version: 66.04
glider: 512
mission: 1
dive: 361
start: 1 13 111 12 32 43
data:
$ID,512
$MISSION,1
$DIVE,361
$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,250
$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,150
$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,-12717.683
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2830
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,122637,2250.616,-15756.222,31,0.9,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.6
$GPS2,123150,2250.628,-15756.177,17,1.0,23,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.213,0.112
$KALMAN_X,-146173.0,-2586.0,370.6,173938.3,3190.2
$KALMAN_Y,-328649.6,1161.8,1014.4,456756.7,-9841.7
$MHEAD_RNG_PITCHd_Wd,287.6,7268,-14.1,-8.000
$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,-0.74,-146.0,0.0,0.0,0,79,0.00,0.00,-61.50,0.000,2,0.000,0.000,33,2559,2933
$GC,82,-0.74,-146.0,3.1,-4.3,8,115,11.25,2.12,-10.05,0.000,4,0.250,0.041,2588,1149,3398
$GC,186,-0.74,-146.0,30.4,-22.9,25,195,0.00,2.42,0.00,0.000,6,0.000,0.083,2579,2542,3399
$GC,448,-0.74,-146.0,106.4,-29.8,50,452,0.00,2.30,0.00,0.000,4,0.000,0.085,2569,3898,3400
$GC,499,-0.74,-146.0,121.3,-27.1,54,503,0.00,2.00,0.00,0.000,6,0.000,0.028,2574,2545,3400
$GC,768,-0.74,-146.0,176.0,-20.2,79,772,0.00,2.05,0.00,0.000,4,0.000,0.029,2584,1146,3402
$GC,826,-0.74,-146.0,186.8,-16.9,84,831,0.00,2.38,0.00,0.000,6,0.000,0.080,2575,2549,3402
$GC,1111,-0.74,-146.0,240.2,-18.8,96,1115,0.00,2.30,0.00,0.000,4,0.000,0.091,2564,3896,3403
$GC,1256,-0.74,-146.0,268.0,-18.4,99,1260,0.00,2.00,0.00,0.000,6,0.000,0.028,2572,2536,3403
$GC,1529,-0.74,-146.0,312.4,-16.4,106,1534,0.00,2.47,0.00,0.000,4,0.000,0.111,2562,3895,3403
$GC,1635,-0.74,-146.0,330.8,-17.2,108,1639,0.00,1.98,0.00,0.000,6,0.000,0.028,2570,2549,3403
$GC,1902,-0.74,-146.0,374.1,-15.6,115,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2542,3403
$GC,2147,-0.74,-146.0,410.0,-14.7,121,2151,0.00,2.47,0.00,0.000,4,0.000,0.117,2561,3893,3402
$GC,2202,-0.74,-146.0,418.6,-14.6,122,2206,0.00,2.00,0.00,0.000,6,0.000,0.031,2562,2532,3402
$GC,2474,-0.74,-146.0,462.0,-16.1,129,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2525,3400
$GC,2718,-0.74,-146.0,497.4,-14.1,135,2722,0.00,2.55,0.00,0.000,4,0.000,0.120,2553,3898,3399
$GC,2773,-0.74,-146.0,505.0,-13.8,136,2777,0.05,2.03,0.00,0.000,6,0.192,0.031,2584,2543,3398
$GC,3046,-0.74,-146.0,536.1,-11.3,143,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2537,3397
$GC,3288,-0.74,-146.0,563.2,-11.1,149,3292,0.00,2.50,0.00,0.000,4,0.000,0.118,2574,3893,3395
$GC,3338,-0.74,-146.0,569.3,-11.3,150,3342,0.00,1.98,0.00,0.000,6,0.000,0.032,2581,2559,3394
