version: 66.04
glider: 512
mission: 1
dive: 498
start: 1 26 111 17 5 52
data:
$ID,512
$MISSION,1
$DIVE,498
$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,-16617.408
$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,19
$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
$GPS1,165901,2244.131,-15804.689,85,1.1,85,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-80.4
$GPS2,170501,2244.053,-15804.660,11,1.1,16,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.036,0.262
$KALMAN_X,-158584.7,-305.6,121.5,169728.5,406.8
$KALMAN_Y,-483051.7,213.7,-138.4,601104.8,-3340.8
$MHEAD_RNG_PITCHd_Wd,342.2,6149,-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,-38.65,0.000,2,0.000,0.000,50,2648,2942
$GC,60,-0.84,-155.7,3.3,-5.3,5,100,11.40,2.05,-19.55,0.000,4,0.247,0.073,2609,3890,3961
$GC,195,-0.84,-155.7,32.3,-11.0,26,199,0.00,1.83,0.00,0.000,6,0.000,0.026,2611,2639,3962
$GC,466,-0.84,-155.7,87.6,-21.9,51,470,0.00,2.03,0.00,0.000,4,0.000,0.028,2621,1260,3963
$GC,536,-0.84,-155.7,99.0,-9.8,57,540,0.00,2.25,0.00,0.000,6,0.000,0.058,2612,2655,3963
$GC,800,-0.84,-155.7,136.7,-15.4,81,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2655,3965
$GC,1064,-0.84,-155.7,175.0,-14.4,106,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2655,3966
$GC,1326,-0.84,-155.7,211.5,-13.5,125,1329,0.00,2.05,0.00,0.000,4,0.000,0.026,2620,1248,3967
$GC,1359,-0.84,-155.7,215.8,-10.9,125,1363,0.00,2.22,0.00,0.000,6,0.000,0.055,2619,2655,3966
$GC,1614,-0.84,-155.7,240.5,-9.7,132,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2655,3967
$GC,1858,-0.84,-155.7,263.8,-9.3,138,1862,0.00,2.05,0.00,0.000,4,0.000,0.025,2626,1251,3967
$GC,1909,-0.84,-155.7,268.1,-7.1,139,1913,0.00,2.22,0.00,0.000,6,0.000,0.054,2619,2657,3967
$GC,2189,-0.84,-155.7,290.2,-7.9,146,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2658,3967
$GC,2432,-0.84,-155.7,310.1,-8.8,152,2435,0.00,2.05,0.00,0.000,4,0.000,0.026,2626,1254,3966
$GC,2465,-0.84,-155.7,313.1,-8.4,152,2469,0.00,2.25,0.00,0.000,6,0.000,0.055,2619,2659,3966
$GC,2716,-0.84,-155.7,333.8,-8.3,158,2720,0.00,2.00,0.00,0.000,4,0.000,0.066,2608,3899,3965
$GC,2745,-0.84,-155.7,336.3,-8.3,158,2749,0.00,1.85,0.00,0.000,6,0.000,0.027,2611,2646,3965
$GC,3006,-0.84,-155.7,357.8,-8.3,165,3010,0.00,2.03,0.00,0.000,4,0.000,0.027,2618,1254,3964
$GC,3041,-0.84,-155.7,360.6,-7.4,165,3045,0.00,2.22,0.00,0.000,6,0.000,0.054,2618,2659,3964
$GC,3292,-0.84,-155.7,378.8,-7.1,171,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2660,3962
$GC,3537,-0.84,-155.7,393.9,-6.0,177,3540,0.00,2.08,0.00,0.000,4,0.000,0.028,2620,1250,3961
$GC,3576,-0.84,-155.7,396.6,-5.7,177,3582,0.00,2.22,0.00,0.000,6,0.000,0.054,2619,2651,3961
$GC,3827,-0.84,-155.7,414.1,-7.5,184,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2652,3960
$GC,4070,-0.84,-155.7,433.7,-8.3,190,4075,0.00,2.10,-0.05,0.000,4,0.000,0.040,2629,1251,3977
$GC,4329,-0.84,-155.7,459.2,-9.8,195,4336,0.00,2.28,0.00,0.000,6,0.000,0.055,2628,2647,3975
$GC,4580,-0.84,-155.7,482.6,-9.5,202,4583,0.00,2.05,0.00,0.000,4,0.000,0.028,2639,1251,3974
$GC,4838,-0.84,-155.7,506.3,-9.1,207,4842,0.00,2.25,0.00,0.000,6,0.000,0.054,2633,2656,3972
$GC,5090,-0.84,-155.7,529.8,-9.7,213,5094,0.00,2.08,0.00,0.000,4,0.000,0.029,2639,1256,3971
