version: 66.04
glider: 512
mission: 1
dive: 458
start: 1 21 111 20 8 26
data:
$ID,512
$MISSION,1
$DIVE,458
$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,-14870.868
$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,69
$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
$GPS1,195902,2250.540,-15803.416,36,1.8,36,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.7
$GPS2,200737,2250.587,-15803.403,36,0.9,36,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.089,0.249
$KALMAN_X,-163371.3,-1296.9,167.3,177613.2,-252.4
$KALMAN_Y,-431094.0,643.1,460.3,560215.2,-4389.3
$MHEAD_RNG_PITCHd_Wd,9.6,6473,-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,17,-0.84,-155.7,0.0,0.0,0,57,0.00,0.00,-38.28,0.000,2,0.000,0.000,50,2626,2946
$GC,60,-0.84,-155.7,3.2,-4.9,5,101,11.50,2.22,-20.00,0.000,4,0.251,0.096,2610,3896,3961
$GC,194,-0.84,-155.7,32.3,-10.2,25,198,0.00,1.83,0.00,0.000,6,0.000,0.028,2612,2658,3962
$GC,462,-0.84,-155.7,94.9,-22.6,50,466,0.00,2.08,0.00,0.000,4,0.000,0.029,2622,1249,3964
$GC,520,-0.84,-155.7,104.8,-11.9,55,525,0.00,2.40,0.00,0.000,6,0.000,0.079,2619,2670,3964
$GC,784,-0.84,-155.7,140.8,-14.0,79,788,0.00,2.10,0.00,0.000,4,0.000,0.027,2627,1237,3965
$GC,820,-0.84,-155.7,145.3,-11.2,82,824,0.00,2.35,0.00,0.000,6,0.000,0.074,2619,2650,3966
$GC,1083,-0.84,-155.7,178.0,-12.8,106,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2650,3966
$GC,1344,-0.84,-155.7,209.8,-11.7,125,1347,0.00,2.05,0.00,0.000,4,0.000,0.026,2627,1244,3967
$GC,1383,-0.84,-155.7,213.9,-8.2,125,1390,0.00,2.28,0.00,0.000,6,0.000,0.061,2619,2645,3967
$GC,1633,-0.84,-155.7,238.3,-10.1,132,1637,0.00,2.05,0.00,0.000,4,0.000,0.079,2610,3886,3967
$GC,1673,-0.84,-155.7,241.9,-8.3,132,1679,0.00,1.83,0.00,0.000,6,0.000,0.030,2612,2624,3967
$GC,1923,-0.84,-155.7,265.7,-9.8,139,1927,0.00,1.98,0.00,0.000,4,0.000,0.027,2617,1262,3967
$GC,1974,-0.84,-155.7,269.9,-6.7,140,1978,0.00,2.25,0.00,0.000,6,0.000,0.064,2608,2656,3967
$GC,2252,-0.84,-155.7,295.3,-9.2,147,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2656,3966
$GC,2495,-0.84,-155.7,318.1,-9.4,153,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2656,3966
$GC,2739,-0.84,-155.7,340.7,-9.2,159,2743,0.00,2.05,0.00,0.000,4,0.000,0.028,2617,1259,3965
$GC,2773,-0.84,-155.7,343.8,-8.0,159,2777,0.00,2.28,0.00,0.000,6,0.000,0.071,2616,2653,3965
$GC,3030,-0.84,-155.7,362.4,-7.3,166,3034,0.00,2.12,0.00,0.000,4,0.000,0.093,2609,3893,3964
$GC,3064,-0.84,-155.7,364.9,-6.7,166,3068,0.00,1.80,0.00,0.000,6,0.000,0.032,2613,2653,3964
$GC,3322,-0.84,-155.7,382.9,-7.1,173,3325,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1260,3962
$GC,3368,-0.84,-155.7,386.2,-6.1,174,3372,0.00,2.28,0.00,0.000,6,0.000,0.066,2616,2661,3962
$GC,3653,-0.84,-155.7,407.4,-7.5,181,3657,0.00,2.10,0.00,0.000,4,0.000,0.094,2616,3883,3960
$GC,3687,-0.84,-155.7,410.1,-6.9,181,3691,0.00,1.80,0.00,0.000,6,0.000,0.033,2617,2649,3961
$GC,3943,-0.84,-155.7,431.9,-9.1,188,3948,0.00,2.08,-0.05,0.000,4,0.000,0.044,2624,1260,3977
$GC,4203,-0.84,-155.7,455.3,-8.8,193,4207,0.00,2.28,0.00,0.000,6,0.000,0.065,2620,2652,3975
$GC,4455,-0.84,-155.7,475.5,-8.4,199,4458,0.00,2.05,0.00,0.000,4,0.000,0.029,2624,1262,3973
$GC,4713,-0.84,-155.7,497.9,-9.3,204,4717,0.00,2.33,0.00,0.000,6,0.000,0.071,2619,2661,3972
$GC,4964,-0.84,-155.7,519.0,-8.6,210,4967,0.00,2.10,0.00,0.000,4,0.000,0.030,2630,1252,3971
