version: 66.04
glider: 512
mission: 1
dive: 453
start: 1 21 111 5 19 5
data:
$ID,512
$MISSION,1
$DIVE,453
$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,-14729.826
$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,49
$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
$GPS1,050658,2249.573,-15801.851,14,4.0,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.1
$GPS2,051813,2249.589,-15801.898,13,1.8,18,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.113,0.239
$KALMAN_X,-165996.1,590.7,101.9,181010.9,56.2
$KALMAN_Y,-418292.8,1132.4,7.7,545527.1,-6011.4
$MHEAD_RNG_PITCHd_Wd,324.6,9497,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-155.7,0.0,0.0,0,63,0.00,0.00,-45.58,0.000,2,0.000,0.000,50,2690,2955
$GC,67,-0.84,-155.7,3.3,-4.1,6,107,11.55,2.00,-19.12,0.000,4,0.252,0.097,2610,3847,3962
$GC,247,-0.84,-155.7,40.1,-12.1,30,251,0.00,1.80,0.00,0.000,6,0.000,0.028,2611,2636,3964
$GC,516,-0.84,-155.7,98.4,-20.8,55,520,0.00,2.03,0.00,0.000,4,0.000,0.028,2621,1250,3966
$GC,587,-0.84,-155.7,110.6,-10.2,61,594,0.00,2.35,0.00,0.000,6,0.000,0.083,2619,2615,3966
$GC,850,-0.84,-155.7,148.3,-15.3,86,853,0.00,2.20,0.00,0.000,4,0.000,0.097,2608,3889,3968
$GC,887,-0.84,-155.7,154.1,-13.7,89,894,0.00,1.83,0.00,0.000,6,0.000,0.028,2615,2654,3968
$GC,1150,-0.84,-155.7,187.2,-13.8,114,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2648,3969
$GC,1407,-0.84,-155.7,219.2,-11.8,127,1410,0.00,2.03,0.00,0.000,4,0.000,0.027,2623,1250,3970
$GC,1446,-0.84,-155.7,223.2,-8.0,127,1452,0.00,2.30,0.00,0.000,6,0.000,0.070,2619,2656,3970
$GC,1696,-0.84,-155.7,248.6,-10.7,134,1700,0.00,2.12,0.00,0.000,4,0.000,0.095,2607,3892,3970
$GC,1731,-0.84,-155.7,252.2,-9.8,134,1735,0.00,1.83,0.00,0.000,6,0.000,0.030,2614,2631,3970
$GC,1988,-0.84,-155.7,278.3,-10.3,141,1992,0.00,2.00,0.00,0.000,4,0.000,0.028,2617,1251,3970
$GC,2010,-0.84,-155.7,280.8,-10.4,141,2014,0.00,2.28,0.00,0.000,6,0.000,0.066,2616,2655,3970
$GC,2272,-0.84,-155.7,303.2,-8.7,148,2276,0.00,2.12,0.00,0.000,4,0.000,0.096,2613,3886,3969
$GC,2301,-0.84,-155.7,305.7,-8.2,148,2304,0.00,1.80,0.00,0.000,6,0.000,0.031,2614,2645,3970
$GC,2562,-0.84,-155.7,325.8,-7.8,155,2566,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1249,3969
$GC,2602,-0.84,-155.7,329.0,-7.6,155,2609,0.00,2.30,0.00,0.000,6,0.000,0.064,2616,2656,3969
$GC,2852,-0.84,-155.7,349.9,-8.6,162,2856,0.00,2.10,0.00,0.000,4,0.000,0.091,2614,3886,3968
$GC,2892,-0.84,-155.7,353.3,-7.9,162,2898,0.00,1.80,0.00,0.000,6,0.000,0.032,2615,2639,3968
$GC,3142,-0.84,-155.7,372.6,-7.6,169,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2640,3967
$GC,3386,-0.84,-155.7,389.3,-6.7,175,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2640,3965
$GC,3630,-0.84,-155.7,404.7,-6.3,181,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2640,3965
$GC,3875,-0.84,-155.7,420.5,-6.4,187,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2639,3962
$GC,4117,-0.84,-155.7,436.4,-6.6,193,4120,0.00,2.20,0.00,0.000,4,0.000,0.097,2615,3890,3961
$GC,4145,-0.84,-155.7,438.4,-6.7,193,4149,0.00,1.80,0.00,0.000,6,0.000,0.034,2617,2661,3961
$GC,4406,-0.84,-155.7,458.2,-8.0,200,4411,0.00,2.10,-0.03,0.000,4,0.000,0.044,2617,1257,3971
$GC,4665,-0.84,-155.7,480.5,-8.9,205,4669,0.00,2.28,0.00,0.000,6,0.000,0.058,2617,2663,3970
$GC,4921,-0.84,-155.7,500.2,-7.9,212,4924,0.00,2.03,0.00,0.000,4,0.000,0.081,2617,3881,3968
$GC,4977,-0.84,-155.7,504.8,-7.1,213,4981,0.00,1.83,0.00,0.000,6,0.000,0.036,2627,2647,3968
$GC,5256,-0.84,-155.7,527.5,-8.2,220,5259,0.00,2.05,0.00,0.000,4,0.000,0.031,2630,1253,3966
$GC,5514,-0.84,-155.7,551.0,-9.5,225,5518,0.00,2.28,0.00,0.000,6,0.000,0.061,2630,2653,3965
$GC,5765,-0.84,-155.7,574.4,-9.4,231,5769,0.00,2.08,0.00,0.000,4,0.000,0.029,2637,1247,3962
