version: 66.04
glider: 512
mission: 1
dive: 491
start: 1 25 111 20 14 1
data:
$ID,512
$MISSION,1
$DIVE,491
$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,-16480.295
$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,41
$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
$GPS1,200807,2242.272,-15801.813,40,1.0,41,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-79.7
$GPS2,201308,2242.233,-15801.776,16,1.0,16,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.123,0.234
$KALMAN_X,-161974.0,-1103.7,-367.0,179368.7,4345.5
$KALMAN_Y,-468350.8,-295.2,147.2,583265.7,-3514.5
$MHEAD_RNG_PITCHd_Wd,322.3,9072,-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,-155.7,0.0,0.0,0,71,0.00,0.00,-53.42,0.000,2,0.000,0.000,48,2668,3033
$GC,75,-0.84,-155.7,3.5,-5.8,7,108,11.60,2.05,-17.12,0.000,4,0.254,0.081,2611,3871,3964
$GC,187,-0.84,-155.7,34.4,-14.0,23,190,0.00,1.80,0.00,0.000,6,0.000,0.026,2615,2642,3966
$GC,455,-0.84,-155.7,92.5,-24.9,48,458,0.00,2.05,0.00,0.000,4,0.000,0.028,2626,1248,3967
$GC,493,-0.84,-155.7,100.3,-21.0,51,497,0.00,2.28,0.00,0.000,6,0.000,0.065,2618,2634,3968
$GC,757,-0.84,-155.7,147.9,-17.1,75,760,0.00,2.05,0.00,0.000,4,0.000,0.027,2624,1240,3969
$GC,818,-0.84,-155.7,155.4,-8.5,80,826,0.00,2.30,0.00,0.000,6,0.000,0.062,2619,2647,3969
$GC,1081,-0.84,-155.7,186.3,-11.9,105,1084,0.00,2.05,0.00,0.000,4,0.000,0.073,2607,3901,3971
$GC,1116,-0.84,-155.7,190.1,-11.0,108,1120,0.00,1.83,0.00,0.000,6,0.000,0.027,2614,2634,3972
$GC,1387,-0.84,-155.7,218.6,-11.0,122,1391,0.00,2.03,0.00,0.000,4,0.000,0.026,2625,1258,3973
$GC,1432,-0.84,-155.7,222.5,-6.3,123,1437,0.00,2.22,0.00,0.000,6,0.000,0.059,2619,2652,3973
$GC,1717,-0.84,-155.7,247.8,-9.1,130,1721,0.00,2.03,0.00,0.000,4,0.000,0.074,2606,3900,3974
$GC,1751,-0.84,-155.7,251.2,-9.1,130,1755,0.00,1.80,0.00,0.000,6,0.000,0.026,2614,2644,3973
$GC,2007,-0.84,-155.7,275.8,-9.8,137,2010,0.00,2.03,0.00,0.000,4,0.000,0.026,2617,1248,3974
$GC,2046,-0.84,-155.7,279.4,-7.8,137,2052,0.00,2.25,0.00,0.000,6,0.000,0.059,2610,2656,3974
$GC,2297,-0.84,-155.7,300.6,-8.6,144,2301,0.00,2.03,0.00,0.000,4,0.000,0.075,2600,3887,3974
$GC,2336,-0.84,-155.7,303.8,-7.3,144,2342,0.00,1.80,0.00,0.000,6,0.000,0.027,2608,2638,3974
$GC,2588,-0.84,-155.7,324.9,-8.7,151,2591,0.00,2.00,0.00,0.000,4,0.000,0.027,2617,1259,3974
$GC,2616,-0.84,-155.7,327.6,-8.4,151,2621,0.00,2.22,0.00,0.000,6,0.000,0.057,2616,2654,3974
$GC,2875,-0.84,-155.7,347.9,-8.0,158,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2654,3973
$GC,3116,-0.84,-155.7,367.0,-7.7,164,3120,0.00,2.05,0.00,0.000,4,0.000,0.027,2617,1256,3972
$GC,3139,-0.84,-155.7,368.7,-7.5,164,3143,0.00,2.22,0.00,0.000,6,0.000,0.058,2617,2649,3972
$GC,3402,-0.84,-155.7,386.1,-6.6,171,3405,0.00,2.05,0.00,0.000,4,0.000,0.078,2611,3886,3971
$GC,3430,-0.84,-155.7,388.1,-6.8,171,3434,0.00,1.80,0.00,0.000,6,0.000,0.029,2615,2643,3971
$GC,3692,-0.84,-155.7,409.2,-8.9,178,3696,0.00,2.03,0.00,0.000,4,0.000,0.028,2623,1248,3970
$GC,3949,-0.84,-155.7,436.2,-11.3,183,3954,0.00,2.22,0.00,0.000,6,0.000,0.052,2619,2654,3968
$GC,4205,-0.84,-155.7,462.8,-10.7,190,4209,0.00,2.05,0.00,0.000,4,0.000,0.028,2629,1269,3967
$GC,4464,-0.84,-155.7,487.2,-8.3,195,4468,0.00,2.25,0.00,0.000,6,0.000,0.059,2630,2658,3965
$GC,4716,-0.84,-155.7,506.7,-7.7,201,4719,0.00,2.05,0.00,0.000,4,0.000,0.028,2637,1270,3963
$GC,4762,-0.84,-155.7,510.6,-8.3,202,4766,0.00,2.22,0.00,0.000,6,0.000,0.054,2633,2658,3964
$GC,5046,-0.84,-155.7,536.2,-9.6,209,5050,0.00,2.03,0.00,0.000,4,0.000,0.073,2633,3891,3962
