version: 66.04
glider: 512
mission: 1
dive: 477
start: 1 24 111 3 27 11
data:
$ID,512
$MISSION,1
$DIVE,477
$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,-15288.06
$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,50
$R_STBD_OVSHOOT,46
$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
$GPS1,031622,2254.614,-15755.598,15,2.3,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.1
$GPS2,032622,2254.540,-15755.603,13,2.2,32,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.094,-0.247
$KALMAN_X,-177076.4,-344.6,-343.7,204300.1,-582.7
$KALMAN_Y,-466157.6,1130.0,100.5,602467.6,-3376.9
$MHEAD_RNG_PITCHd_Wd,190.6,14460,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-155.7,0.0,0.0,0,59,0.00,0.00,-38.62,0.000,2,0.000,0.000,49,2696,2964
$GC,63,-0.84,-155.7,3.3,-5.5,5,103,11.68,2.20,-19.00,0.000,4,0.255,0.041,2627,1246,3962
$GC,198,-0.84,-155.7,33.3,-10.6,25,206,0.00,2.33,0.00,0.000,6,0.000,0.071,2619,2622,3965
$GC,462,-0.84,-155.7,81.9,-19.9,50,466,0.00,2.05,0.00,0.000,4,0.000,0.028,2627,1230,3966
$GC,479,-0.84,-155.7,85.4,-18.6,51,486,0.00,2.33,0.00,0.000,6,0.000,0.062,2618,2650,3965
$GC,741,-0.84,-155.7,122.1,-12.8,76,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2650,3967
$GC,997,-0.84,-155.7,155.7,-11.7,100,1001,0.00,2.08,0.00,0.000,4,0.000,0.026,2624,1228,3968
$GC,1024,-0.84,-155.7,159.0,-10.7,102,1033,0.00,2.35,0.00,0.000,6,0.000,0.063,2619,2655,3968
$GC,1288,-0.84,-155.7,185.8,-11.4,127,1292,0.00,2.08,0.00,0.000,4,0.000,0.026,2626,1230,3969
$GC,1312,-0.84,-155.7,188.5,-10.9,129,1317,0.00,2.30,0.00,0.000,6,0.000,0.060,2619,2655,3969
$GC,1598,-0.84,-155.7,214.3,-8.8,144,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2655,3969
$GC,1842,-0.84,-155.7,234.6,-8.3,150,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2654,3969
$GC,2087,-0.84,-155.7,254.8,-8.4,156,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2655,3969
$GC,2330,-0.84,-155.7,275.0,-8.3,162,2333,0.00,2.08,0.00,0.000,4,0.000,0.028,2627,1237,3969
$GC,2358,-0.84,-155.7,277.3,-8.0,162,2362,0.00,2.25,0.00,0.000,6,0.000,0.054,2619,2653,3969
$GC,2614,-0.84,-155.7,297.2,-8.0,169,2617,0.00,2.03,0.00,0.000,4,0.000,0.071,2610,3888,3968
$GC,2631,-0.84,-155.7,298.7,-8.2,169,2635,0.00,1.83,0.00,0.000,6,0.000,0.030,2613,2624,3968
$GC,2905,-0.84,-155.7,320.0,-7.7,176,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2618,3967
$GC,3150,-0.84,-155.7,338.5,-7.7,182,3153,0.00,2.12,0.00,0.000,4,0.000,0.075,2605,3890,3966
$GC,3191,-0.84,-155.7,341.9,-7.9,182,3197,0.00,1.80,0.00,0.000,6,0.000,0.030,2613,2638,3965
$GC,3441,-0.84,-155.7,361.8,-7.9,189,3445,0.00,2.00,0.00,0.000,4,0.000,0.027,2617,1272,3964
$GC,3469,-0.84,-155.7,364.2,-8.4,189,3474,0.00,2.22,0.00,0.000,6,0.000,0.055,2618,2657,3964
$GC,3727,-0.84,-155.7,381.0,-6.3,196,3730,0.00,2.03,0.00,0.000,4,0.000,0.076,2610,3884,3962
$GC,3749,-0.84,-155.7,382.5,-5.8,196,3753,0.00,1.80,0.00,0.000,6,0.000,0.031,2613,2646,3962
$GC,4017,-0.84,-155.7,400.6,-7.1,203,4021,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1263,3961
$GC,4039,-0.84,-155.7,402.7,-8.8,203,4044,0.00,2.22,0.00,0.000,6,0.000,0.055,2618,2658,3961
$GC,4301,-0.84,-155.7,424.8,-8.6,210,4305,0.00,2.03,0.00,0.000,4,0.000,0.073,2609,3896,3960
$GC,4324,-0.84,-155.7,426.9,-9.1,210,4328,0.00,1.80,0.00,0.000,6,0.000,0.031,2613,2651,3960
