version: 66.04
glider: 512
mission: 1
dive: 501
start: 1 27 111 2 35 47
data:
$ID,512
$MISSION,1
$DIVE,501
$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,-16716.488
$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,67
$R_STBD_OVSHOOT,47
$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
$GPS1,022937,2244.185,-15806.249,66,1.3,66,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-78.4
$GPS2,023456,2244.155,-15806.261,11,1.6,11,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.105,0.242
$KALMAN_X,-158344.6,-433.5,9.4,166971.4,696.4
$KALMAN_Y,-492081.8,-444.4,413.1,610427.6,-3602.9
$MHEAD_RNG_PITCHd_Wd,326.6,7665,-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,-38.55,0.000,2,0.000,0.000,50,2679,2941
$GC,60,-0.84,-155.7,3.2,-5.9,5,100,11.20,1.98,-19.85,0.000,4,0.243,0.077,2607,3857,3962
$GC,231,-0.84,-155.7,37.6,-11.0,28,239,0.00,1.77,0.00,0.000,6,0.000,0.026,2611,2654,3965
$GC,494,-0.84,-155.7,90.0,-18.9,53,498,0.00,2.05,0.00,0.000,4,0.000,0.028,2621,1264,3966
$GC,543,-0.84,-155.7,97.0,-12.0,57,547,0.00,2.20,0.00,0.000,6,0.000,0.054,2619,2630,3967
$GC,807,-0.84,-155.7,129.0,-12.4,81,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2630,3968
$GC,1071,-0.84,-155.7,161.3,-11.3,106,1075,0.00,2.03,0.00,0.000,4,0.000,0.025,2626,1245,3969
$GC,1118,-0.84,-155.7,165.7,-7.9,110,1122,0.00,2.22,0.00,0.000,6,0.000,0.051,2619,2656,3969
$GC,1381,-0.84,-155.7,192.4,-10.2,134,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2656,3970
$GC,1627,-0.84,-155.7,216.2,-9.4,146,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2656,3971
$GC,1870,-0.84,-155.7,238.1,-9.0,152,1874,0.00,2.05,0.00,0.000,4,0.000,0.026,2627,1253,3970
$GC,1899,-0.84,-155.7,240.7,-8.3,152,1903,0.00,2.20,0.00,0.000,6,0.000,0.050,2619,2651,3970
$GC,2156,-0.84,-155.7,262.3,-8.6,159,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2652,3970
$GC,2398,-0.84,-155.7,283.0,-8.4,165,2402,0.00,2.05,0.00,0.000,4,0.000,0.026,2626,1251,3970
$GC,2427,-0.84,-155.7,285.3,-8.0,165,2431,0.00,2.20,0.00,0.000,6,0.000,0.050,2619,2652,3970
$GC,2683,-0.84,-155.7,304.7,-7.6,172,2687,0.00,2.00,0.00,0.000,4,0.000,0.065,2609,3891,3969
$GC,2711,-0.84,-155.7,306.9,-7.5,172,2715,0.00,1.80,0.00,0.000,6,0.000,0.026,2611,2642,3969
$GC,2973,-0.84,-155.7,327.8,-8.1,179,2977,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1253,3969
$GC,3020,-0.84,-155.7,331.5,-7.6,180,3024,0.00,2.20,0.00,0.000,6,0.000,0.049,2617,2656,3968
$GC,3304,-0.84,-155.7,356.1,-8.8,187,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2656,3967
$GC,3547,-0.84,-155.7,377.1,-8.5,193,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2656,3966
$GC,3791,-0.84,-155.7,395.6,-7.4,199,3795,0.00,2.05,0.00,0.000,4,0.000,0.028,2618,1266,3965
$GC,3825,-0.84,-155.7,398.0,-6.9,199,3829,0.00,2.20,0.00,0.000,6,0.000,0.052,2617,2653,3966
$GC,4076,-0.84,-155.7,413.9,-6.2,205,4079,0.00,2.00,0.00,0.000,4,0.000,0.065,2608,3886,3964
$GC,4104,-0.84,-155.7,415.7,-6.1,205,4108,0.00,1.83,0.00,0.000,6,0.000,0.028,2611,2647,3963
$GC,4366,-0.84,-155.7,432.7,-6.9,212,4369,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1257,3962
$GC,4592,-0.84,-155.7,452.1,-9.1,217,4596,0.00,2.22,0.00,0.000,6,0.000,0.051,2617,2655,3962
$GC,4876,-0.84,-155.7,479.8,-10.2,224,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2655,3960
$GC,5120,-0.84,-155.7,505.8,-10.7,230,5123,0.00,2.08,0.00,0.000,4,0.000,0.028,2617,1257,3959
$GC,5378,-0.84,-155.7,531.5,-9.8,235,5382,0.00,2.22,0.00,0.000,6,0.000,0.054,2616,2651,3957
$GC,5634,-0.84,-155.7,552.9,-8.3,242,5638,0.00,2.08,0.00,0.000,4,0.000,0.028,2622,1263,3955
