version: 66.04
glider: 512
mission: 1
dive: 451
start: 1 20 111 23 58 53
data:
$ID,512
$MISSION,1
$DIVE,451
$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,-14690.887
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2950
$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,65
$R_STBD_OVSHOOT,14
$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
$GPS1,234636,2249.569,-15801.942,38,0.9,43,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.4
$GPS2,235801,2249.551,-15801.980,10,0.9,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.020,0.263
$KALMAN_X,-163489.5,-2686.9,-282.7,182031.7,799.4
$KALMAN_Y,-411978.9,759.2,301.6,539213.8,-3955.3
$MHEAD_RNG_PITCHd_Wd,345.6,9463,-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,-38.75,0.000,2,0.000,0.000,44,2620,2946
$GC,60,-0.84,-155.7,3.4,-6.7,5,100,11.88,2.25,-19.65,0.000,4,0.255,0.103,2661,3892,3960
$GC,199,-0.84,-155.7,26.6,-8.1,28,207,0.00,1.85,-0.03,0.000,6,0.000,0.030,2665,2635,3964
$GC,474,-0.84,-155.7,56.7,-11.8,56,478,0.00,2.00,0.00,0.000,4,0.000,0.026,2670,1266,3965
$GC,522,-0.84,-155.7,61.9,-8.7,60,526,0.00,2.30,0.00,0.000,6,0.000,0.069,2662,2663,3965
$GC,791,-0.84,-155.7,93.2,-12.9,85,794,0.00,2.08,0.00,0.000,4,0.000,0.090,2653,3883,3966
$GC,816,-0.84,-155.7,96.3,-12.2,87,820,0.00,1.77,0.00,0.000,6,0.000,0.029,2660,2674,3967
$GC,1084,-0.84,-155.7,118.1,-7.6,112,1087,0.00,2.05,0.00,0.000,4,0.000,0.026,2670,1259,3968
$GC,1130,-0.84,-155.7,121.7,-7.3,116,1134,0.00,2.25,0.00,0.000,6,0.000,0.067,2670,2649,3968
$GC,1393,-0.84,-155.7,144.7,-9.3,140,1397,0.00,2.12,0.00,0.000,4,0.000,0.096,2671,3884,3969
$GC,1431,-0.84,-155.7,148.2,-9.4,143,1435,0.00,1.80,0.00,0.000,6,0.000,0.032,2678,2627,3969
$GC,1701,-0.84,-155.7,173.8,-9.7,168,1704,0.00,1.95,0.00,0.000,4,0.000,0.027,2683,1270,3969
$GC,1925,-0.84,-155.7,199.8,-11.3,188,1929,0.00,2.22,0.00,0.000,6,0.000,0.060,2684,2657,3969
$GC,2175,-0.84,-155.7,227.5,-11.1,194,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2657,3969
$GC,2419,-0.84,-155.7,253.9,-10.6,200,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2658,3969
$GC,2664,-0.84,-155.7,279.2,-10.5,206,2668,0.00,2.03,0.00,0.000,4,0.000,0.027,2684,1266,3969
$GC,2748,-0.84,-155.7,288.6,-11.9,207,2754,0.00,2.25,0.00,0.000,6,0.000,0.064,2684,2652,3969
$GC,2998,-0.84,-155.7,315.8,-11.1,214,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2652,3968
$GC,3242,-0.84,-155.7,340.8,-10.1,220,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2652,3967
$GC,3487,-0.84,-155.7,365.4,-10.2,226,3491,0.00,2.03,0.00,0.000,4,0.000,0.028,2684,1266,3965
$GC,3588,-0.84,-155.7,376.3,-10.6,228,3592,0.00,2.25,0.00,0.000,6,0.000,0.064,2684,2648,3965
$GC,3860,-0.84,-155.7,405.4,-11.3,235,3864,0.00,2.03,0.00,0.000,4,0.000,0.028,2684,1264,3962
$GC,3922,-0.84,-155.7,412.7,-10.7,236,3926,0.00,2.25,0.00,0.000,6,0.000,0.064,2684,2652,3962
$GC,4189,-0.84,-155.7,443.9,-11.9,243,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2652,3961
$GC,4432,-0.84,-155.7,471.2,-11.1,249,4436,0.00,2.08,-0.05,0.000,4,0.000,0.042,2683,1279,3977
$GC,4524,-0.84,-155.7,480.6,-10.7,251,4528,0.00,2.28,0.00,0.000,6,0.000,0.067,2684,2660,3977
$GC,4808,-0.84,-155.7,509.8,-10.4,258,4811,0.00,2.05,0.00,0.000,4,0.000,0.030,2684,1277,3975
$GC,4874,-0.84,-155.7,516.9,-9.8,259,4878,0.00,2.22,0.00,0.000,6,0.000,0.064,2684,2654,3974
$GC,5143,-0.84,-155.7,544.7,-10.8,266,5146,0.00,2.05,0.00,0.000,4,0.000,0.030,2684,1272,3973
