version: 66.04
glider: 512
mission: 1
dive: 486
start: 1 25 111 5 20 4
data:
$ID,512
$MISSION,1
$DIVE,486
$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,-16377.051
$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,56
$R_STBD_OVSHOOT,38
$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
$GPS1,051306,2245.118,-15758.752,54,0.9,54,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.6
$GPS2,051913,2245.064,-15758.724,9,0.9,14,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.243,-0.103
$KALMAN_X,-173408.0,592.1,-53.9,194041.5,2079.4
$KALMAN_Y,-457403.8,-574.5,-606.2,578606.1,1750.3
$MHEAD_RNG_PITCHd_Wd,236.9,8134,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.84,-155.7,0.0,0.0,0,58,0.00,0.00,-38.22,0.000,2,0.000,0.000,50,2677,2938
$GC,62,-0.84,-155.7,3.3,-6.5,5,102,11.57,2.17,-20.05,0.000,4,0.252,0.041,2627,1257,3962
$GC,206,-0.84,-155.7,32.8,-10.7,27,211,0.00,2.30,0.00,0.000,6,0.000,0.073,2618,2633,3963
$GC,474,-0.84,-155.7,85.2,-18.6,52,478,0.00,2.12,0.00,0.000,4,0.000,0.082,2608,3893,3964
$GC,512,-0.84,-155.7,92.0,-19.2,55,516,0.00,1.83,0.00,0.000,6,0.000,0.026,2614,2649,3964
$GC,781,-0.84,-155.7,132.8,-13.8,80,784,0.00,2.08,0.00,0.000,4,0.000,0.028,2623,1233,3966
$GC,826,-0.84,-155.7,138.1,-8.9,84,830,0.00,2.35,0.00,0.000,6,0.000,0.071,2619,2652,3966
$GC,1090,-0.84,-155.7,168.4,-12.2,108,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2652,3967
$GC,1355,-0.84,-155.7,200.0,-11.3,133,1358,0.00,2.08,0.00,0.000,4,0.000,0.027,2627,1238,3968
$GC,1388,-0.84,-155.7,203.8,-9.8,134,1392,0.00,2.30,0.00,0.000,6,0.000,0.068,2619,2647,3968
$GC,1639,-0.84,-155.7,226.7,-9.3,140,1643,0.00,2.08,0.00,0.000,4,0.000,0.084,2606,3893,3968
$GC,1656,-0.84,-155.7,228.4,-9.3,140,1659,0.00,1.85,0.00,0.000,6,0.000,0.030,2613,2618,3968
$GC,1929,-0.84,-155.7,256.6,-10.7,147,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2611,3968
$GC,2172,-0.84,-155.7,281.0,-9.7,153,2176,0.00,1.98,0.00,0.000,4,0.000,0.027,2623,1259,3968
$GC,2189,-0.84,-155.7,282.7,-9.4,153,2193,0.00,2.28,0.00,0.000,6,0.000,0.067,2619,2657,3968
$GC,2457,-0.84,-155.7,303.1,-7.5,160,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2657,3967
$GC,2701,-0.84,-155.7,319.5,-6.5,166,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2657,3967
$GC,2946,-0.84,-155.7,335.8,-6.8,172,2949,0.00,2.05,0.00,0.000,4,0.000,0.028,2627,1253,3966
$GC,2980,-0.84,-155.7,338.4,-7.4,172,2984,0.00,2.28,0.00,0.000,6,0.000,0.065,2619,2652,3965
$GC,3235,-0.84,-155.7,355.9,-6.9,179,3239,0.00,2.10,0.00,0.000,4,0.000,0.087,2607,3886,3964
$GC,3258,-0.84,-155.7,357.7,-7.3,179,3262,0.00,1.83,0.00,0.000,6,0.000,0.032,2614,2636,3964
$GC,3526,-0.84,-155.7,375.1,-6.5,186,3530,0.00,2.00,0.00,0.000,4,0.000,0.028,2617,1266,3962
$GC,3560,-0.84,-155.7,377.4,-5.7,186,3564,0.00,2.28,0.00,0.000,6,0.000,0.063,2608,2660,3963
$GC,3811,-0.84,-155.7,395.6,-7.5,192,3815,0.00,2.08,0.00,0.000,4,0.000,0.083,2598,3894,3961
$GC,3833,-0.84,-155.7,397.5,-7.9,192,3837,0.00,1.83,0.00,0.000,6,0.000,0.031,2606,2648,3961
$GC,4101,-0.84,-155.7,419.1,-8.2,199,4105,0.00,2.05,0.00,0.000,4,0.000,0.028,2615,1248,3960
$GC,4135,-0.84,-155.7,421.9,-7.1,199,4139,0.00,2.30,0.00,0.000,6,0.000,0.065,2614,2652,3960
$GC,4386,-0.84,-155.7,442.4,-8.7,205,4390,0.00,2.12,-0.05,0.000,4,0.000,0.041,2617,1249,3977
$GC,4492,-0.84,-155.7,452.3,-10.1,207,4496,0.00,2.30,0.00,0.000,6,0.000,0.065,2617,2648,3977
$GC,4753,-0.84,-155.7,473.6,-8.4,214,4757,0.00,2.05,0.00,0.000,4,0.000,0.028,2624,1251,3976
$GC,5012,-0.84,-155.7,496.2,-8.1,219,5016,0.00,2.25,0.00,0.000,6,0.000,0.054,2619,2661,3974
