version: 66.04
glider: 512
mission: 1
dive: 499
start: 1 26 111 20 6 26
data:
$ID,512
$MISSION,1
$DIVE,499
$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,-16649.455
$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,64
$R_STBD_OVSHOOT,22
$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
$GPS1,195617,2244.044,-15804.909,11,2.9,30,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.9
$GPS2,200537,2243.998,-15804.867,31,1.7,31,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.061,0.257
$KALMAN_X,-157987.5,-443.4,-273.1,169298.4,945.5
$KALMAN_Y,-485813.0,-181.2,-347.9,604372.5,-2892.7
$MHEAD_RNG_PITCHd_Wd,336.6,6408,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-155.7,0.0,0.0,0,66,0.00,0.00,-45.22,0.000,2,0.000,0.000,52,2661,3050
$GC,69,-0.84,-155.7,3.7,-5.6,6,103,11.48,2.05,-16.58,0.000,4,0.249,0.071,2608,3894,3962
$GC,214,-0.84,-155.7,38.3,-9.6,24,217,0.00,1.83,0.00,0.000,6,0.000,0.025,2612,2638,3964
$GC,483,-0.84,-155.7,93.2,-23.7,49,487,0.00,2.03,0.00,0.000,4,0.000,0.029,2621,1259,3965
$GC,544,-0.84,-155.7,105.0,-11.8,54,552,0.00,2.28,0.00,0.000,6,0.000,0.058,2617,2648,3966
$GC,808,-0.84,-155.7,144.6,-14.7,79,811,0.00,2.05,0.00,0.000,4,0.000,0.025,2624,1247,3967
$GC,843,-0.84,-155.7,149.7,-12.8,82,847,0.00,2.25,0.00,0.000,6,0.000,0.054,2618,2652,3967
$GC,1107,-0.84,-155.7,183.9,-13.3,106,1111,0.00,2.05,0.00,0.000,4,0.000,0.025,2627,1244,3968
$GC,1145,-0.84,-155.7,187.8,-10.0,109,1149,0.00,2.22,0.00,0.000,6,0.000,0.051,2619,2658,3968
$GC,1431,-0.84,-155.7,217.3,-10.4,124,1435,0.00,1.98,0.00,0.000,4,0.000,0.064,2609,3886,3968
$GC,1465,-0.84,-155.7,220.7,-9.3,124,1469,0.00,1.77,0.00,0.000,6,0.000,0.025,2611,2646,3968
$GC,1722,-0.84,-155.7,243.3,-9.3,131,1726,0.00,2.03,0.00,0.000,4,0.000,0.026,2621,1248,3969
$GC,1757,-0.84,-155.7,246.4,-7.5,131,1761,0.00,2.22,0.00,0.000,6,0.000,0.053,2619,2656,3969
$GC,2009,-0.84,-155.7,268.7,-9.3,137,2012,0.00,2.05,0.00,0.000,4,0.000,0.025,2626,1253,3969
$GC,2037,-0.84,-155.7,271.6,-9.5,137,2041,0.00,2.20,0.00,0.000,6,0.000,0.050,2619,2656,3969
$GC,2293,-0.84,-155.7,295.2,-9.3,144,2296,0.00,2.05,0.00,0.000,4,0.000,0.025,2625,1250,3968
$GC,2316,-0.84,-155.7,297.4,-9.4,144,2320,0.00,2.20,0.00,0.000,6,0.000,0.051,2619,2650,3968
$GC,2579,-0.84,-155.7,318.0,-7.7,151,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2651,3968
$GC,2823,-0.84,-155.7,335.6,-7.3,157,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2651,3967
$GC,3065,-0.84,-155.7,354.3,-7.8,163,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2651,3966
$GC,3309,-0.84,-155.7,373.9,-8.0,169,3313,0.00,2.05,0.00,0.000,4,0.000,0.027,2623,1256,3965
$GC,3355,-0.84,-155.7,377.5,-6.7,170,3359,0.00,2.20,0.00,0.000,6,0.000,0.051,2619,2653,3964
$GC,3640,-0.84,-155.7,402.4,-9.0,177,3643,0.00,2.00,0.00,0.000,4,0.000,0.063,2619,3899,3963
$GC,3707,-0.84,-155.7,408.3,-9.0,178,3711,0.00,1.85,0.00,0.000,6,0.000,0.028,2627,2647,3962
$GC,3975,-0.84,-155.7,428.1,-7.4,185,3979,0.00,2.03,0.00,0.000,4,0.000,0.027,2628,1254,3961
$GC,4030,-0.84,-155.7,432.5,-8.7,186,4035,0.00,2.22,0.00,0.000,6,0.000,0.050,2619,2661,3961
$GC,4304,-0.84,-155.7,455.2,-8.9,193,4308,0.00,2.03,-0.05,0.000,4,0.000,0.081,2618,3890,3977
$GC,4505,-0.84,-155.7,475.4,-10.5,197,4509,0.00,1.80,0.00,0.000,6,0.000,0.028,2627,2649,3977
$GC,4772,-0.84,-155.7,501.1,-9.9,204,4776,0.00,2.03,0.00,0.000,4,0.000,0.028,2626,1253,3975
$GC,4949,-0.84,-155.7,517.9,-9.3,207,4955,0.00,2.22,0.00,0.000,6,0.000,0.054,2619,2649,3974
$GC,5199,-0.84,-155.7,538.1,-8.1,214,5203,0.00,2.05,0.00,0.000,4,0.000,0.028,2621,1259,3972
