version: 66.04
glider: 512
mission: 1
dive: 480
start: 1 24 111 12 21 41
data:
$ID,512
$MISSION,1
$DIVE,480
$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,-16236.97
$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,61
$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
$GPS1,121525,2250.590,-15755.945,42,1.7,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.7
$GPS2,122050,2250.594,-15755.907,14,1.6,14,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.020,-0.263
$KALMAN_X,-179470.4,1327.4,134.6,204007.6,-2312.3
$KALMAN_Y,-463173.1,489.0,455.2,592457.4,-924.5
$MHEAD_RNG_PITCHd_Wd,165.5,7399,-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,-155.7,0.0,0.0,0,56,0.00,0.00,-38.62,0.000,2,0.000,0.000,49,2690,2962
$GC,60,-0.84,-155.7,3.7,-7.6,5,100,11.43,2.15,-18.55,0.000,4,0.249,0.040,2626,1260,3962
$GC,162,-0.84,-155.7,29.1,-13.5,21,170,0.00,2.30,0.00,0.000,6,0.000,0.066,2617,2630,3964
$GC,424,-0.84,-155.7,82.6,-21.4,46,428,0.00,2.10,0.00,0.000,4,0.000,0.075,2607,3900,3965
$GC,452,-0.84,-155.7,89.0,-21.5,48,460,0.00,1.85,0.00,0.000,6,0.000,0.025,2613,2663,3965
$GC,716,-0.84,-155.7,128.7,-15.1,73,719,0.00,2.08,0.00,0.000,4,0.000,0.026,2624,1237,3967
$GC,741,-0.84,-155.7,132.8,-16.0,75,745,0.00,2.33,0.00,0.000,6,0.000,0.066,2618,2655,3967
$GC,1010,-0.84,-155.7,166.6,-12.3,100,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2655,3968
$GC,1273,-0.84,-155.7,199.8,-11.1,125,1277,0.00,2.03,0.00,0.000,4,0.000,0.074,2606,3893,3969
$GC,1289,-0.84,-155.7,202.0,-11.7,126,1293,0.00,1.83,0.00,0.000,6,0.000,0.028,2612,2625,3969
$GC,1562,-0.84,-155.7,230.6,-10.6,133,1566,0.00,2.15,0.00,0.000,4,0.000,0.078,2603,3890,3969
$GC,1578,-0.84,-155.7,232.3,-9.7,133,1582,0.00,1.80,0.00,0.000,6,0.000,0.027,2611,2641,3969
$GC,1852,-0.84,-155.7,257.3,-9.3,140,1855,0.00,2.00,0.00,0.000,4,0.000,0.026,2617,1259,3969
$GC,1885,-0.84,-155.7,260.1,-7.5,140,1889,0.00,2.25,0.00,0.000,6,0.000,0.058,2608,2661,3969
$GC,2142,-0.84,-155.7,281.7,-8.9,147,2145,0.00,2.03,0.00,0.000,4,0.000,0.075,2598,3893,3969
$GC,2175,-0.84,-155.7,285.2,-9.7,147,2179,0.00,1.83,0.00,0.000,6,0.000,0.028,2606,2652,3969
$GC,2431,-0.84,-155.7,311.0,-10.1,154,2435,0.00,2.03,0.00,0.000,4,0.000,0.026,2616,1254,3969
$GC,2482,-0.84,-155.7,315.0,-6.2,155,2486,0.00,2.22,0.00,0.000,6,0.000,0.055,2616,2654,3969
$GC,2760,-0.84,-155.7,333.4,-6.4,162,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2655,3968
$GC,3004,-0.84,-155.7,351.7,-7.8,168,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2655,3967
$GC,3248,-0.84,-155.7,370.7,-7.7,174,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2655,3965
$GC,3491,-0.84,-155.7,389.7,-7.9,180,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2654,3964
$GC,3736,-0.84,-155.7,409.1,-8.0,186,3740,0.00,2.05,0.00,0.000,4,0.000,0.028,2617,1261,3962
$GC,3753,-0.84,-155.7,410.6,-8.1,186,3757,0.00,2.20,0.00,0.000,6,0.000,0.058,2608,2650,3962
$GC,4027,-0.84,-155.7,431.4,-7.4,193,4031,0.00,2.05,0.00,0.000,4,0.000,0.076,2598,3887,3961
$GC,4061,-0.84,-155.7,433.8,-6.8,193,4065,0.00,1.83,0.00,0.000,6,0.000,0.030,2605,2656,3960
$GC,4317,-0.84,-155.7,450.8,-6.6,200,4321,0.00,2.08,-0.03,0.000,4,0.000,0.042,2616,1257,3971
$GC,4351,-0.84,-155.7,453.0,-6.0,200,4355,0.00,2.22,0.00,0.000,6,0.000,0.054,2616,2653,3970
$GC,4602,-0.84,-155.7,474.0,-9.3,206,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2655,3969
$GC,4846,-0.84,-155.7,499.6,-10.6,212,4850,0.00,2.03,0.00,0.000,4,0.000,0.072,2616,3883,3968
