version: 66.04
glider: 512
mission: 1
dive: 487
start: 1 25 111 8 40 49
data:
$ID,512
$MISSION,1
$DIVE,487
$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,-16390.582
$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,53
$R_STBD_OVSHOOT,25
$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
$GPS1,083007,2244.076,-15759.044,56,1.6,56,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.6
$GPS2,083956,2244.060,-15758.894,12,1.3,12,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.262,0.033
$KALMAN_X,-170996.0,1031.0,-142.4,190976.4,2065.2
$KALMAN_Y,-458483.1,-686.4,-96.0,577425.1,515.6
$MHEAD_RNG_PITCHd_Wd,267.1,8879,-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,-155.7,0.0,0.0,0,56,0.00,0.00,-37.75,0.000,2,0.000,0.000,50,2664,2924
$GC,60,-0.84,-155.7,3.3,-6.2,5,100,11.55,2.08,-20.42,0.000,4,0.252,0.087,2608,3880,3962
$GC,238,-0.84,-155.7,38.0,-10.6,29,242,0.00,1.83,0.00,0.000,6,0.000,0.027,2612,2634,3964
$GC,507,-0.84,-155.7,93.7,-22.6,54,510,0.00,2.03,0.00,0.000,4,0.000,0.028,2622,1247,3965
$GC,544,-0.84,-155.7,99.6,-16.6,57,548,0.00,2.35,0.00,0.000,6,0.000,0.074,2618,2652,3965
$GC,808,-0.84,-155.7,136.2,-13.8,81,812,0.00,2.10,0.00,0.000,4,0.000,0.087,2609,3890,3966
$GC,834,-0.84,-155.7,139.7,-13.8,83,838,0.00,1.83,0.00,0.000,6,0.000,0.027,2612,2651,3966
$GC,1102,-0.84,-155.7,173.0,-11.5,108,1105,0.00,2.05,0.00,0.000,4,0.000,0.033,2622,1249,3967
$GC,1142,-0.84,-155.7,177.3,-9.0,111,1150,0.00,2.33,0.00,0.000,6,0.000,0.067,2619,2649,3967
$GC,1412,-0.84,-155.7,204.4,-10.3,134,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2649,3967
$GC,1656,-0.84,-155.7,227.8,-9.6,140,1659,0.00,2.05,0.00,0.000,4,0.000,0.026,2627,1245,3967
$GC,1684,-0.84,-155.7,230.4,-8.3,140,1688,0.00,2.25,0.00,0.000,6,0.000,0.058,2619,2656,3967
$GC,1940,-0.84,-155.7,250.4,-7.9,147,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2656,3967
$GC,2183,-0.84,-155.7,271.4,-8.7,153,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2655,3967
$GC,2426,-0.84,-155.7,296.0,-10.5,159,2430,0.00,2.05,0.00,0.000,4,0.000,0.026,2626,1252,3967
$GC,2460,-0.84,-155.7,299.5,-9.5,159,2464,0.00,2.28,0.00,0.000,6,0.000,0.062,2619,2658,3966
$GC,2711,-0.84,-155.7,323.6,-9.4,165,2715,0.00,2.08,0.00,0.000,4,0.000,0.084,2606,3892,3966
$GC,2734,-0.84,-155.7,325.7,-8.8,165,2737,0.00,1.83,0.00,0.000,6,0.000,0.030,2614,2632,3966
$GC,3003,-0.84,-155.7,348.0,-8.3,172,3006,0.00,2.00,0.00,0.000,4,0.000,0.027,2624,1251,3965
$GC,3031,-0.84,-155.7,350.7,-8.2,172,3035,0.00,2.25,0.00,0.000,6,0.000,0.061,2619,2653,3965
$GC,3287,-0.84,-155.7,371.0,-7.9,179,3291,0.00,2.08,0.00,0.000,4,0.000,0.083,2606,3886,3964
$GC,3310,-0.84,-155.7,372.9,-8.0,179,3314,0.00,1.80,0.00,0.000,6,0.000,0.031,2614,2642,3963
$GC,3578,-0.84,-155.7,391.4,-6.6,186,3582,0.00,2.00,0.00,0.000,4,0.000,0.028,2623,1263,3962
$GC,3618,-0.84,-155.7,394.0,-5.7,186,3624,0.00,2.22,0.00,0.000,6,0.000,0.060,2619,2650,3962
$GC,3869,-0.84,-155.7,410.3,-6.7,193,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2650,3960
$GC,4112,-0.84,-155.7,427.7,-7.3,199,4116,0.00,2.10,-0.05,0.000,4,0.000,0.041,2624,1267,3977
$GC,4141,-0.84,-155.7,430.0,-7.9,199,4145,0.00,2.25,0.00,0.000,6,0.000,0.062,2619,2650,3978
$GC,4398,-0.84,-155.7,453.0,-9.5,206,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2650,3976
$GC,4641,-0.84,-155.7,472.1,-7.8,212,4644,0.00,2.05,0.00,0.000,4,0.000,0.028,2624,1253,3974
$GC,4899,-0.84,-155.7,491.1,-7.1,217,4902,0.00,2.28,0.00,0.000,6,0.000,0.061,2619,2656,3973
