version: 66.04
glider: 512
mission: 1
dive: 461
start: 1 22 111 5 20 16
data:
$ID,512
$MISSION,1
$DIVE,461
$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,-14940.387
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,051324,2251.938,-15803.300,98,1.1,98,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.8
$GPS2,051925,2251.938,-15803.280,12,1.0,17,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.011,0.264
$KALMAN_X,-164670.2,-49.1,-23.0,178077.9,727.5
$KALMAN_Y,-437740.8,713.9,131.5,569616.5,-3949.8
$MHEAD_RNG_PITCHd_Wd,352.3,4765,-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,-38.53,0.000,2,0.000,0.000,46,2669,2959
$GC,60,-0.84,-155.7,3.1,-5.2,5,100,11.57,2.10,-19.23,0.000,4,0.252,0.095,2608,3874,3964
$GC,218,-0.84,-155.7,39.0,-13.1,26,221,0.00,1.83,0.00,0.000,6,0.000,0.028,2611,2634,3966
$GC,487,-0.84,-155.7,101.8,-23.4,51,491,0.00,2.03,0.00,0.000,4,0.000,0.028,2621,1251,3967
$GC,566,-0.84,-155.7,115.2,-10.1,58,571,0.00,2.35,0.00,0.000,6,0.000,0.082,2618,2637,3968
$GC,830,-0.84,-155.7,151.8,-14.8,82,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2637,3969
$GC,1093,-0.84,-155.7,187.7,-12.9,107,1096,0.00,2.03,0.00,0.000,4,0.000,0.027,2624,1247,3970
$GC,1128,-0.84,-155.7,191.4,-10.1,110,1132,0.00,2.30,0.00,0.000,6,0.000,0.062,2619,2664,3971
$GC,1381,-0.84,-155.7,218.8,-11.1,122,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2663,3971
$GC,1625,-0.84,-155.7,245.2,-10.9,128,1629,0.00,2.08,0.00,0.000,4,0.000,0.028,2626,1245,3971
$GC,1664,-0.84,-155.7,249.0,-8.5,128,1670,0.00,2.22,0.00,0.000,6,0.000,0.052,2619,2655,3971
$GC,1915,-0.84,-155.7,272.7,-9.6,135,1918,0.00,2.05,0.00,0.000,4,0.000,0.077,2610,3893,3971
$GC,1954,-0.84,-155.7,276.4,-8.3,135,1961,0.00,1.88,0.00,0.000,6,0.000,0.031,2611,2621,3971
$GC,2204,-0.84,-155.7,299.4,-9.4,142,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2621,3971
$GC,2450,-0.84,-155.7,321.6,-9.0,148,2453,0.00,2.20,0.00,0.000,4,0.000,0.092,2603,3890,3969
$GC,2496,-0.84,-155.7,325.9,-8.4,149,2500,0.00,1.80,0.00,0.000,6,0.000,0.031,2611,2648,3970
$GC,2789,-0.84,-155.7,350.6,-8.5,156,2792,0.00,2.03,0.00,0.000,4,0.000,0.034,2617,1265,3969
$GC,2822,-0.84,-155.7,353.7,-8.0,156,2826,0.00,2.22,0.00,0.000,6,0.000,0.062,2608,2651,3969
$GC,3079,-0.84,-155.7,375.5,-8.6,163,3083,0.00,2.10,0.00,0.000,4,0.000,0.091,2598,3886,3968
$GC,3112,-0.84,-155.7,378.6,-8.1,163,3116,0.00,1.80,0.00,0.000,6,0.000,0.032,2605,2652,3967
$GC,3369,-0.84,-155.7,400.5,-8.7,170,3372,0.00,2.05,0.00,0.000,4,0.000,0.029,2615,1251,3966
$GC,3408,-0.84,-155.7,403.8,-7.3,170,3415,0.00,2.33,0.00,0.000,6,0.000,0.070,2615,2649,3966
$GC,3659,-0.84,-155.7,422.4,-7.4,177,3662,0.00,2.12,0.00,0.000,4,0.000,0.094,2614,3886,3965
$GC,3692,-0.84,-155.7,425.1,-7.3,177,3696,0.00,1.83,0.00,0.000,6,0.000,0.034,2616,2641,3964
$GC,3949,-0.84,-155.7,446.0,-8.8,184,3952,0.00,2.03,0.00,0.000,4,0.000,0.030,2617,1259,3963
$GC,4206,-0.84,-155.7,470.6,-9.9,189,4211,0.00,2.25,0.00,0.000,6,0.000,0.060,2617,2652,3961
$GC,4464,-0.84,-155.7,492.1,-8.6,196,4468,0.00,2.08,0.00,0.000,4,0.000,0.029,2617,1251,3960
