version: 66.04
glider: 512
mission: 1
dive: 496
start: 1 26 111 10 24 57
data:
$ID,512
$MISSION,1
$DIVE,496
$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,-16566.777
$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,47
$R_STBD_OVSHOOT,20
$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
$GPS1,101836,2243.815,-15804.483,39,1.0,45,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-80.5
$GPS2,102408,2243.807,-15804.432,16,1.0,16,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.180,0.193
$KALMAN_X,-159899.4,180.9,-314.5,171375.0,1263.4
$KALMAN_Y,-479725.9,1035.5,628.7,595718.7,-4787.1
$MHEAD_RNG_PITCHd_Wd,306.9,6399,-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,16,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-37.90,0.000,2,0.000,0.000,54,2657,2916
$GC,60,-0.84,-155.7,3.3,-6.0,5,99,11.27,2.05,-20.35,0.000,4,0.245,0.076,2608,3885,3961
$GC,195,-0.84,-155.7,33.9,-10.3,25,203,0.00,1.88,0.00,0.000,6,0.000,0.027,2611,2625,3963
$GC,457,-0.84,-155.7,93.0,-23.4,50,461,0.00,2.03,0.00,0.000,4,0.000,0.031,2621,1266,3965
$GC,517,-0.84,-155.7,104.5,-10.7,55,524,0.00,2.28,0.00,0.000,6,0.000,0.061,2612,2648,3965
$GC,780,-0.84,-155.7,140.8,-14.8,80,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2648,3967
$GC,1035,-0.84,-155.7,175.0,-13.7,104,1038,0.00,2.03,0.00,0.000,4,0.000,0.072,2602,3888,3968
$GC,1071,-0.84,-155.7,179.7,-13.7,107,1074,0.00,1.77,0.00,0.000,6,0.000,0.025,2610,2657,3968
$GC,1336,-0.84,-155.7,209.3,-10.5,126,1339,0.00,2.05,0.00,0.000,4,0.000,0.026,2620,1244,3969
$GC,1386,-0.84,-155.7,214.0,-7.3,127,1391,0.00,2.25,0.00,0.000,6,0.000,0.058,2618,2655,3969
$GC,1665,-0.84,-155.7,236.8,-8.2,134,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2655,3969
$GC,1909,-0.84,-155.7,258.6,-9.2,140,1913,0.00,2.05,0.00,0.000,4,0.000,0.027,2618,1254,3969
$GC,1931,-0.84,-155.7,261.1,-10.5,140,1935,0.00,2.22,0.00,0.000,6,0.000,0.054,2609,2657,3969
$GC,2192,-0.84,-155.7,287.2,-10.2,147,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2657,3969
$GC,2436,-0.84,-155.7,311.0,-9.6,153,2440,0.00,2.05,0.00,0.000,4,0.000,0.027,2617,1247,3968
$GC,2470,-0.84,-155.7,313.9,-8.2,153,2474,0.00,2.22,0.00,0.000,6,0.000,0.054,2608,2650,3969
$GC,2726,-0.84,-155.7,332.8,-7.3,160,2730,0.00,2.03,0.00,0.000,4,0.000,0.074,2598,3886,3968
$GC,2765,-0.84,-155.7,335.8,-7.0,160,2772,0.00,1.83,0.00,0.000,6,0.000,0.028,2606,2638,3968
$GC,3016,-0.84,-155.7,354.1,-7.6,167,3020,0.00,2.03,0.00,0.000,4,0.000,0.028,2616,1259,3967
$GC,3063,-0.84,-155.7,357.7,-6.7,168,3067,0.00,2.20,0.00,0.000,6,0.000,0.054,2607,2651,3968
$GC,3347,-0.84,-155.7,382.9,-8.9,175,3350,0.00,2.03,0.00,0.000,4,0.000,0.071,2597,3890,3966
$GC,3375,-0.84,-155.7,385.5,-8.9,175,3379,0.00,1.80,0.00,0.000,6,0.000,0.027,2604,2647,3965
$GC,3637,-0.84,-155.7,406.9,-7.9,182,3641,0.00,2.03,0.00,0.000,4,0.000,0.028,2615,1257,3965
$GC,3677,-0.84,-155.7,409.9,-6.0,182,3683,0.00,2.22,0.00,0.000,6,0.000,0.053,2606,2661,3964
$GC,3927,-0.84,-155.7,427.8,-7.2,189,3931,0.00,2.00,0.00,0.000,4,0.000,0.067,2596,3890,3963
$GC,3950,-0.84,-155.7,429.7,-8.2,189,3954,0.00,1.85,0.00,0.000,6,0.000,0.028,2603,2642,3962
$GC,4219,-0.84,-155.7,448.2,-6.9,196,4223,0.00,2.05,0.00,0.000,4,0.000,0.029,2604,1253,3961
$GC,4253,-0.84,-155.7,451.1,-7.2,196,4257,0.00,2.22,0.00,0.000,6,0.000,0.054,2604,2659,3961
$GC,4509,-0.84,-155.7,469.2,-7.1,203,4513,0.00,2.03,0.00,0.000,4,0.000,0.071,2596,3897,3960
$GC,4531,-0.84,-155.7,470.9,-7.1,203,4535,0.00,1.83,0.00,0.000,6,0.000,0.028,2603,2647,3960
$GC,4799,-0.84,-155.7,489.1,-6.9,210,4803,0.00,2.08,-0.05,0.000,4,0.000,0.042,2604,1266,3978
$GC,4833,-0.84,-155.7,491.6,-6.7,210,4837,0.00,2.22,0.00,0.000,6,0.000,0.055,2602,2658,3978