$GC,5154,-0.84,-155.7,513.7,-9.7,224,5158,0.00,2.05,0.00,0.000,4,0.000,0.081,2619,3879,3971
$GC,5412,-0.84,-155.7,542.4,-12.1,229,5416,0.00,1.80,0.00,0.000,6,0.000,0.035,2627,2659,3969
$GC,5669,-0.84,-155.7,568.0,-9.9,236,5672,0.00,2.08,0.00,0.000,4,0.000,0.081,2619,3883,3968
$GC,5680,-0.84,-155.7,569.3,-9.1,236,5684,0.00,1.80,0.00,0.000,6,0.000,0.030,2627,2652,3968
$GC,5959,-0.84,-155.7,593.9,-8.6,243,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2646,3967
$STATE,6037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6037,begin apogee
$GC,6045,-0.32,0.0,600.8,8.5,245,6172,0.47,0.00,124.05,1.057,6,0.071,0.000,2798,2556,3367
$STATE,6172,end apogee,CONTROL_FINISHED_OK
$STATE,6173,begin climb
$GC,6176,0.84,155.7,608.2,0.0,248,6319,1.05,2.30,133.77,1.032,4,0.071,0.053,3163,3894,2731
$GC,6577,0.84,155.7,608.9,9.7,257,6580,0.00,2.03,0.00,0.000,6,0.000,0.029,3172,2538,2724
$GC,6861,0.93,226.8,587.6,6.7,264,6927,0.00,2.25,61.03,1.029,4,0.000,0.053,3172,3893,2442
$GC,7034,0.93,226.8,556.5,24.2,268,7037,0.00,2.03,0.00,0.000,6,0.000,0.028,3181,2557,2437
$GC,7318,0.93,226.8,495.3,21.5,275,7321,0.00,2.10,0.00,0.000,4,0.000,0.030,3192,1135,2433
$GC,7501,0.93,226.8,459.3,20.4,279,7505,0.00,2.22,0.00,0.000,6,0.000,0.048,3192,2548,2431
$GC,7785,0.93,226.8,403.6,19.4,286,7789,0.00,2.17,0.00,0.000,4,0.000,0.059,3192,3907,2428
$GC,7892,0.93,226.8,382.5,18.5,288,7896,0.00,2.03,0.00,0.000,6,0.000,0.030,3200,2557,2428
$GC,8164,0.93,226.8,336.9,16.2,295,8168,0.00,2.12,0.00,0.000,4,0.000,0.031,3211,1126,2427
$GC,8219,0.93,226.8,328.7,15.3,296,8223,0.00,2.22,0.00,0.000,6,0.000,0.046,3205,2552,2427
$GC,8492,0.93,226.8,289.2,14.6,303,8496,0.00,2.12,0.00,0.000,4,0.000,0.056,3205,3897,2426
$GC,8750,0.93,226.8,245.7,15.1,308,8753,0.00,2.03,0.00,0.000,6,0.000,0.028,3214,2524,2426
$GC,9005,0.93,226.8,209.8,14.8,315,9009,0.00,2.03,0.00,0.000,4,0.000,0.029,3224,1145,2426
$GC,9101,0.93,226.8,194.5,15.5,317,9108,0.00,2.25,0.00,0.000,6,0.000,0.046,3218,2554,2426
$GC,9363,0.93,226.8,156.8,11.4,342,9367,0.00,2.08,0.00,0.000,4,0.000,0.028,3227,1140,2426
$GC,9466,0.94,232.2,146.2,9.4,351,9470,0.00,2.20,0.00,0.000,6,0.000,0.048,3227,2562,2426
$GC,9734,0.94,232.2,116.5,10.9,376,9738,0.00,2.10,0.00,0.000,4,0.000,0.027,3236,1137,2426
$GC,9748,0.94,232.2,115.0,10.5,377,9753,0.00,2.20,0.00,0.000,6,0.000,0.043,3231,2549,2426
$GC,10013,1.09,357.4,96.8,4.4,401,10124,0.00,2.28,106.35,0.696,4,0.000,0.054,3232,3900,1908
$STATE,10359,end climb,SURFACE_DEPTH_REACHED
$STATE,10359,begin surface coast
$FINISH,0.2,1.024031
$STATE,10366,end surface coast,CONTROL_FINISHED_OK
$STATE,10366,begin surface
$SM_CCo,10449,0.00,0.000,0,0,1895,360.83
$SM_GC,1.76,9.15,0.00,0.00,0.079,0.000,0.000,49,2622,1895,-8.86,-0.79,360.83
$IRIDIUM_FIX,2234.68,-15803.24,200400,080805
$TT8_MAMPS,0.02301
$HUMID,1876
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,23.8,63.831
$10V_AH,10.7,37.131
$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,22.225,100.625,425.200,0.000,0.000,53.266,96.909,246.364,0.250,0.000,0.000,12.901,951.289,7218.719,424.516,1767.955,675.748,33.362,1196.055,0.000,1754.643,0.000,0.542,0.000
$DEVICE_MAMPS,251.576,87.438,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,297.568,656.614,675.023,128.820,535.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35062,439
$CAP_FILE_SIZE,92169,0
$CFSIZE,260165632,241860608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,250111,113606,2243.700,-15759.596,15,1.6,31,10.1