$GC,5269,-0.84,-155.7,519.3,-9.3,226,5273,0.00,2.03,0.00,0.000,4,0.000,0.074,2620,3892,3972
$GC,5528,-0.84,-155.7,544.3,-9.0,231,5532,0.00,1.85,0.00,0.000,6,0.000,0.035,2627,2649,3971
$GC,5786,-0.84,-155.7,568.5,-9.5,238,5789,0.00,2.08,0.00,0.000,4,0.000,0.074,2627,3884,3970
$GC,5985,-0.84,-155.7,590.3,-9.4,242,5989,0.00,1.85,0.00,0.000,6,0.000,0.033,2630,2650,3969
$STATE,6092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6092,begin apogee
$GC,6100,-0.32,0.0,601.9,10.1,245,6228,0.50,0.00,124.70,1.062,6,0.103,0.000,2794,2557,3367
$STATE,6228,end apogee,CONTROL_FINISHED_OK
$STATE,6228,begin climb
$GC,6231,0.84,155.7,612.3,0.0,248,6374,1.08,2.33,133.70,1.041,4,0.081,0.058,3163,3891,2731
$GC,6632,0.84,155.7,620.1,9.6,257,6636,0.00,2.03,0.00,0.000,6,0.000,0.028,3172,2533,2724
$GC,6916,0.91,209.0,598.2,7.4,264,6967,0.00,2.25,45.75,1.035,4,0.000,0.048,3163,3904,2514
$GC,7102,0.91,209.0,566.8,20.8,268,7105,0.00,2.03,0.00,0.000,6,0.000,0.031,3172,2560,2511
$GC,7374,0.91,209.0,516.8,17.5,275,7378,0.00,2.12,0.00,0.000,4,0.000,0.029,3183,1132,2507
$GC,7531,0.91,209.0,492.8,14.6,278,7536,0.00,2.22,0.00,0.000,6,0.000,0.048,3179,2546,2505
$GC,7793,0.91,209.0,456.2,13.7,285,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2546,2504
$GC,8038,0.91,209.0,422.0,14.1,291,8041,0.00,2.17,0.00,0.000,4,0.000,0.061,3176,3900,2503
$GC,8296,0.91,209.0,383.4,13.4,296,8299,0.00,2.03,0.00,0.000,6,0.000,0.031,3185,2539,2503
$GC,8551,0.91,209.0,351.6,12.0,303,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2532,2501
$GC,8795,0.91,209.0,323.6,11.3,309,8799,0.00,2.17,0.00,0.000,4,0.000,0.054,3178,3898,2500
$GC,8851,0.91,209.0,316.9,12.9,310,8855,0.00,2.00,0.00,0.000,6,0.000,0.029,3186,2550,2500
$GC,9130,0.91,209.0,289.2,9.8,317,9133,0.00,2.17,0.00,0.000,4,0.000,0.054,3187,3899,2500
$GC,9388,0.95,241.2,264.1,8.3,322,9420,0.00,2.00,26.95,0.837,6,0.000,0.028,3197,2528,2383
$GC,9682,0.95,241.2,220.0,16.6,330,9685,0.00,2.20,0.00,0.000,4,0.000,0.051,3193,3908,2378
$GC,9845,0.95,241.2,192.0,15.4,335,9852,0.00,2.05,0.00,0.000,6,0.000,0.028,3200,2554,2377
$GC,10107,0.95,241.2,154.5,15.2,360,10111,0.00,2.08,0.00,0.000,4,0.000,0.028,3211,1141,2376
$GC,10364,0.95,241.2,121.5,13.2,383,10368,0.00,2.22,0.00,0.000,6,0.000,0.045,3205,2563,2376
$GC,10631,0.97,263.9,95.3,8.7,407,10657,0.00,2.17,20.05,0.680,4,0.000,0.028,3214,1129,2289
$GC,10902,0.97,263.9,53.8,14.6,431,10910,0.00,2.25,0.00,0.000,6,0.000,0.044,3214,2538,2286
$GC,11168,0.97,263.9,11.0,17.1,466,11176,0.00,2.08,0.00,0.000,4,0.000,0.028,3225,1149,2287
$STATE,11214,end climb,SURFACE_DEPTH_REACHED
$STATE,11214,begin surface coast
$FINISH,0.3,1.024254
$STATE,11231,end surface coast,CONTROL_FINISHED_OK
$STATE,11232,begin surface
$SM_CCo,11255,51.22,0.612,0,0,1939,350.04
$SM_GC,0.99,0.00,0.00,51.22,0.000,0.000,0.612,51,2663,1939,-8.91,0.37,350.04
$IRIDIUM_FIX,2237.01,-15800.20,200400,020237
$TT8_MAMPS,0.023777
$HUMID,1805
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.7,63.694
$10V_AH,10.7,37.037
$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,22.125,105.825,351.150,51.225,0.000,28.044,34.402,177.881,0.000,0.000,0.000,14.935,1057.390,7625.523,440.336,2021.869,531.483,33.369,1277.290,0.000,2002.954,0.000,0.544,0.000
$DEVICE_MAMPS,252.343,87.438,1061.528,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,324.019,714.994,738.465,153.456,632.580,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38278,477
$CAP_FILE_SIZE,97946,0
$CFSIZE,260165632,241905664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,250111,083007,2244.076,-15759.044,56,1.6,56,10.1