version: 66.04
glider: 512
mission: 1
dive: 479
start: 1 24 111 9 16 10
data:
$ID,512
$MISSION,1
$DIVE,479
$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,-16221.727
$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,40
$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
$GPS1,060549,2253.073,-15756.190,10,1.1,15,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-79.2
$GPS2,091520,2251.865,-15756.141,12,1.2,12,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.087,-0.250
$KALMAN_X,-179292.8,1159.3,689.6,203043.6,-2690.4
$KALMAN_Y,-464692.3,596.3,940.7,595731.3,-1970.1
$MHEAD_RNG_PITCHd_Wd,150.8,9445,-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,-38.15,0.000,2,0.000,0.000,45,2676,2961
$GC,60,-0.84,-155.7,3.4,-5.8,5,100,11.55,2.17,-19.42,0.000,4,0.252,0.042,2618,1251,3962
$GC,172,-0.84,-155.7,31.0,-13.8,23,176,0.00,2.25,0.00,0.000,6,0.000,0.062,2609,2630,3962
$GC,439,-0.84,-155.7,90.6,-24.9,48,443,0.00,2.05,0.00,0.000,4,0.000,0.026,2617,1237,3963
$GC,485,-0.84,-155.7,100.0,-17.3,52,489,0.00,2.33,0.00,0.000,6,0.000,0.066,2608,2656,3964
$GC,748,-0.84,-155.7,143.1,-16.2,76,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2656,3964
$GC,1003,-0.84,-155.7,183.1,-15.0,100,1007,0.00,2.08,0.00,0.000,4,0.000,0.025,2616,1235,3965
$GC,1020,-0.84,-155.7,186.1,-15.4,101,1027,0.00,2.28,0.00,0.000,6,0.000,0.055,2607,2646,3965
$GC,1297,-0.84,-155.7,220.3,-12.1,116,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2646,3965
$GC,1539,-0.84,-155.7,249.1,-12.1,122,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2646,3965
$GC,1782,-0.84,-155.7,277.9,-11.3,128,1786,0.00,2.05,0.00,0.000,4,0.000,0.026,2615,1238,3965
$GC,1804,-0.84,-155.7,280.3,-10.6,128,1809,0.00,2.28,0.00,0.000,6,0.000,0.057,2606,2658,3965
$GC,2072,-0.84,-155.7,306.3,-10.1,135,2076,0.00,2.03,0.00,0.000,4,0.000,0.076,2596,3887,3964
$GC,2100,-0.84,-155.7,309.3,-10.3,135,2103,0.00,1.83,0.00,0.000,6,0.000,0.028,2604,2623,3964
$GC,2361,-0.84,-155.7,334.1,-9.6,142,2365,0.00,1.98,0.00,0.000,4,0.000,0.026,2613,1253,3963
$GC,2395,-0.84,-155.7,337.2,-8.3,142,2399,0.00,2.25,0.00,0.000,6,0.000,0.057,2606,2656,3963
$GC,2645,-0.84,-155.7,360.6,-9.8,148,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2655,3961
$GC,2889,-0.84,-155.7,385.4,-10.2,154,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2656,3960
$GC,3133,-0.84,-155.7,408.5,-9.3,160,3135,0.00,0.00,-0.05,0.000,6,0.000,0.000,2606,2655,3976
$GC,3378,-0.84,-155.7,428.6,-8.1,166,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2655,3975
$GC,3621,-0.84,-155.7,448.6,-8.3,172,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2655,3973
$GC,3864,-0.84,-155.7,469.4,-8.6,178,3868,0.00,2.08,0.00,0.000,4,0.000,0.028,2614,1249,3971
$GC,3898,-0.84,-155.7,472.2,-7.1,178,3902,0.00,2.28,0.00,0.000,6,0.000,0.058,2606,2655,3971
$GC,4149,-0.84,-155.7,491.8,-7.6,184,4152,0.00,2.05,0.00,0.000,4,0.000,0.077,2596,3893,3970
$GC,4177,-0.84,-155.7,494.0,-7.8,184,4181,0.00,1.83,0.00,0.000,6,0.000,0.030,2604,2639,3969
$GC,4440,-0.84,-155.7,513.1,-7.5,191,4443,0.00,2.03,0.00,0.000,4,0.000,0.029,2604,1254,3967
$GC,4468,-0.84,-155.7,515.4,-7.8,191,4472,0.00,2.28,0.00,0.000,6,0.000,0.060,2603,2657,3968
$GC,4726,-0.84,-155.7,535.2,-7.7,198,4730,0.00,2.03,0.00,0.000,4,0.000,0.075,2593,3886,3966
$GC,4754,-0.84,-155.7,537.7,-7.7,198,4759,0.08,1.83,0.00,0.000,6,0.110,0.031,2644,2654,3965