$GC,5893,-0.84,-155.7,575.7,-8.0,247,5897,0.00,2.20,0.00,0.000,6,0.000,0.051,2619,2650,3954
$GC,6149,-0.84,-155.7,598.8,-9.4,254,6153,0.00,2.08,0.00,0.000,4,0.000,0.029,2627,1260,3953
$STATE,6158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6158,begin apogee
$GC,6167,-0.32,0.0,600.0,9.6,254,6292,0.50,0.00,121.80,1.095,6,0.103,0.000,2790,2543,3367
$STATE,6293,end apogee,CONTROL_FINISHED_OK
$STATE,6293,begin climb
$GC,6296,0.84,155.7,609.1,0.0,257,6439,1.08,2.20,134.82,1.081,4,0.070,0.027,3180,1158,2732
$GC,6697,0.89,192.5,616.6,8.1,266,6736,0.00,2.22,32.22,1.062,6,0.000,0.046,3178,2559,2581
$GC,7017,0.89,192.5,567.8,16.3,274,7021,0.00,2.10,0.00,0.000,4,0.000,0.029,3187,1163,2575
$GC,7275,0.89,192.5,533.2,12.4,279,7279,0.00,2.15,0.00,0.000,6,0.000,0.043,3187,2553,2573
$GC,7533,0.89,192.5,500.2,12.9,286,7537,0.00,2.05,0.00,0.000,4,0.000,0.029,3197,1158,2572
$GC,7662,0.89,192.5,485.3,10.4,288,7668,0.00,2.20,0.00,0.000,6,0.000,0.045,3192,2560,2571
$GC,7912,0.89,192.5,458.1,11.0,295,7916,0.00,2.10,0.00,0.000,4,0.000,0.052,3192,3898,2570
$GC,7986,0.89,192.5,449.7,11.5,296,7990,0.00,1.98,0.00,0.000,6,0.000,0.028,3200,2566,2569
$GC,8247,0.89,192.5,422.9,9.9,303,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2559,2568
$GC,8491,0.89,192.5,399.5,9.7,309,8494,0.00,2.12,0.00,0.000,4,0.000,0.030,3211,1125,2567
$GC,8569,0.93,224.2,392.3,8.3,310,8601,0.00,2.22,26.90,0.978,6,0.000,0.043,3205,2550,2453
$GC,8863,0.93,224.2,344.1,18.3,318,8867,0.00,2.15,0.00,0.000,4,0.000,0.055,3205,3896,2447
$GC,8992,0.93,224.2,320.9,18.0,320,8999,0.00,2.05,0.00,0.000,6,0.000,0.028,3214,2552,2447
$GC,9245,0.93,224.2,284.0,14.5,327,9248,0.00,2.15,0.00,0.000,4,0.000,0.051,3214,3905,2445
$GC,9503,0.93,224.2,245.5,13.5,332,9507,0.00,2.03,0.00,0.000,6,0.000,0.028,3224,2535,2445
$GC,9759,0.93,224.2,216.8,11.1,339,9762,0.00,2.15,0.00,0.000,4,0.000,0.048,3218,3895,2445
$GC,9851,0.93,224.2,205.8,12.3,341,9855,0.00,1.98,0.00,0.000,6,0.000,0.027,3227,2545,2444
$GC,10121,0.94,238.4,179.6,9.0,360,10147,0.00,2.05,14.98,0.702,4,0.000,0.028,3237,1141,2394
$GC,10395,0.94,238.4,145.5,12.9,384,10404,0.00,2.22,0.00,0.000,6,0.000,0.041,3231,2548,2391
$GC,10661,0.98,269.9,116.6,8.3,409,10697,0.00,2.20,28.10,0.756,4,0.000,0.054,3231,3897,2265
$GC,10845,0.98,269.9,86.9,16.5,425,10848,0.00,2.00,0.00,0.000,6,0.000,0.025,3240,2541,2263
$GC,11114,0.98,269.9,41.0,18.2,450,11118,0.00,2.15,0.00,0.000,4,0.000,0.048,3240,3895,2262
$GC,11246,0.98,269.9,14.6,20.7,469,11254,0.10,2.00,0.00,0.000,6,0.262,0.025,3228,2554,2262
$STATE,11308,end climb,SURFACE_DEPTH_REACHED
$STATE,11308,begin surface coast
$FINISH,0.3,1.024065
$STATE,11326,end surface coast,CONTROL_FINISHED_OK
$STATE,11326,begin surface
$SM_CCo,11347,48.92,0.653,0,0,1939,350.04
$SM_GC,0.93,0.00,0.00,48.92,0.000,0.000,0.653,44,2675,1939,-8.93,0.71,350.04
$IRIDIUM_FIX,2237.01,-15803.24,210400,232304
$TT8_MAMPS,0.024544
$HUMID,1833
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.6,65.739
$10V_AH,10.7,38.414
$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,21.725,100.450,358.825,48.925,0.000,22.373,33.699,142.677,0.250,0.000,0.000,11.173,1055.528,7728.886,439.644,2003.588,490.623,33.373,1282.342,0.000,1992.690,0.000,0.542,0.000
$DEVICE_MAMPS,262.314,77.467,1095.276,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,327.770,723.766,746.854,150.697,621.025,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41401,483
$CAP_FILE_SIZE,96192,0
$CFSIZE,260165632,241225728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,270111,054652,2244.799,-15806.990,7,4.1,26,10.0