$GC,5320,-0.84,-155.7,553.5,-10.3,218,5324,0.00,2.25,0.00,0.000,6,0.000,0.053,2633,2663,3969
$GC,5599,-0.84,-155.7,580.2,-9.5,225,5602,0.00,2.08,0.00,0.000,4,0.000,0.030,2640,1267,3969
$GC,5646,-0.84,-155.7,584.4,-8.7,226,5650,0.00,2.20,0.00,0.000,6,0.000,0.051,2640,2650,3968
$STATE,5852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5852,begin apogee
$GC,5860,-0.32,0.0,603.9,9.6,231,5988,0.45,0.00,124.97,1.096,6,0.079,0.000,2800,2565,3367
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5992,0.84,155.7,613.6,0.0,234,6135,1.05,2.28,134.77,1.075,4,0.068,0.028,3181,1149,2732
$GC,6393,0.93,226.5,623.7,6.7,243,6461,0.00,2.22,61.67,1.069,6,0.000,0.043,3178,2557,2443
$GC,6714,0.93,226.5,558.6,23.2,251,6718,0.00,2.12,0.00,0.000,4,0.000,0.029,3187,1133,2434
$GC,6895,0.93,226.5,521.0,20.8,255,6899,0.00,2.22,0.00,0.000,6,0.000,0.046,3187,2550,2432
$GC,7185,0.93,226.5,456.0,21.9,262,7189,0.00,2.10,0.00,0.000,4,0.000,0.031,3197,1136,2430
$GC,7196,0.93,226.5,453.4,22.6,262,7200,0.00,2.22,0.00,0.000,6,0.000,0.047,3192,2546,2430
$GC,7468,0.93,226.5,397.9,19.4,269,7472,0.00,2.10,0.00,0.000,4,0.000,0.031,3200,1137,2429
$GC,7524,0.93,226.5,387.4,18.3,270,7528,0.00,2.25,0.00,0.000,6,0.000,0.050,3200,2556,2429
$GC,7796,0.93,226.5,338.2,18.0,277,7800,0.00,2.10,0.00,0.000,4,0.000,0.029,3211,1131,2428
$GC,7970,0.93,226.5,306.6,18.2,280,7977,0.00,2.28,0.00,0.000,6,0.000,0.045,3205,2557,2427
$GC,8220,0.93,226.5,266.2,14.8,287,8224,0.00,2.10,0.00,0.000,4,0.000,0.028,3214,1127,2427
$GC,8383,0.93,226.5,246.3,11.8,290,8387,0.00,2.22,0.00,0.000,6,0.000,0.043,3214,2553,2426
$GC,8639,0.93,226.5,216.1,11.6,297,8642,0.00,2.10,0.00,0.000,4,0.000,0.029,3223,1126,2426
$GC,8866,0.93,226.5,191.2,12.8,305,8870,0.00,2.22,0.00,0.000,6,0.000,0.044,3218,2547,2426
$GC,9129,0.93,226.5,159.2,11.7,329,9132,0.00,2.12,0.00,0.000,4,0.000,0.054,3218,3899,2426
$GC,9145,0.93,226.5,157.1,11.0,330,9154,0.00,2.03,0.00,0.000,6,0.000,0.026,3227,2531,2426
$GC,9409,0.93,226.5,130.9,11.6,355,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2531,2426
$GC,9672,1.10,370.0,108.0,3.7,380,9792,0.00,0.00,116.80,0.724,6,0.000,0.000,3227,2531,1858
$GC,10046,1.10,370.0,3.6,37.0,420,10055,0.00,2.10,0.00,0.000,4,0.000,0.030,3237,1146,1845
$STATE,10061,end climb,SURFACE_DEPTH_REACHED
$STATE,10061,begin surface coast
$FINISH,0.4,0.999474
$STATE,10073,end surface coast,CONTROL_FINISHED_OK
$STATE,10073,begin surface
$SM_CCo,10157,0.00,0.000,0,0,1841,374.32
$SM_GC,1.35,8.95,0.00,0.00,0.071,0.000,0.000,52,2660,1841,-8.85,0.31,374.32
$IRIDIUM_FIX,2234.68,-15805.41,210400,131334
$TT8_MAMPS,0.023777
$HUMID,1849
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.20
$XPDR_PINGS,3
$24V_AH,23.7,65.349
$10V_AH,10.7,38.117
$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,21.850,90.050,438.225,0.000,0.000,28.673,34.344,162.326,0.750,0.000,0.000,16.801,913.981,6932.276,443.282,1740.882,484.566,33.362,1205.118,0.000,1724.268,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,72.865,1096.043,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,286.503,634.124,654.628,125.963,521.364,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35230,424
$CAP_FILE_SIZE,84629,0
$CFSIZE,260165632,241385472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,1
$GPS,260111,195617,2244.044,-15804.909,11,2.9,30,10.0