$GC,5016,-0.84,-155.7,562.1,-9.9,205,5020,0.00,2.08,0.00,0.000,4,0.000,0.030,2653,1246,3963
$GC,5273,-0.84,-155.7,589.3,-9.6,210,5277,0.00,2.28,0.00,0.000,6,0.000,0.058,2653,2655,3962
$STATE,5398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5398,begin apogee
$GC,5405,-0.32,0.0,601.8,9.8,213,5533,0.43,0.00,124.43,1.124,6,0.087,0.000,2800,2576,3367
$STATE,5533,end apogee,CONTROL_FINISHED_OK
$STATE,5533,begin climb
$GC,5536,0.84,155.7,611.0,0.0,216,5679,1.05,2.22,135.27,1.100,4,0.072,0.052,3163,3891,2731
$GC,5937,0.85,162.7,613.7,9.3,225,5948,0.00,2.03,6.20,0.821,6,0.000,0.028,3172,2525,2703
$GC,6212,0.90,202.0,590.9,8.0,232,6254,0.00,2.25,35.45,1.076,4,0.000,0.051,3172,3901,2543
$GC,6390,0.90,202.0,561.9,19.5,236,6394,0.00,2.03,0.00,0.000,6,0.000,0.030,3180,2556,2539
$GC,6682,0.90,202.0,514.4,15.7,243,6686,0.00,2.15,0.00,0.000,4,0.000,0.051,3179,3903,2536
$GC,6698,0.90,202.0,511.3,15.8,243,6702,0.00,2.03,0.00,0.000,6,0.000,0.029,3187,2553,2536
$GC,6971,0.90,202.0,474.0,13.0,250,6975,0.00,2.15,0.00,0.000,4,0.000,0.054,3187,3893,2535
$GC,7228,0.90,202.0,438.3,13.5,255,7232,0.00,2.00,0.00,0.000,6,0.000,0.028,3197,2536,2534
$GC,7484,0.90,202.0,405.5,12.8,262,7488,0.00,2.17,0.00,0.000,4,0.000,0.053,3192,3896,2532
$GC,7742,0.90,202.0,372.9,11.8,267,7746,0.00,2.00,0.00,0.000,6,0.000,0.029,3200,2551,2532
$GC,7998,0.90,202.0,345.9,10.3,274,8002,0.00,2.15,0.00,0.000,4,0.000,0.053,3201,3898,2531
$GC,8110,0.90,202.0,333.7,10.4,276,8114,0.00,2.00,0.00,0.000,6,0.000,0.028,3211,2539,2530
$GC,8378,0.94,232.8,310.8,8.3,283,8409,0.00,2.08,26.27,0.925,4,0.000,0.028,3221,1142,2417
$GC,8493,0.94,232.8,296.2,15.5,285,8497,0.00,2.22,0.00,0.000,6,0.000,0.045,3218,2547,2414
$GC,8744,0.94,232.8,253.6,17.3,291,8748,0.00,2.10,0.00,0.000,4,0.000,0.031,3227,1142,2412
$GC,8795,0.94,232.8,245.4,15.9,292,8799,0.00,2.25,0.00,0.000,6,0.000,0.052,3227,2548,2412
$GC,9073,0.94,232.8,201.0,15.8,299,9077,0.00,2.15,0.00,0.000,4,0.000,0.056,3218,3905,2411
$GC,9332,0.94,232.8,162.6,13.5,319,9336,0.00,2.00,0.00,0.000,6,0.000,0.029,3227,2543,2411
$GC,9599,0.94,232.8,133.9,9.9,344,9603,0.00,2.17,0.00,0.000,4,0.000,0.054,3227,3900,2411
$GC,9858,0.97,258.5,104.4,8.5,367,9886,0.00,1.98,22.38,0.747,6,0.000,0.026,3236,2533,2313
$GC,10152,0.97,258.5,66.9,11.6,394,10155,0.00,2.17,0.00,0.000,4,0.000,0.051,3232,3902,2310
$GC,10405,0.97,258.5,27.7,17.1,418,10413,0.00,2.00,0.00,0.000,6,0.000,0.026,3240,2553,2310
$STATE,10569,end climb,SURFACE_DEPTH_REACHED
$STATE,10569,begin surface coast
$FINISH,0.3,1.024122
$STATE,10592,end surface coast,CONTROL_FINISHED_OK
$STATE,10592,begin surface
$SM_CCo,10613,58.65,0.672,0,0,1940,350.04
$SM_GC,0.91,0.00,0.00,58.65,0.000,0.000,0.672,50,2690,1940,-8.91,1.13,350.04
$IRIDIUM_FIX,2246.36,-15756.28,190400,060607
$TT8_MAMPS,0.023777
$HUMID,1815
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.7,62.737
$10V_AH,10.7,36.403
$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,22.450,92.850,350.000,58.650,0.000,30.599,35.153,149.632,0.500,0.000,0.000,13.615,982.351,7283.088,436.099,1828.212,478.932,33.360,1187.888,0.000,1813.431,0.000,0.544,0.000
$DEVICE_MAMPS,251.576,76.700,1123.655,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,307.321,676.821,697.107,149.332,621.968,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38312,452
$CAP_FILE_SIZE,88812,0
$CFSIZE,260165632,242225152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,240111,121525,2250.590,-15755.945,42,1.7,42,10.1