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3614,begin apogee
$GC,3620,-0.32,0.0,600.7,11.5,157,3745,0.50,0.00,122.60,1.061,6,0.173,0.000,2722,2550,2800
$STATE,3746,end apogee,CONTROL_FINISHED_OK
$STATE,3746,begin climb
$GC,3749,0.74,146.0,605.1,0.0,160,3891,1.12,2.22,130.80,1.019,4,0.126,0.033,3074,1157,2204
$GC,3924,0.74,146.0,581.0,23.1,163,3929,0.00,2.35,0.00,0.000,6,0.000,0.060,3067,2547,2200
$GC,4180,0.74,146.0,517.6,25.0,170,4184,0.00,2.15,0.00,0.000,4,0.000,0.035,3077,1145,2194
$GC,4247,0.74,146.0,501.9,21.7,171,4251,0.00,2.33,0.00,0.000,6,0.000,0.061,3076,2563,2192
$GC,4514,0.74,146.0,436.7,24.1,178,4518,0.00,2.15,0.00,0.000,4,0.000,0.034,3085,1145,2190
$GC,4587,0.74,146.0,420.7,20.2,179,4591,0.00,2.28,0.00,0.000,6,0.000,0.054,3083,2549,2189
$GC,4849,0.74,146.0,362.2,22.2,186,4853,0.00,2.10,0.00,0.000,4,0.000,0.035,3092,1149,2188
$GC,4904,0.74,146.0,349.7,20.6,187,4909,0.00,2.25,0.00,0.000,6,0.000,0.055,3092,2552,2188
$GC,5177,0.74,146.0,288.6,23.1,194,5180,0.00,2.20,0.00,0.000,4,0.000,0.068,3092,3898,2186
$GC,5299,0.74,146.0,257.8,24.5,196,5304,0.15,2.03,0.00,0.000,6,0.275,0.034,3076,2559,2185
$GC,5556,0.74,146.0,207.5,19.5,203,5560,0.00,2.15,0.00,0.000,4,0.000,0.032,3085,1121,2184
$GC,5606,0.74,146.0,197.4,19.0,204,5615,0.00,2.33,0.00,0.000,6,0.000,0.055,3083,2544,2184
$GC,5870,0.74,146.0,148.0,19.4,229,5874,0.00,2.12,0.00,0.000,4,0.000,0.034,3092,1129,2182
$GC,6125,0.74,146.0,103.2,18.0,252,6130,0.00,2.28,0.00,0.000,6,0.000,0.051,3092,2569,2182
$GC,6389,0.74,146.0,61.4,16.8,276,6392,0.00,2.12,0.00,0.000,4,0.000,0.031,3103,1128,2182
$GC,6639,0.74,146.0,19.8,16.6,304,6648,0.08,2.28,0.00,0.000,6,0.217,0.051,3077,2538,2182
$STATE,6743,end climb,SURFACE_DEPTH_REACHED
$STATE,6744,begin surface coast
$FINISH,0.2,1.024052
$STATE,6763,end surface coast,CONTROL_FINISHED_OK
$STATE,6763,begin surface
$SM_CCo,6782,87.28,0.603,0,0,1372,350.04
$SM_GC,1.10,0.00,0.00,87.28,0.000,0.000,0.603,50,2547,1372,-8.69,-0.08,350.04
$IRIDIUM_FIX,2239.35,-15754.99,080400,101009
$TT8_MAMPS,0.023777
$HUMID,1823
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,24.0,46.399
$10V_AH,10.7,27.769
$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,21.525,70.875,253.400,87.275,0.000,29.668,34.861,135.117,0.250,0.000,0.000,23.175,697.769,4457.766,428.749,1250.584,358.581,33.340,920.784,0.000,1238.379,0.000,0.542,0.000
$DEVICE_MAMPS,275.353,120.419,1060.761,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,220.605,528.365,543.240,126.165,520.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25713,326
$CAP_FILE_SIZE,60572,0
$CFSIZE,260165632,246685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,130111,142802,2250.841,-15757.291,12,1.5,12,10.1