$GC,5089,-0.84,-155.7,509.3,-7.0,217,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2659,3976
$GC,5333,-0.84,-155.7,526.0,-6.8,223,5337,0.00,2.08,0.00,0.000,4,0.000,0.029,2610,1264,3975
$GC,5367,-0.84,-155.7,528.2,-6.0,223,5371,0.00,2.22,0.00,0.000,6,0.000,0.055,2606,2652,3975
$GC,5617,-0.84,-155.7,547.2,-8.2,229,5621,0.00,2.03,0.00,0.000,4,0.000,0.071,2605,3889,3973
$GC,5875,-0.84,-155.7,570.5,-10.1,234,5879,0.00,1.85,0.00,0.000,6,0.000,0.031,2611,2654,3972
$GC,6134,-0.84,-155.7,592.7,-9.0,241,6138,0.00,2.08,0.00,0.000,4,0.000,0.031,2614,1254,3971
$GC,6190,-0.84,-155.7,598.5,-9.1,242,6195,0.00,2.25,0.00,0.000,6,0.000,0.054,2606,2650,3970
$STATE,6210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6210,begin apogee
$GC,6218,-0.32,0.0,600.4,8.4,242,6346,0.52,0.00,125.72,1.079,6,0.098,0.000,2788,2568,3367
$STATE,6347,end apogee,CONTROL_FINISHED_OK
$STATE,6347,begin climb
$GC,6350,0.84,155.7,608.8,0.0,246,6492,1.10,2.25,134.48,1.060,4,0.081,0.054,3163,3901,2732
$GC,6750,0.89,196.5,616.0,7.9,255,6792,0.00,2.05,35.88,1.045,6,0.000,0.028,3172,2528,2564
$GC,7080,0.89,196.5,564.9,16.6,263,7083,0.00,2.20,0.00,0.000,4,0.000,0.049,3164,3906,2557
$GC,7338,0.89,196.5,521.7,15.0,268,7342,0.00,2.03,0.00,0.000,6,0.000,0.029,3172,2552,2555
$GC,7594,0.89,196.5,486.4,13.8,275,7597,0.00,2.17,0.00,0.000,4,0.000,0.054,3172,3904,2554
$GC,7852,0.89,196.5,453.4,11.7,280,7856,0.00,2.03,0.00,0.000,6,0.000,0.031,3181,2543,2553
$GC,8108,0.89,196.5,424.8,11.3,287,8111,0.00,2.20,0.00,0.000,4,0.000,0.057,3177,3899,2551
$GC,8365,0.89,196.5,392.8,12.4,292,8369,0.00,2.03,0.00,0.000,6,0.000,0.030,3185,2540,2552
$GC,8621,0.89,196.5,366.2,9.8,299,8625,0.00,2.20,0.00,0.000,4,0.000,0.053,3177,3910,2551
$GC,8856,0.90,200.4,344.2,9.5,304,8860,0.00,2.03,0.00,0.000,6,0.000,0.029,3186,2545,2551
$GC,9135,0.93,230.9,321.7,8.3,311,9169,0.00,2.15,28.67,0.907,4,0.000,0.030,3196,1142,2425
$GC,9223,0.93,230.9,311.7,14.7,313,9227,0.00,2.25,0.00,0.000,6,0.000,0.045,3192,2553,2423
$GC,9512,0.93,230.9,264.0,16.8,320,9515,0.00,2.12,0.00,0.000,4,0.000,0.030,3201,1136,2421
$GC,9603,0.93,230.9,251.4,13.6,322,9607,0.00,2.22,0.00,0.000,6,0.000,0.044,3201,2558,2421
$GC,9887,0.93,230.9,211.8,14.0,329,9891,0.00,2.12,0.00,0.000,4,0.000,0.028,3211,1130,2419
$GC,10129,0.93,230.9,181.2,12.9,344,10136,0.00,2.25,0.00,0.000,6,0.000,0.044,3205,2542,2419
$GC,10392,0.93,230.9,152.3,10.7,369,10395,0.00,2.15,0.00,0.000,4,0.000,0.054,3205,3900,2418
$GC,10472,0.93,230.9,143.0,11.3,376,10475,0.00,2.00,0.00,0.000,6,0.000,0.028,3213,2542,2418
$GC,10742,0.93,230.9,113.7,11.9,401,10745,0.00,2.05,0.00,0.000,4,0.000,0.028,3224,1135,2418
$GC,10996,1.20,446.6,105.2,0.7,424,11000,0.00,2.22,0.00,0.000,1,0.000,0.044,3218,2564,2418
$STATE,11001,end climb,NO_VERTICAL_VELOCITY
$STATE,11001,begin surface
$SM_CCo,11005,367.55,0.602,27,0,397,728.04
$SM_GC,1.18,8.98,0.00,0.00,0.065,0.000,0.000,50,2701,393,-8.86,1.41,729.27
$IRIDIUM_FIX,2234.68,-15805.41,210400,080826
$TT8_MAMPS,0.02301
$HUMID,1790
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.6,65.088
$10V_AH,10.7,37.917
$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,21.875,112.775,324.750,367.550,0.000,30.070,38.932,140.922,0.000,0.000,0.000,16.878,982.027,7801.460,868.917,1805.892,495.760,33.360,1673.945,0.000,1780.753,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,75.933,1079.169,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,288.266,582.389,599.288,98.723,409.574,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34970,424
$CAP_FILE_SIZE,98521,0
$CFSIZE,260165632,241479680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,27,0
$GPS,260111,133946,2244.224,-15804.961,11,7.4,30,10.0