$GC,5189,-0.84,-155.7,550.0,-10.5,267,5193,0.00,2.22,0.00,0.000,6,0.000,0.060,2684,2652,3972
$GC,5472,-0.84,-155.7,582.7,-11.8,274,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2653,3970
$STATE,5632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5632,begin apogee
$GC,5639,-0.32,0.0,602.5,12.2,278,5767,0.47,0.00,125.00,1.068,6,0.082,0.000,2852,2577,3367
$STATE,5768,end apogee,CONTROL_FINISHED_OK
$STATE,5768,begin climb
$GC,5771,0.84,155.7,613.9,0.0,281,5913,1.05,2.28,133.10,1.047,4,0.075,0.027,3226,1147,2731
$GC,6159,0.90,201.3,625.4,7.7,289,6208,0.00,2.22,38.85,1.025,6,0.000,0.046,3218,2546,2547
$GC,6450,0.90,201.3,572.3,20.1,297,6454,0.00,2.12,0.00,0.000,4,0.000,0.030,3227,1135,2540
$GC,6466,0.90,201.3,569.1,19.4,297,6470,0.00,2.25,0.00,0.000,6,0.000,0.051,3227,2549,2540
$GC,6740,0.90,201.3,517.4,18.8,304,6744,0.00,2.10,0.00,0.000,4,0.000,0.031,3237,1138,2538
$GC,6751,0.90,201.3,515.0,18.4,304,6756,0.00,2.25,0.00,0.000,6,0.000,0.049,3231,2561,2538
$GC,7027,0.90,201.3,471.3,15.0,311,7030,0.00,2.10,0.00,0.000,4,0.000,0.029,3240,1137,2536
$GC,7037,0.90,201.3,469.2,14.9,311,7041,0.00,2.20,0.00,0.000,6,0.000,0.048,3236,2550,2536
$GC,7310,0.90,201.3,430.7,13.9,318,7313,0.00,2.10,0.00,0.000,4,0.000,0.031,3245,1135,2535
$GC,7371,0.90,201.3,422.9,12.5,319,7376,0.00,2.25,0.00,0.000,6,0.000,0.052,3244,2563,2535
$GC,7641,0.90,201.3,389.4,12.8,326,7645,0.00,2.12,0.00,0.000,4,0.000,0.061,3244,3886,2534
$GC,7853,0.90,201.3,360.5,12.8,330,7857,0.00,1.98,0.00,0.000,6,0.000,0.028,3253,2536,2533
$GC,8111,0.90,201.3,327.5,13.3,337,8114,0.00,2.17,0.00,0.000,4,0.000,0.051,3245,3902,2533
$GC,8369,0.90,202.2,297.2,9.6,342,8373,0.00,2.00,0.00,0.000,6,0.000,0.030,3253,2544,2532
$GC,8624,0.97,263.0,278.8,7.1,349,8679,0.00,0.00,52.28,0.860,6,0.000,0.000,3254,2538,2294
$GC,8909,0.97,263.0,222.5,23.5,356,8913,0.00,2.20,0.00,0.000,4,0.000,0.059,3253,3890,2288
$GC,9170,0.97,263.0,156.8,26.0,373,9174,0.00,1.98,0.00,0.000,6,0.000,0.027,3262,2554,2286
$GC,9437,0.97,263.0,100.2,18.8,398,9441,0.00,2.15,0.00,0.000,4,0.000,0.054,3257,3891,2284
$GC,9695,0.97,263.0,69.6,12.8,421,9698,0.00,1.98,0.00,0.000,6,0.000,0.026,3266,2540,2284
$GC,9964,0.97,263.0,30.7,15.9,446,9968,0.00,2.15,0.00,0.000,4,0.000,0.051,3260,3894,2285
$GC,10010,0.97,263.0,23.0,16.2,453,10019,0.00,2.00,0.00,0.000,6,0.000,0.028,3268,2548,2284
$STATE,10151,end climb,SURFACE_DEPTH_REACHED
$STATE,10151,begin surface coast
$FINISH,0.4,1.023899
$STATE,10176,end surface coast,CONTROL_FINISHED_OK
$STATE,10176,begin surface
$SM_CCo,10197,54.88,0.617,0,0,1939,350.04
$SM_GC,0.84,0.00,0.00,54.88,0.000,0.000,0.617,47,2674,1939,-9.07,0.68,350.04
$IRIDIUM_FIX,2241.69,-15804.53,150400,202048
$TT8_MAMPS,0.024544
$HUMID,1824
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.9,58.768
$10V_AH,10.7,33.846
$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,22.575,93.200,349.225,54.875,0.000,53.049,72.414,368.669,0.250,0.000,0.000,18.020,1011.788,6833.931,451.637,1890.360,752.175,33.356,1178.954,0.000,1878.715,0.000,0.543,0.000
$DEVICE_MAMPS,254.644,102.778,1067.664,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,328.132,780.283,803.187,183.444,764.671,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41523,483
$CAP_FILE_SIZE,90962,0
$CFSIZE,260165632,243449856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,210111,025107,2249.510,-15801.924,41,1.5,42,10.1