version: 66.04
glider: 512
mission: 1
dive: 481
start: 1 24 111 15 16 14
data:
$ID,512
$MISSION,1
$DIVE,481
$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,-16271.822
$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,38
$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
$GPS1,150554,2249.329,-15755.983,17,8.9,36,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.6
$GPS2,151522,2249.310,-15756.001,14,8.2,33,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.027,-0.263
$KALMAN_X,-179144.0,924.3,-100.0,204155.9,-1367.3
$KALMAN_Y,-461413.2,455.7,-257.1,589067.7,912.0
$MHEAD_RNG_PITCHd_Wd,175.9,5267,-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,-38.40,0.000,2,0.000,0.000,48,2633,2927
$GC,60,-0.84,-155.7,3.2,-5.5,5,100,11.62,2.12,-19.95,0.000,4,0.254,0.040,2623,1230,3961
$GC,193,-0.84,-155.7,30.7,-10.0,27,197,0.00,2.35,0.00,0.000,6,0.000,0.064,2611,2658,3964
$GC,461,-0.84,-155.7,85.8,-20.3,52,465,0.00,2.12,0.00,0.000,4,0.000,0.028,2618,1224,3965
$GC,475,-0.84,-155.7,88.5,-20.0,53,479,0.00,2.28,0.00,0.000,6,0.000,0.056,2608,2649,3965
$GC,739,-0.84,-155.7,134.5,-17.6,77,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2649,3966
$GC,992,-0.84,-155.7,171.4,-13.4,101,996,0.00,2.10,0.00,0.000,4,0.000,0.026,2616,1213,3967
$GC,1020,-0.84,-155.7,175.2,-12.1,103,1027,0.00,2.38,0.00,0.000,6,0.000,0.062,2607,2657,3967
$GC,1291,-0.84,-155.7,205.7,-12.6,126,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2657,3967
$GC,1535,-0.84,-155.7,236.5,-12.4,132,1539,0.00,2.10,0.00,0.000,4,0.000,0.027,2615,1224,3967
$GC,1569,-0.84,-155.7,240.4,-9.7,132,1573,0.00,2.30,0.00,0.000,6,0.000,0.058,2607,2656,3967
$GC,1825,-0.84,-155.7,265.0,-9.9,139,1828,0.00,2.03,0.00,0.000,4,0.000,0.074,2597,3890,3967
$GC,1852,-0.84,-155.7,267.9,-10.2,139,1856,0.00,1.85,0.00,0.000,6,0.000,0.027,2605,2615,3967
$GC,2115,-0.84,-155.7,291.3,-9.3,146,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2608,3967
$GC,2359,-0.84,-155.7,314.3,-9.5,152,2363,0.00,1.98,0.00,0.000,4,0.000,0.028,2614,1257,3966
$GC,2387,-0.84,-155.7,317.1,-9.1,152,2392,0.00,2.25,0.00,0.000,6,0.000,0.055,2606,2663,3966
$GC,2644,-0.84,-155.7,337.8,-8.2,159,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2663,3965
$GC,2887,-0.84,-155.7,358.3,-8.5,165,2891,0.00,2.00,0.00,0.000,4,0.000,0.074,2596,3885,3964
$GC,2927,-0.84,-155.7,361.9,-9.0,165,2934,0.00,1.83,0.00,0.000,6,0.000,0.028,2604,2645,3963
$GC,3177,-0.84,-155.7,383.4,-8.7,172,3181,0.00,2.05,0.00,0.000,4,0.000,0.028,2615,1248,3962
$GC,3211,-0.84,-155.7,386.4,-8.0,172,3215,0.00,2.25,0.00,0.000,6,0.000,0.055,2607,2660,3962
$GC,3461,-0.84,-155.7,406.6,-7.9,178,3465,0.00,2.00,0.00,0.000,4,0.000,0.072,2597,3884,3960
$GC,3495,-0.84,-155.7,409.3,-7.4,178,3499,0.00,1.80,0.00,0.000,6,0.000,0.029,2604,2649,3960
$GC,3751,-0.84,-155.7,428.6,-7.8,185,3755,0.00,2.05,-0.05,0.000,4,0.000,0.041,2614,1251,3976
$GC,3773,-0.84,-155.7,430.5,-8.1,185,3778,0.00,2.22,0.00,0.000,6,0.000,0.054,2607,2652,3977
$GC,4035,-0.84,-155.7,451.0,-7.9,192,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2652,3976
$GC,4279,-0.84,-155.7,469.4,-7.4,198,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2651,3974
$GC,4522,-0.84,-155.7,488.1,-7.8,204,4526,0.00,2.08,0.00,0.000,4,0.000,0.028,2615,1247,3972
$GC,4551,-0.84,-155.7,490.4,-7.5,204,4555,0.00,2.28,0.00,0.000,6,0.000,0.060,2615,2657,3972