$GC,4863,-0.84,-155.7,501.5,-10.6,212,4866,0.00,1.83,0.00,0.000,6,0.000,0.031,2617,2628,3968
$GC,5136,-0.84,-155.7,527.3,-9.5,219,5139,0.00,2.00,0.00,0.000,4,0.000,0.029,2626,1260,3967
$GC,5293,-0.84,-155.7,543.0,-9.6,222,5297,0.00,2.22,0.00,0.000,6,0.000,0.053,2619,2654,3965
$GC,5554,-0.84,-155.7,565.7,-8.9,229,5558,0.00,2.08,0.00,0.000,4,0.000,0.028,2627,1257,3963
$GC,5646,-0.84,-155.7,573.9,-8.0,231,5651,0.00,2.25,0.00,0.000,6,0.000,0.060,2620,2647,3963
$STATE,5927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5928,begin apogee
$GC,5935,-0.32,0.0,600.1,9.8,238,6062,0.50,0.00,124.60,1.108,6,0.073,0.000,2797,2577,3367
$STATE,6063,end apogee,CONTROL_FINISHED_OK
$STATE,6063,begin climb
$GC,6067,0.84,155.7,610.1,0.0,241,6206,1.10,0.00,134.55,1.072,6,0.082,0.000,3167,2577,2732
$GC,6453,0.95,247.9,622.1,5.8,250,6547,0.12,2.22,82.55,1.046,4,0.119,0.060,3198,3893,2355
$GC,6579,0.95,247.9,601.8,29.4,253,6583,0.00,2.08,0.00,0.000,6,0.000,0.028,3206,2544,2352
$GC,6869,0.95,247.9,523.1,25.9,260,6872,0.00,2.10,0.00,0.000,4,0.000,0.031,3216,1137,2347
$GC,6879,0.95,247.9,520.0,25.4,260,6884,0.00,2.25,0.00,0.000,6,0.000,0.050,3217,2554,2347
$GC,7152,0.95,247.9,452.3,24.8,267,7156,0.00,2.10,0.00,0.000,4,0.000,0.031,3226,1140,2344
$GC,7208,0.95,247.9,437.9,24.6,268,7212,0.00,2.25,0.00,0.000,6,0.000,0.048,3218,2561,2344
$GC,7480,0.95,247.9,372.4,23.9,275,7484,0.00,2.12,0.00,0.000,4,0.000,0.029,3227,1124,2343
$GC,7508,0.95,247.9,365.3,24.4,275,7512,0.00,2.25,0.00,0.000,6,0.000,0.046,3218,2554,2343
$GC,7764,0.95,247.9,305.1,23.6,282,7767,0.00,2.10,0.00,0.000,4,0.000,0.030,3227,1135,2341
$GC,7825,0.95,247.9,291.9,20.9,283,7829,0.00,2.22,0.00,0.000,6,0.000,0.048,3219,2555,2341
$GC,8092,0.95,247.9,238.5,19.9,290,8096,0.00,2.10,0.00,0.000,4,0.000,0.029,3227,1129,2340
$GC,8199,0.95,247.9,220.2,18.1,292,8203,0.00,2.25,0.00,0.000,6,0.000,0.045,3218,2561,2340
$GC,8456,0.95,247.9,172.3,17.4,306,8460,0.00,2.12,0.00,0.000,4,0.000,0.057,3218,3897,2339
$GC,8583,0.95,247.9,147.2,18.4,317,8591,0.00,2.03,0.00,0.000,6,0.000,0.027,3227,2534,2339
$GC,8846,0.95,247.9,103.4,18.3,342,8850,0.00,2.15,0.00,0.000,4,0.000,0.051,3222,3894,2338
$GC,8860,0.95,247.9,100.9,17.7,343,8864,0.00,1.98,0.00,0.000,6,0.000,0.027,3231,2549,2339
$GC,9130,0.95,247.9,62.7,13.9,368,9134,0.00,2.15,0.00,0.000,4,0.000,0.052,3231,3894,2339
$GC,9384,0.95,247.9,36.3,11.1,391,9388,0.15,1.98,0.00,0.000,6,0.283,0.026,3214,2538,2339
$GC,9648,0.95,247.9,5.1,10.8,435,9656,0.00,2.17,0.00,0.000,4,0.000,0.050,3214,3886,2339
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FINISH,1.2,1.024103
$STATE,9690,end surface coast,CONTROL_FINISHED_OK
$STATE,9690,begin surface
$SM_CCo,9715,61.20,0.634,0,0,1939,350.04
$SM_GC,0.89,0.00,0.00,61.20,0.000,0.000,0.634,53,2634,1939,-8.90,-0.45,350.04
$IRIDIUM_FIX,2246.36,-15801.49,190400,090927
$TT8_MAMPS,0.023777
$HUMID,1834
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.7,62.863
$10V_AH,10.7,36.497
$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,24.550,100.325,341.700,61.200,0.000,31.815,35.967,134.371,0.250,0.000,0.000,14.612,918.898,6678.735,452.234,1602.945,452.682,33.362,1111.721,0.000,1593.919,0.000,0.543,0.000
$DEVICE_MAMPS,283.023,78.234,1108.315,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,300.174,687.860,708.185,158.159,656.871,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35230,442
$CAP_FILE_SIZE,82695,0
$CFSIZE,260165632,242188288
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,240111,150554,2249.329,-15755.983,17,8.9,36,10.1