version: 66.04
glider: 512
mission: 1
dive: 485
start: 1 25 111 2 14 54
data:
$ID,512
$MISSION,1
$DIVE,485
$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,-16361.485
$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,54
$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
$GPS1,020907,2246.458,-15758.274,28,1.9,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.0
$GPS2,021402,2246.435,-15758.252,15,1.8,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.204,-0.168
$KALMAN_X,-174561.2,-97.9,112.4,196515.1,2742.0
$KALMAN_Y,-456990.2,-486.0,-517.6,580541.8,2076.1
$MHEAD_RNG_PITCHd_Wd,220.3,8174,-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,-155.7,0.0,0.0,0,101,0.00,0.00,-83.18,0.000,2,0.000,0.000,52,2697,3158
$GC,104,-0.84,-155.7,3.5,-4.9,11,137,11.68,2.17,-14.23,0.000,4,0.259,0.040,2625,1246,3962
$GC,227,-0.84,-155.7,39.4,-12.7,27,236,0.00,2.28,0.00,0.000,6,0.000,0.061,2617,2610,3964
$GC,490,-0.84,-155.7,89.0,-17.6,52,494,0.00,2.10,0.00,0.000,4,0.000,0.071,2606,3894,3966
$GC,518,-0.84,-155.7,94.4,-18.2,54,526,0.00,1.85,0.00,0.000,6,0.000,0.026,2614,2657,3966
$GC,782,-0.84,-155.7,131.2,-12.7,79,786,0.00,2.08,0.00,0.000,4,0.000,0.028,2624,1244,3967
$GC,821,-0.84,-155.7,136.2,-10.1,82,829,0.00,2.33,0.00,0.000,6,0.000,0.062,2619,2653,3968
$GC,1083,-0.84,-155.7,167.3,-13.4,107,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2654,3969
$GC,1338,-0.84,-155.7,196.6,-10.2,131,1342,0.00,2.05,0.00,0.000,4,0.000,0.026,2627,1245,3971
$GC,1363,-0.84,-155.7,198.9,-9.6,133,1367,0.00,2.28,0.00,0.000,6,0.000,0.059,2619,2656,3971
$GC,1624,-0.84,-155.7,221.9,-8.8,140,1628,0.00,2.05,0.00,0.000,4,0.000,0.078,2610,3897,3971
$GC,1653,-0.84,-155.7,224.7,-9.4,140,1656,0.00,1.83,0.00,0.000,6,0.000,0.028,2614,2639,3971
$GC,1914,-0.84,-155.7,247.6,-9.0,147,1918,0.00,2.03,0.00,0.000,4,0.000,0.027,2624,1245,3971
$GC,1942,-0.84,-155.7,250.2,-8.7,147,1947,0.00,2.25,0.00,0.000,6,0.000,0.058,2619,2656,3971
$GC,2199,-0.84,-155.7,271.3,-8.3,154,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2656,3971
$GC,2443,-0.84,-155.7,288.6,-6.8,160,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2656,3971
$GC,2687,-0.84,-155.7,306.4,-7.7,166,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2657,3971
$GC,2931,-0.84,-155.7,324.4,-7.3,172,2935,0.00,2.08,0.00,0.000,4,0.000,0.028,2624,1247,3970
$GC,2954,-0.84,-155.7,326.2,-7.0,172,2958,0.00,2.25,0.00,0.000,6,0.000,0.058,2619,2652,3970
$GC,3215,-0.84,-155.7,347.6,-8.7,179,3219,0.00,2.05,0.00,0.000,4,0.000,0.075,2610,3902,3969
$GC,3233,-0.84,-155.7,349.2,-9.3,179,3236,0.00,1.85,0.00,0.000,6,0.000,0.030,2614,2635,3969
$GC,3507,-0.84,-155.7,372.4,-8.3,186,3510,0.00,2.00,0.00,0.000,4,0.000,0.028,2617,1266,3968
$GC,3535,-0.84,-155.7,375.0,-8.8,186,3539,0.00,2.22,0.00,0.000,6,0.000,0.057,2617,2660,3968
$GC,3793,-0.84,-155.7,392.9,-6.6,193,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2660,3967
$GC,4034,-0.84,-155.7,409.6,-7.0,199,4038,0.00,2.08,0.00,0.000,4,0.000,0.029,2617,1260,3966
$GC,4062,-0.84,-155.7,412.1,-8.6,199,4067,0.00,2.25,0.00,0.000,6,0.000,0.060,2618,2658,3965
$GC,4319,-0.84,-155.7,436.5,-10.2,206,4323,0.00,2.03,0.00,0.000,4,0.000,0.075,2618,3886,3964
$GC,4398,-0.84,-155.7,445.2,-10.8,207,4402,0.00,1.83,0.00,0.000,6,0.000,0.032,2618,2656,3963
$GC,4654,-0.84,-155.7,468.0,-8.8,214,4658,0.00,2.05,0.00,0.000,4,0.000,0.029,2618,1265,3962
$GC,4750,-0.84,-155.7,476.5,-8.7,216,4754,0.00,2.22,0.00,0.000,6,0.000,0.054,2617,2656,3961
$GC,5028,-0.84,-155.7,500.0,-8.6,223,5032,0.00,2.03,0.00,0.000,4,0.000,0.075,2618,3890,3960