$GC,4807,-0.84,-155.7,511.8,-9.1,211,4811,0.00,2.08,0.00,0.000,4,0.000,0.030,2617,1259,3971
$GC,5066,-0.84,-155.7,537.4,-9.9,216,5070,0.00,2.25,0.00,0.000,6,0.000,0.055,2611,2657,3969
$GC,5318,-0.84,-155.7,559.8,-9.1,222,5321,0.00,2.08,0.00,0.000,4,0.000,0.029,2617,1256,3968
$GC,5577,-0.84,-155.7,582.5,-7.8,227,5581,0.00,2.25,0.00,0.000,6,0.000,0.056,2617,2651,3967
$STATE,5783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5783,begin apogee
$GC,5791,-0.32,0.0,600.2,8.7,232,5919,0.55,0.00,125.35,1.088,6,0.110,0.000,2796,2573,3367
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5923,0.84,155.7,610.1,0.0,235,6066,1.05,2.30,135.30,1.087,4,0.074,0.028,3172,1126,2731
$GC,6282,0.94,232.9,625.0,6.4,243,6356,0.12,2.28,67.40,1.067,6,0.115,0.044,3200,2560,2417
$GC,6600,0.94,232.9,557.2,25.5,251,6603,0.00,2.15,0.00,0.000,4,0.000,0.028,3210,1125,2409
$GC,6655,0.94,232.9,543.4,24.1,252,6660,0.00,2.28,0.00,0.000,6,0.000,0.046,3205,2547,2409
$GC,6928,0.94,232.9,480.5,23.1,259,6932,0.00,2.15,0.00,0.000,4,0.000,0.031,3213,1127,2406
$GC,7074,0.94,232.9,449.5,20.3,262,7078,0.00,2.25,0.00,0.000,6,0.000,0.049,3213,2553,2406
$GC,7346,0.94,232.9,391.4,20.4,269,7350,0.00,2.10,0.00,0.000,4,0.000,0.030,3223,1132,2404
$GC,7424,0.94,232.9,375.9,19.4,270,7428,0.00,2.25,0.00,0.000,6,0.000,0.048,3218,2555,2404
$GC,7676,0.94,232.9,329.9,18.1,276,7680,0.00,2.10,0.00,0.000,4,0.000,0.029,3227,1129,2403
$GC,7687,0.94,232.9,327.4,18.3,276,7691,0.00,2.22,0.00,0.000,6,0.000,0.043,3218,2566,2403
$GC,7960,0.94,232.9,279.2,17.3,283,7964,0.00,2.12,0.00,0.000,4,0.000,0.029,3227,1130,2402
$GC,8217,0.94,232.9,236.6,14.7,288,8221,0.00,2.22,0.00,0.000,6,0.000,0.044,3218,2553,2401
$GC,8468,0.94,232.9,198.9,15.4,294,8471,0.00,2.10,0.00,0.000,4,0.000,0.029,3227,1123,2400
$GC,8538,0.94,232.9,188.6,15.5,300,8542,0.00,2.22,0.00,0.000,6,0.000,0.043,3218,2550,2400
$GC,8801,0.94,232.9,153.4,12.4,324,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2551,2400
$GC,9055,0.94,232.9,125.2,10.4,348,9059,0.00,2.12,0.00,0.000,4,0.000,0.055,3218,3891,2400
$GC,9069,0.94,232.9,123.6,11.6,349,9073,0.00,2.03,0.00,0.000,6,0.000,0.025,3227,2525,2400
$GC,9337,0.98,265.7,96.4,8.3,374,9375,0.00,2.25,26.58,0.713,4,0.000,0.051,3223,3902,2282
$GC,9437,0.98,265.7,82.2,18.6,382,9445,0.00,2.03,0.00,0.000,6,0.000,0.028,3232,2560,2281
$GC,9700,0.98,265.7,42.1,15.6,407,9704,0.00,2.12,0.00,0.000,4,0.000,0.051,3231,3893,2280
$STATE,9906,end climb,SURFACE_DEPTH_REACHED
$STATE,9906,begin surface coast
$FINISH,0.9,1.023997
$STATE,9913,end surface coast,CONTROL_FINISHED_OK
$STATE,9913,begin surface
$SM_CCo,9936,52.00,0.631,0,0,1939,350.04
$SM_GC,0.93,0.00,0.00,52.00,0.000,0.000,0.631,47,2636,1939,-8.92,-0.40,350.04
$IRIDIUM_FIX,2239.35,-15754.99,190400,151530
$TT8_MAMPS,0.023777
$HUMID,1842
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.6,62.998
$10V_AH,10.7,36.593
$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,22.400,98.325,354.625,52.000,0.000,53.038,73.713,235.882,0.000,0.000,0.000,34.222,934.080,6851.254,440.834,1709.450,625.863,33.373,1142.080,0.000,1684.473,0.000,0.542,0.000
$DEVICE_MAMPS,253.877,74.399,1088.373,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,298.829,685.800,707.601,148.965,615.187,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35140,440
$CAP_FILE_SIZE,87993,0
$CFSIZE,260165632,242139136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,240111,180400,2248.039,-15756.427,37,1.5,37,10.1