$GC,4591,-0.84,-155.7,446.6,-7.0,217,4595,0.00,2.08,-0.05,0.000,4,0.000,0.041,2616,1262,3977
$GC,4619,-0.84,-155.7,448.6,-6.8,217,4624,0.00,2.28,0.00,0.000,6,0.000,0.060,2616,2657,3977
$GC,4876,-0.84,-155.7,469.2,-8.9,224,4879,0.00,2.05,0.00,0.000,4,0.000,0.028,2623,1267,3976
$GC,4960,-0.84,-155.7,478.3,-9.8,225,4967,0.00,2.28,0.00,0.000,6,0.000,0.058,2620,2654,3975
$GC,5210,-0.84,-155.7,504.3,-10.8,232,5214,0.00,2.05,0.00,0.000,4,0.000,0.028,2630,1261,3973
$GC,5468,-0.84,-155.7,530.6,-7.9,237,5472,0.00,2.28,0.00,0.000,6,0.000,0.063,2629,2650,3973
$GC,5718,-0.84,-155.7,553.5,-9.5,243,5722,0.00,2.05,0.00,0.000,4,0.000,0.028,2631,1265,3972
$GC,5876,-0.84,-155.7,568.8,-8.5,246,5880,0.00,2.22,0.00,0.000,6,0.000,0.054,2631,2652,3971
$GC,6137,-0.84,-155.7,592.0,-9.2,253,6141,0.00,2.05,0.00,0.000,4,0.000,0.076,2631,3886,3969
$GC,6210,-0.84,-155.7,599.1,-9.4,254,6214,0.00,1.80,0.00,0.000,6,0.000,0.030,2631,2661,3969
$STATE,6220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6220,begin apogee
$GC,6228,-0.32,0.0,600.3,10.2,254,6356,0.47,0.00,125.07,1.093,6,0.114,0.000,2788,2563,3367
$STATE,6356,end apogee,CONTROL_FINISHED_OK
$STATE,6356,begin climb
$GC,6359,0.84,155.7,610.3,0.0,258,6502,1.10,2.30,134.73,1.089,4,0.075,0.029,3178,1138,2731
$GC,6640,1.02,300.2,630.7,3.6,264,6773,0.15,2.30,126.20,1.107,6,0.116,0.050,3221,2553,2142
$GC,7032,1.02,300.2,516.5,35.5,274,7035,0.00,2.12,0.00,0.000,4,0.000,0.030,3231,1138,2134
$GC,7065,1.02,300.2,504.8,33.9,274,7069,0.00,2.28,0.00,0.000,6,0.000,0.053,3231,2556,2133
$GC,7315,1.02,300.2,419.2,34.3,280,7319,0.00,2.10,0.00,0.000,4,0.000,0.029,3240,1139,2131
$GC,7394,1.02,300.2,393.3,32.0,281,7398,0.00,2.25,0.00,0.000,6,0.000,0.052,3233,2551,2130
$GC,7649,1.02,300.2,309.7,32.6,288,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2551,2129
$GC,7893,1.02,300.2,233.4,31.5,294,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2551,2128
$GC,8145,1.02,300.2,158.5,29.0,309,8149,0.00,2.10,0.00,0.000,4,0.000,0.031,3241,1130,2127
$GC,8205,1.02,300.2,141.4,26.3,314,8213,0.00,2.28,0.00,0.000,6,0.000,0.054,3242,2543,2127
$GC,8469,1.02,300.2,73.4,24.0,339,8473,0.00,2.08,0.00,0.000,4,0.000,0.030,3252,1149,2127
$GC,8537,1.02,300.2,58.5,20.5,345,8541,0.00,2.25,0.00,0.000,6,0.000,0.051,3252,2561,2127
$STATE,8783,end climb,SURFACE_DEPTH_REACHED
$STATE,8783,begin surface coast
$FINISH,0.4,1.023974
$STATE,8795,end surface coast,CONTROL_FINISHED_OK
$STATE,8795,begin surface
$SM_CCo,8817,32.35,0.701,0,0,1940,350.04
$SM_GC,3.38,0.00,0.00,32.35,0.000,0.000,0.701,47,2682,1940,-8.91,0.90,350.04
$IRIDIUM_FIX,2248.70,-15756.28,190400,030316
$TT8_MAMPS,0.02301
$HUMID,1928
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.6,62.465
$10V_AH,10.7,36.194
$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,22.625,89.300,386.000,32.350,0.000,61.387,79.004,245.932,0.000,0.000,0.000,33.560,810.239,6143.343,439.230,1426.600,630.860,33.371,1058.724,0.000,1398.922,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,75.933,1106.781,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.468,573.413,590.578,124.581,517.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32115,380
$CAP_FILE_SIZE,79789,0
$CFSIZE,260165632,242331648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,240111,055700,2253.073,-15756.120,99,1.1,99,10.1