$GC,6024,-0.84,-155.7,598.9,-8.6,236,6028,0.00,2.33,0.00,0.000,6,0.000,0.066,2637,2662,3961
$STATE,6068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6068,begin apogee
$GC,6075,-0.32,0.0,602.7,8.2,237,6201,0.47,0.00,123.20,1.060,6,0.107,0.000,2792,2572,3367
$STATE,6202,end apogee,CONTROL_FINISHED_OK
$STATE,6202,begin climb
$GC,6205,0.84,155.7,610.9,0.0,240,6347,1.08,2.35,133.27,1.037,4,0.080,0.029,3175,1126,2732
$GC,6605,0.88,184.0,613.2,8.4,249,6635,0.00,2.30,24.77,1.000,6,0.000,0.051,3175,2558,2616
$GC,6881,0.88,184.0,573.5,15.3,255,6884,0.00,2.17,0.00,0.000,4,0.000,0.030,3185,1114,2611
$GC,6959,0.88,184.0,562.5,12.8,256,6963,0.00,2.28,0.00,0.000,6,0.000,0.048,3177,2550,2610
$GC,7209,0.88,184.0,530.2,12.8,262,7213,0.00,2.12,0.00,0.000,4,0.000,0.030,3186,1121,2608
$GC,7338,0.88,184.0,515.0,12.0,264,7345,0.00,2.28,0.00,0.000,6,0.000,0.048,3178,2555,2608
$GC,7590,0.88,184.0,487.4,11.0,271,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2555,2606
$GC,7832,0.88,184.0,463.0,9.8,277,7836,0.00,2.12,0.00,0.000,4,0.000,0.031,3187,1118,2605
$GC,7871,0.88,187.4,459.3,9.5,277,7877,0.00,2.25,0.00,0.000,6,0.000,0.049,3187,2549,2605
$GC,8122,0.92,219.3,437.9,8.3,284,8154,0.00,0.00,30.52,0.953,6,0.000,0.000,3187,2550,2472
$GC,8364,0.92,219.3,401.3,16.8,290,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2550,2466
$GC,8610,0.92,219.3,363.4,15.2,296,8613,0.00,2.15,0.00,0.000,4,0.000,0.032,3197,1120,2465
$GC,8716,0.92,219.3,347.4,14.9,298,8721,0.00,2.28,0.00,0.000,6,0.000,0.050,3192,2551,2465
$GC,8983,0.92,219.3,308.0,14.3,305,8987,0.00,2.15,0.00,0.000,4,0.000,0.061,3192,3893,2463
$GC,9017,0.92,219.3,303.2,14.3,305,9021,0.00,2.03,0.00,0.000,6,0.000,0.030,3200,2529,2463
$GC,9273,0.92,219.3,270.8,11.5,312,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2522,2462
$GC,9516,0.92,219.3,244.7,10.7,318,9519,0.00,2.20,0.00,0.000,4,0.000,0.055,3200,3896,2462
$GC,9611,0.92,219.3,235.0,10.1,320,9615,0.00,2.00,0.00,0.000,6,0.000,0.029,3211,2538,2462
$GC,9896,0.92,219.3,204.7,11.1,327,9900,0.00,2.17,0.00,0.000,4,0.000,0.053,3205,3900,2462
$GC,9992,0.93,226.8,195.6,9.3,329,10003,0.00,2.03,6.25,0.647,6,0.000,0.029,3214,2538,2442
$GC,10270,0.93,231.0,167.3,9.4,355,10283,0.00,2.17,5.57,0.601,4,0.000,0.055,3214,3898,2424
$GC,10440,0.93,231.0,148.8,10.2,370,10444,0.00,1.98,0.00,0.000,6,0.000,0.028,3224,2547,2424
$GC,10712,1.03,312.7,128.1,6.2,395,10787,0.00,2.28,69.70,0.715,4,0.000,0.058,3218,3891,2091
$GC,10905,1.03,312.7,86.9,27.1,411,10909,0.00,2.00,0.00,0.000,6,0.000,0.027,3226,2562,2087
$GC,11171,1.03,312.7,20.3,25.6,439,11178,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2554,2084
$STATE,11237,end climb,SURFACE_DEPTH_REACHED
$STATE,11238,begin surface coast
$FINISH,0.3,1.023930
$STATE,11250,end surface coast,CONTROL_FINISHED_OK
$STATE,11250,begin surface
$SM_CCo,11271,22.95,0.591,0,0,1939,350.04
$SM_GC,3.41,0.00,0.00,22.95,0.000,0.000,0.591,50,2696,1939,-8.91,1.33,350.04
$IRIDIUM_FIX,2241.69,-15759.32,160400,050529
$TT8_MAMPS,0.023777
$HUMID,1853
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.8,59.060
$10V_AH,10.7,34.025
$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,22.150,101.450,393.300,22.950,0.000,55.315,68.209,369.471,0.250,0.000,0.000,21.251,982.755,7986.706,457.314,1781.790,769.421,33.363,1230.647,0.000,1762.534,0.000,0.543,0.000
$DEVICE_MAMPS,252.343,97.409,1059.994,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,306.532,647.670,667.523,129.184,535.299,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38120,453
$CAP_FILE_SIZE,96870,0
$CFSIZE,260165632,243363840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,210111,082959,2249.818,-15802.121,99,2.2,118,10.1