUMID,1851
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.7,62.318
$10V_AH,10.7,36.110
$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,22.250,105.100,364.075,39.725,0.000,28.476,33.168,109.959,0.000,0.000,0.000,18.979,1027.840,7595.445,455.107,1987.705,442.485,33.382,1299.015,0.000,1966.853,0.000,0.542,0.000
$DEVICE_MAMPS,261.547,88.205,1095.276,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,319.876,712.848,736.158,147.721,611.571,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38195,472
$CAP_FILE_SIZE,94377,0
$CFSIZE,260165632,242356224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,240111,031622,2254.614,-15755.598,15,2.3,33,10.1