$GC,5085,-0.84,-155.7,540.6,-10.7,209,5091,0.00,1.80,0.00,0.000,6,0.000,0.031,2639,2643,3961
$GC,5336,-0.84,-155.7,565.4,-10.0,216,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2643,3960
$GC,5579,-0.84,-155.7,590.9,-10.3,222,5582,0.00,2.03,0.00,0.000,4,0.000,0.029,2640,1270,3959
$GC,5646,-0.84,-155.7,598.0,-10.2,223,5650,0.00,2.22,0.00,0.000,6,0.000,0.054,2641,2656,3959
$STATE,5702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5702,begin apogee
$GC,5710,-0.32,0.0,603.7,9.8,225,5836,0.45,0.00,123.43,1.087,6,0.091,0.000,2794,2571,3367
$STATE,5837,end apogee,CONTROL_FINISHED_OK
$STATE,5837,begin climb
$GC,5840,0.84,155.7,613.2,0.0,228,5983,1.05,2.22,134.60,1.069,4,0.070,0.048,3163,3890,2731
$GC,6241,0.89,192.8,618.8,8.1,237,6279,0.00,2.00,32.65,1.044,6,0.000,0.026,3172,2533,2580
$GC,6522,0.89,192.8,580.8,14.5,244,6526,0.00,2.17,0.00,0.000,4,0.000,0.051,3172,3898,2573
$GC,6544,0.89,192.8,577.3,15.3,244,6548,0.00,2.00,0.00,0.000,6,0.000,0.027,3181,2540,2573
$GC,6813,0.89,192.8,542.1,12.7,251,6816,0.00,2.08,0.00,0.000,4,0.000,0.030,3191,1130,2571
$GC,6949,0.89,192.8,524.8,12.6,254,6953,0.00,2.22,0.00,0.000,6,0.000,0.044,3191,2559,2570
$GC,7234,0.89,192.8,490.1,12.7,261,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2559,2568
$GC,7476,0.89,192.8,458.0,13.3,267,7480,0.00,2.12,0.00,0.000,4,0.000,0.054,3191,3903,2567
$GC,7660,0.89,192.8,434.0,12.3,271,7664,0.00,2.00,0.00,0.000,6,0.000,0.030,3200,2554,2567
$GC,7950,0.89,192.8,402.0,11.2,278,7954,0.00,2.15,0.00,0.000,4,0.000,0.051,3200,3903,2566
$GC,8041,0.89,192.8,392.6,10.3,280,8045,0.00,2.03,0.00,0.000,6,0.000,0.029,3211,2533,2566
$GC,8333,0.93,224.5,367.7,8.3,287,8366,0.00,2.20,26.65,0.940,4,0.000,0.050,3205,3892,2450
$GC,8619,0.93,224.5,319.3,18.7,293,8623,0.00,2.00,0.00,0.000,6,0.000,0.028,3213,2547,2447
$GC,8887,0.93,224.5,276.0,15.3,300,8891,0.00,2.15,0.00,0.000,4,0.000,0.050,3214,3897,2445
$GC,9015,0.93,224.5,255.4,15.4,302,9021,0.00,2.00,0.00,0.000,6,0.000,0.027,3224,2539,2445
$GC,9267,0.93,224.5,219.5,13.9,309,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2532,2444
$GC,9514,0.93,224.5,188.3,11.3,321,9517,0.00,2.15,0.00,0.000,4,0.000,0.049,3218,3897,2444
$GC,9771,0.93,224.5,155.0,11.9,344,9775,0.00,1.98,0.00,0.000,6,0.000,0.026,3227,2542,2444
$GC,10041,0.93,224.5,130.1,9.7,369,10045,0.00,2.15,0.00,0.000,4,0.000,0.049,3227,3900,2443
$GC,10297,0.94,237.2,105.3,9.1,392,10315,0.15,1.98,11.60,0.690,6,0.272,0.025,3211,2537,2399
$GC,10578,1.08,348.0,83.3,5.0,418,10679,0.12,2.12,92.57,0.710,4,0.101,0.028,3261,1150,1947
$STATE,10887,end climb,SURFACE_DEPTH_REACHED
$STATE,10887,begin surface coast
$FINISH,0.4,1.023879
$STATE,10893,end surface coast,CONTROL_FINISHED_OK
$STATE,10894,begin surface
$SM_CCo,10977,0.00,0.000,0,0,1933,351.75
$SM_GC,1.70,9.10,0.00,0.00,0.073,0.000,0.000,46,2657,1933,-8.87,0.20,351.75
$IRIDIUM_FIX,2234.68,-15803.24,200400,181802
$TT8_MAMPS,0.023777
$HUMID,1860
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.7,64.370
$10V_AH,10.7,37.494
$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,22.475,108.125,421.500,0.000,0.000,24.733,43.406,121.237,0.250,0.000,0.000,16.577,1000.616,7490.082,436.511,1895.494,461.958,33.389,1265.676,0.000,1874.225,0.000,0.542,0.000
$DEVICE_MAMPS,272.285,80.535,1086.839,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,307.249,669.419,689.745,128.651,534.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38199,454
$CAP_FILE_SIZE,93867,0
$CFSIZE,260165632,241688576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,250111,231805,2242.462,-15802.404,10,2.7,29,10.0