$GC,5287,-0.84,-155.7,523.6,-9.1,228,5290,0.00,1.83,0.00,0.000,6,0.000,0.032,2627,2645,3958
$GC,5543,-0.84,-155.7,546.4,-9.7,235,5547,0.00,2.10,0.00,0.000,4,0.000,0.081,2620,3882,3958
$GC,5610,-0.84,-155.7,553.7,-10.7,236,5614,0.00,1.83,0.00,0.000,6,0.000,0.032,2627,2643,3957
$GC,5877,-0.84,-155.7,581.3,-10.7,243,5881,0.00,2.05,0.00,0.000,4,0.000,0.031,2627,1256,3956
$GC,5989,-0.84,-155.7,594.2,-12.0,245,5994,0.00,2.25,0.00,0.000,6,0.000,0.057,2626,2651,3956
$STATE,6045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6045,begin apogee
$GC,6052,-0.32,0.0,600.3,10.6,247,6177,0.50,0.00,121.90,1.062,6,0.075,0.000,2805,2562,3367
$STATE,6178,end apogee,CONTROL_FINISHED_OK
$STATE,6178,begin climb
$GC,6181,0.84,155.7,611.0,0.0,250,6324,1.05,2.28,134.12,1.041,4,0.079,0.053,3162,3893,2732
$GC,6582,0.93,226.7,621.8,6.7,259,6649,0.00,2.03,61.60,1.039,6,0.000,0.028,3172,2532,2442
$GC,6899,0.93,226.7,561.7,22.0,267,6903,0.00,2.20,0.00,0.000,4,0.000,0.051,3163,3900,2433
$GC,6983,0.93,226.7,541.9,23.7,268,6989,0.00,2.00,0.00,0.000,6,0.000,0.029,3172,2566,2432
$GC,7233,0.93,226.7,485.8,22.3,275,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2559,2429
$GC,7479,0.93,226.7,437.0,19.4,281,7483,0.00,2.15,0.00,0.000,4,0.000,0.054,3171,3899,2428
$GC,7625,0.93,226.7,408.4,19.4,284,7629,0.00,2.03,0.00,0.000,6,0.000,0.030,3180,2540,2428
$GC,7904,0.93,226.7,359.5,17.4,291,7908,0.00,2.08,0.00,0.000,4,0.000,0.031,3190,1138,2427
$GC,8162,0.93,226.7,312.7,18.5,296,8166,0.00,2.25,0.00,0.000,6,0.000,0.052,3190,2558,2426
$GC,8418,0.93,226.7,268.6,16.9,303,8422,0.00,2.12,0.00,0.000,4,0.000,0.055,3191,3897,2426
$GC,8519,0.93,226.7,252.2,15.9,305,8522,0.00,2.00,0.00,0.000,6,0.000,0.028,3200,2547,2426
$GC,8797,0.93,226.7,216.6,12.7,312,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2540,2425
$GC,9045,0.93,226.7,184.2,12.9,324,9049,0.00,2.08,0.00,0.000,4,0.000,0.030,3211,1137,2425
$GC,9217,0.93,226.7,164.4,10.0,339,9225,0.00,2.28,0.00,0.000,6,0.000,0.051,3205,2543,2425
$GC,9479,0.93,226.7,138.6,11.2,364,9483,0.00,2.08,0.00,0.000,4,0.000,0.029,3214,1136,2424
$GC,9540,0.93,226.7,131.6,10.6,369,9547,0.00,2.30,0.00,0.000,6,0.000,0.053,3214,2553,2424
$GC,9802,0.93,226.7,98.8,10.7,394,9806,0.00,2.08,0.00,0.000,4,0.000,0.028,3223,1127,2424
$GC,9829,0.95,241.5,96.2,9.0,396,9850,0.00,2.25,11.43,0.660,6,0.000,0.044,3218,2547,2381
$GC,10109,0.99,275.1,73.0,8.2,422,10148,0.00,2.20,29.55,0.674,4,0.000,0.058,3218,3884,2245
$GC,10396,0.99,275.1,25.7,20.5,449,10405,0.00,2.00,0.00,0.000,6,0.000,0.027,3226,2549,2241
$STATE,10510,end climb,SURFACE_DEPTH_REACHED
$STATE,10511,begin surface coast
$FINISH,0.3,1.024096
$STATE,10532,end surface coast,CONTROL_FINISHED_OK
$STATE,10532,begin surface
$SM_CCo,10553,43.45,0.612,0,0,1940,350.04
$SM_GC,1.04,0.00,0.00,43.45,0.000,0.000,0.612,52,2676,1940,-8.91,0.76,350.04
$IRIDIUM_FIX,2239.35,-15757.16,200400,000006
$TT8_MAMPS,0.024544
$HUMID,1830
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.7,63.571
$10V_AH,10.7,36.934
$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,22.150,100.925,358.600,43.450,0.000,24.717,34.041,120.048,0.250,0.000,0.000,18.254,995.340,7142.346,460.271,1854.666,448.689,33.363,1247.595,0.000,1841.533,0.000,0.542,0.000
$DEVICE_MAMPS,259.246,80.535,1061.528,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,320.222,737.515,759.490,155.044,645.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38427,473
$CAP_FILE_SIZE,90425,0
$CFSIZE,260165632,241958912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,250111,051306,2245.118,-15758.752,54,0.9,54,10.1