$GC,4723,-0.84,-155.7,515.9,-10.3,201,4727,0.00,2.33,0.00,0.000,6,0.000,0.069,2617,2656,3958
$GC,4975,-0.84,-155.7,537.7,-9.2,207,4979,0.00,2.08,0.00,0.000,4,0.000,0.030,2617,1259,3956
$GC,5227,-0.84,-155.7,561.6,-9.8,212,5231,0.00,2.28,0.00,0.000,6,0.000,0.064,2617,2651,3955
$GC,5482,-0.84,-155.7,584.5,-9.2,219,5486,0.00,2.12,0.00,0.000,4,0.000,0.094,2617,3881,3954
$GC,5589,-0.84,-155.7,595.0,-10.5,221,5593,0.00,1.85,0.00,0.000,6,0.000,0.035,2617,2652,3953
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5655,begin apogee
$GC,5663,-0.32,0.0,600.1,7.2,223,5787,0.50,0.00,121.22,1.070,6,0.071,0.000,2797,2560,3367
$STATE,5788,end apogee,CONTROL_FINISHED_OK
$STATE,5788,begin climb
$GC,5791,0.84,155.7,607.8,0.0,226,5933,1.05,2.33,133.43,1.041,4,0.074,0.063,3163,3888,2731
$GC,6005,0.96,254.0,623.5,5.5,231,6097,0.12,2.05,86.22,1.029,6,0.104,0.030,3210,2539,2331
$GC,6370,0.96,254.0,529.4,29.0,240,6374,0.00,2.08,0.00,0.000,4,0.000,0.031,3220,1156,2321
$GC,6393,0.96,254.0,522.7,29.5,240,6397,0.00,2.25,0.00,0.000,6,0.000,0.054,3218,2546,2320
$GC,6654,0.96,254.0,454.3,25.4,247,6658,0.00,2.08,0.00,0.000,4,0.000,0.031,3226,1152,2318
$GC,6749,0.96,254.0,431.0,23.8,249,6753,0.00,2.25,0.00,0.000,6,0.000,0.051,3218,2562,2318
$GC,7030,0.96,254.0,363.5,24.7,256,7033,0.00,2.10,0.00,0.000,4,0.000,0.031,3227,1147,2317
$GC,7158,0.96,254.0,333.2,23.4,258,7164,0.00,2.22,0.00,0.000,6,0.000,0.051,3219,2550,2316
$GC,7408,0.96,254.0,280.1,21.8,265,7412,0.00,2.20,0.00,0.000,4,0.000,0.066,3218,3902,2314
$GC,7583,0.96,254.0,239.3,24.2,268,7589,0.00,2.00,0.00,0.000,6,0.000,0.031,3226,2560,2314
$GC,7836,0.96,254.0,188.5,21.1,278,7839,0.00,2.10,0.00,0.000,4,0.000,0.030,3237,1130,2313
$GC,7998,0.96,254.0,158.4,17.1,292,8005,0.00,2.30,0.00,0.000,6,0.000,0.051,3231,2554,2313
$GC,8262,0.96,254.0,112.3,17.0,317,8266,0.00,2.10,0.00,0.000,4,0.000,0.028,3240,1121,2313
$GC,8354,1.02,299.5,101.0,7.7,325,8396,0.00,2.28,36.38,0.712,6,0.000,0.051,3240,2559,2146
$GC,8654,1.02,299.5,46.9,20.5,352,8657,0.00,2.12,0.00,0.000,4,0.000,0.028,3250,1142,2140
$GC,8711,1.02,299.5,34.1,23.0,357,8715,0.00,2.22,0.00,0.000,6,0.000,0.048,3244,2550,2139
$STATE,8844,end climb,SURFACE_DEPTH_REACHED
$STATE,8844,begin surface coast
$FINISH,0.5,1.023940
$STATE,8859,end surface coast,CONTROL_FINISHED_OK
$STATE,8859,begin surface
$SM_CCo,8880,34.38,0.618,0,0,1939,350.04
$SM_GC,3.40,0.00,0.00,34.38,0.000,0.000,0.618,50,2679,1939,-8.91,0.82,350.04
$IRIDIUM_FIX,2244.02,-15804.53,170400,020246
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.8,60.186
$10V_AH,10.7,34.770
$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,22.425,93.225,377.250,34.375,0.000,31.744,39.714,167.680,0.250,0.000,0.000,17.406,848.595,5931.814,435.042,1590.165,473.423,33.363,1124.689,0.000,1572.296,0.000,0.542,0.000
$DEVICE_MAMPS,252.343,95.108,1069.965,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.330,577.913,595.059,123.755,510.928,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31918,382
$CAP_FILE_SIZE,80580,0
$CFSIZE,260165632,243027968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,220111,074949,2252.613,-15803.178,13,1.6,19,10.1