$GC,5222,-0.84,-155.7,542.9,-8.1,215,5226,0.00,2.28,0.00,0.000,6,0.000,0.058,2629,2658,3970
$GC,5479,-0.84,-155.7,566.1,-9.3,222,5482,0.00,2.08,0.00,0.000,4,0.000,0.082,2630,3895,3968
$GC,5580,-0.84,-155.7,575.6,-9.6,224,5584,0.00,1.85,0.00,0.000,6,0.000,0.037,2630,2641,3967
$GC,5860,-0.84,-155.7,598.2,-8.1,231,5864,0.00,2.03,0.00,0.000,4,0.000,0.031,2630,1268,3965
$STATE,5874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5874,begin apogee
$GC,5883,-0.32,0.0,600.0,9.0,231,6009,0.47,0.00,123.12,1.077,6,0.106,0.000,2792,2555,3367
$STATE,6010,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6013,0.84,155.7,607.6,0.0,234,6155,1.08,2.25,133.02,1.062,4,0.081,0.028,3172,1166,2731
$GC,6413,0.93,226.5,614.7,6.7,243,6479,0.00,2.22,61.35,1.055,6,0.000,0.048,3172,2564,2444
$GC,6731,0.93,226.5,550.5,23.0,251,6735,0.00,2.15,0.00,0.000,4,0.000,0.058,3163,3894,2435
$GC,6989,0.93,226.5,490.1,22.8,256,6993,0.00,1.98,0.00,0.000,6,0.000,0.030,3171,2572,2433
$GC,7246,0.93,226.5,438.8,19.8,263,7249,0.00,2.15,0.00,0.000,4,0.000,0.058,3172,3896,2430
$GC,7402,0.93,226.5,404.8,20.1,266,7406,0.00,2.03,0.00,0.000,6,0.000,0.031,3181,2538,2430
$GC,7669,0.93,226.5,356.3,17.7,273,7673,0.00,2.08,0.00,0.000,4,0.000,0.031,3192,1129,2429
$GC,7715,0.93,226.5,348.7,17.2,274,7720,0.00,2.25,0.00,0.000,6,0.000,0.049,3192,2550,2428
$GC,8000,0.93,226.5,301.0,16.9,281,8004,0.00,2.10,0.00,0.000,4,0.000,0.032,3201,1133,2428
$GC,8260,0.93,226.5,259.2,15.0,286,8264,0.00,2.25,0.00,0.000,6,0.000,0.051,3201,2549,2427
$GC,8510,0.93,226.5,225.9,13.0,292,8514,0.00,2.10,0.00,0.000,4,0.000,0.031,3211,1133,2426
$GC,8667,0.93,226.5,206.8,12.2,295,8671,0.00,2.28,0.00,0.000,6,0.000,0.054,3205,2555,2426
$GC,8930,0.93,226.5,176.3,10.7,316,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2556,2426
$GC,9192,0.93,226.5,150.1,9.7,341,9196,0.00,2.10,0.00,0.000,4,0.000,0.030,3214,1126,2426
$GC,9448,0.93,229.3,126.2,9.5,364,9452,0.00,2.25,0.00,0.000,6,0.000,0.049,3215,2557,2426
$GC,9710,0.95,240.3,101.7,9.2,388,9727,0.00,2.15,10.68,0.666,4,0.000,0.028,3225,1119,2387
$GC,9980,1.02,303.4,78.4,7.0,412,10044,0.00,2.25,53.28,0.695,6,0.000,0.046,3218,2557,2131
$GC,10302,1.02,303.4,14.4,24.8,446,10310,0.00,2.15,0.00,0.000,4,0.000,0.028,3227,1129,2125
$STATE,10348,end climb,SURFACE_DEPTH_REACHED
$STATE,10348,begin surface coast
$FINISH,0.3,1.023862
$STATE,10360,end surface coast,CONTROL_FINISHED_OK
$STATE,10360,begin surface
$SM_CCo,10383,23.02,0.613,0,0,1939,350.04
$SM_GC,2.54,0.00,0.00,23.02,0.000,0.000,0.613,52,2646,1939,-8.90,-0.14,350.04
$IRIDIUM_FIX,2241.69,-15806.70,160400,171703
$TT8_MAMPS,0.023777
$HUMID,1837
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.8,59.800
$10V_AH,10.7,34.496
$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,21.925,102.275,381.450,23.025,0.000,24.734,36.110,311.245,0.250,0.000,0.000,36.810,1003.716,6867.312,423.549,1990.078,637.856,33.373,1250.198,0.000,1955.163,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,95.875,1076.868,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,309.210,712.810,737.340,145.738,597.817,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38213,456
$CAP_FILE_SIZE,94262,0
$CFSIZE,260165632,243138560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,1
$GPS,210111,230340,2251.152,-15803.146,47,2.3,66,10.1