$GC,5458,-0.84,-155.7,561.8,-9.1,219,5462,0.00,2.22,0.00,0.000,6,0.000,0.054,2619,2647,3970
$GC,5715,-0.84,-155.7,586.4,-10.4,226,5718,0.00,2.05,0.00,0.000,4,0.000,0.028,2627,1260,3969
$GC,5838,-0.84,-155.7,599.8,-10.0,228,5842,0.00,2.20,0.00,0.000,4,0.000,0.049,2620,2651,3969
$STATE,5842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5843,begin apogee
$GC,5850,-0.32,0.0,600.5,10.5,228,5978,0.50,0.00,125.07,1.080,6,0.111,0.000,2787,2557,3367
$STATE,5979,end apogee,CONTROL_FINISHED_OK
$STATE,5979,begin climb
$GC,5982,0.84,155.7,612.7,0.0,232,6124,1.08,2.25,133.88,1.054,4,0.072,0.050,3163,3907,2732
$GC,6382,0.89,198.5,621.7,7.8,241,6426,0.00,2.03,37.28,1.038,6,0.000,0.027,3172,2539,2557
$GC,6707,0.89,198.5,573.0,15.9,249,6711,0.00,2.17,0.00,0.000,4,0.000,0.051,3163,3902,2550
$GC,6779,0.89,198.5,561.2,16.0,250,6783,0.00,2.00,0.00,0.000,6,0.000,0.029,3172,2562,2550
$GC,7041,0.89,198.5,522.4,14.7,257,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2556,2547
$GC,7285,0.89,198.5,486.0,14.5,263,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2556,2546
$GC,7528,0.89,198.5,450.6,14.5,269,7532,0.00,2.12,0.00,0.000,4,0.000,0.051,3164,3900,2545
$GC,7786,0.89,198.5,414.6,13.4,274,7790,0.00,2.00,0.00,0.000,6,0.000,0.028,3172,2543,2544
$GC,8043,0.89,198.5,385.2,11.3,281,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2536,2543
$GC,8287,0.91,213.5,363.2,9.0,287,8312,0.00,2.12,14.02,0.772,4,0.000,0.030,3182,1139,2496
$GC,8566,0.91,213.5,331.3,13.5,293,8570,0.00,2.22,0.00,0.000,6,0.000,0.048,3178,2557,2494
$GC,8838,0.91,213.5,297.2,12.5,300,8842,0.00,2.10,0.00,0.000,4,0.000,0.052,3176,3897,2494
$GC,9097,0.91,213.5,266.4,11.3,305,9101,0.00,2.00,0.00,0.000,6,0.000,0.028,3184,2539,2493
$GC,9353,0.94,232.4,242.8,8.8,312,9377,0.00,2.12,17.52,0.822,4,0.000,0.028,3195,1143,2419
$GC,9609,0.94,232.4,207.7,13.0,317,9613,0.00,2.20,0.00,0.000,6,0.000,0.043,3192,2551,2417
$GC,9868,0.94,232.4,176.6,12.7,335,9871,0.00,2.10,0.00,0.000,4,0.000,0.028,3200,1135,2416
$GC,9895,0.94,232.4,173.4,13.8,337,9899,0.00,2.22,0.00,0.000,6,0.000,0.045,3201,2563,2416
$GC,10159,0.94,232.4,139.9,12.2,361,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2563,2415
$GC,10422,0.94,232.4,110.9,10.6,386,10425,0.00,2.08,0.00,0.000,4,0.000,0.049,3201,3893,2415
$GC,10470,0.94,232.4,105.4,10.6,390,10479,0.00,2.00,0.00,0.000,6,0.000,0.025,3211,2543,2415
$GC,10735,1.11,371.9,91.5,3.8,415,10857,0.12,2.20,115.60,0.699,4,0.104,0.045,3244,3904,1849
$GC,10954,1.11,371.9,37.8,34.8,434,10962,0.00,2.05,0.00,0.000,6,0.000,0.028,3253,2572,1844
$STATE,11045,end climb,SURFACE_DEPTH_REACHED
$STATE,11045,begin surface coast
$FINISH,0.5,1.023929
$STATE,11052,end surface coast,CONTROL_FINISHED_OK
$STATE,11052,begin surface
$SM_CCo,11134,0.00,0.000,0,0,1836,375.55
$SM_GC,1.07,9.02,0.00,0.00,0.071,0.000,0.000,50,2679,1836,-8.86,0.85,375.55
$IRIDIUM_FIX,2234.68,-15803.24,210400,202058
$TT8_MAMPS,0.023777
$HUMID,1844
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.40
$XPDR_PINGS,2
$24V_AH,23.8,65.486
$10V_AH,10.7,38.213
$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,22.200,100.450,443.375,0.000,0.000,59.003,72.436,219.934,0.500,0.000,0.000,31.415,997.506,7692.136,447.762,1920.740,634.597,33.364,1289.916,0.000,1882.526,0.000,0.542,0.000
$DEVICE_MAMPS,249.275,80.535,1079.936,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,304.333,654.116,671.400,122.021,510.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38353,450
$CAP_FILE_SIZE,97296,0
$CFSIZE,260165632,241324032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,260111,231324,2244.060,-15805.389,30,1.1,47,10.0