version: 66.04
glider: 512
mission: 1
dive: 401
start: 1 16 111 14 10 13
data:
$ID,512
$MISSION,1
$DIVE,401
$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,-13548.411
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,54
$R_STBD_OVSHOOT,14
$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
$GPS1,140455,2248.470,-15755.536,42,1.5,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-79.0
$GPS2,140920,2248.457,-15755.579,16,1.2,16,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,0.240
$KALMAN_X,-165734.1,-337.3,697.9,191922.4,-6894.0
$KALMAN_Y,-356504.5,2825.0,480.0,479461.5,-9460.8
$MHEAD_RNG_PITCHd_Wd,14.4,4654,-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,-155.7,0.0,0.0,0,93,0.00,0.00,-76.07,0.000,2,0.000,0.000,37,2565,3060
$GC,96,-0.84,-155.7,3.3,-5.2,10,130,11.57,2.47,-16.70,0.000,4,0.265,0.123,2558,3895,3963
$GC,264,-0.84,-155.7,53.1,-20.5,29,268,0.00,2.00,0.00,0.000,6,0.000,0.030,2564,2560,3966
$GC,532,-0.84,-155.7,137.1,-29.8,54,536,0.00,2.47,0.00,0.000,4,0.000,0.119,2555,3895,3967
$GC,595,-0.84,-155.7,153.0,-20.7,59,599,0.00,2.00,0.00,0.000,6,0.000,0.028,2561,2545,3968
$GC,891,-0.84,-155.7,219.7,-22.9,81,896,0.00,2.50,0.00,0.000,4,0.000,0.120,2552,3890,3970
$GC,919,-0.84,-155.7,226.8,-23.7,81,923,0.00,2.00,0.00,0.000,6,0.000,0.029,2561,2532,3970
$GC,1174,-0.84,-155.7,278.0,-20.5,88,1178,0.00,2.58,0.00,0.000,4,0.000,0.130,2551,3895,3971
$GC,1218,-0.84,-155.7,286.8,-18.4,89,1221,0.00,1.98,0.00,0.000,6,0.000,0.028,2559,2552,3971
$GC,1504,-0.84,-155.7,335.4,-17.3,96,1509,0.00,2.55,0.00,0.000,4,0.000,0.129,2550,3898,3972
$GC,1549,-0.84,-155.7,343.7,-16.0,97,1552,0.00,2.00,0.00,0.000,6,0.000,0.029,2558,2542,3972
$GC,1832,-0.84,-155.7,389.1,-16.4,104,1837,0.00,2.58,0.00,0.000,4,0.000,0.133,2549,3896,3972
$GC,1854,-0.84,-155.7,392.9,-16.7,104,1858,0.00,2.00,0.00,0.000,6,0.000,0.033,2556,2542,3971
$GC,2117,-0.84,-155.7,432.8,-15.2,111,2121,0.00,2.55,0.00,0.000,4,0.000,0.128,2547,3891,3971
$GC,2149,-0.84,-155.7,438.2,-15.1,111,2156,0.00,1.98,0.00,0.000,6,0.000,0.031,2554,2552,3971
$GC,2399,-0.84,-155.7,473.2,-14.1,118,2404,0.00,2.58,0.00,0.000,4,0.000,0.133,2546,3891,3969
$GC,2433,-0.84,-155.7,478.3,-14.7,118,2439,0.10,2.00,0.00,0.000,6,0.167,0.032,2572,2536,3969
$GC,2682,-0.84,-155.7,507.6,-11.8,125,2686,0.00,2.60,0.00,0.000,4,0.000,0.135,2563,3892,3968
$GC,2715,-0.84,-155.7,511.8,-12.5,125,2720,0.00,2.00,0.00,0.000,6,0.000,0.032,2571,2564,3967
$GC,2973,-0.84,-155.7,542.3,-12.3,132,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2556,3966
$GC,3215,-0.84,-155.7,571.5,-11.9,138,3219,0.00,2.55,0.00,0.000,4,0.000,0.133,2562,3890,3964
$GC,3281,-0.84,-155.7,578.9,-9.8,139,3285,0.00,2.03,0.00,0.000,6,0.000,0.034,2565,2528,3964
$STATE,3499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3499,begin apogee
$GC,3506,-0.32,0.0,604.1,11.6,145,3629,0.60,0.00,120.15,1.055,6,0.159,0.000,2742,2543,3367
$STATE,3630,end apogee,CONTROL_FINISHED_OK
$STATE,3630,begin climb
$GC,3633,0.84,155.7,610.4,0.0,148,3772,1.12,2.22,131.38,1.027,4,0.097,0.033,3121,1145,2732
$GC,3864,1.02,299.0,626.8,3.7,153,3993,0.17,2.35,122.32,1.019,6,0.104,0.057,3175,2569,2148
$GC,4257,1.02,299.0,515.1,32.6,163,4260,0.00,2.15,0.00,0.000,4,0.000,0.033,3186,1152,2137
$GC,4368,1.02,299.0,480.1,29.6,165,4373,0.00,2.33,0.00,0.000,6,0.000,0.064,3177,2554,2136
$GC,4631,1.02,299.0,401.4,30.0,172,4635,0.00,2.12,0.00,0.000,4,0.000,0.032,3186,1139,2134
$GC,4704,1.02,299.0,380.1,27.4,173,4708,0.00,2.30,0.00,0.000,6,0.000,0.061,3178,2546,2134
$GC,4959,1.02,299.0,307.0,28.8,180,4962,0.00,2.10,0.00,0.000,4,0.000,0.033,3186,1147,2133
$GC,4997,1.02,299.0,295.4,28.2,180,5004,0.00,2.30,0.00,0.000,6,0.000,0.059,3186,2550,2133
$GC,5248,1.02,299.0,225.6,27.4,187,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2550,2132
$GC,5499,1.02,299.0,157.5,26.4,202,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2550,2130
$GC,5752,1.02,299.0,94.4,24.2,226,5755,0.00,2.20,0.00,0.000,4,0.000,0.071,3177,3900,2130
$GC,5834,1.02,299.0,75.3,24.5,233,5843,0.00,2.05,0.00,0.000,6,0.000,0.035,3186,2547,2128
$GC,6099,1.02,299.0,17.2,23.1,263,6108,0.00,2.25,0.00,0.000,4,0.000,0.066,3177,3896,2129
$STATE,6156,end climb,SURFACE_DEPTH_REACHED
$STATE,6156,begin surface coast
$FINISH,0.1,1.024071
$STATE,6168,end surface coast,CONTROL_FINISHED_OK
$STATE,6168,begin surface
$SM_CCo,6190,29.12,0.617,0,0,1939,350.04
$SM_GC,2.92,0.00,0.00,29.12,0.000,0.000,0.617,48,2527,1939,-8.76,-0.65,350.04
$IRIDIUM_FIX,2239.35,-15757.16,110400,121236
$TT8_MAMPS,0.023777
$HUMID,1917
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.9,51.821
$10V_AH,10.7,30.308
$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,22.525,71.925,373.850,29.125,0.000,27.600,34.241,103.440,0.000,0.000,0.000,16.694,582.591,4108.124,435.450,1044.666,328.397,33.333,925.679,0.000,1036.741,0.000,0.541,0.000
$DEVICE_MAMPS,264.615,148.031,1055.392,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,185.191,418.222,431.751,97.290,403.158,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22598,275
$CAP_FILE_SIZE,55336,0
$CFSIZE,260165632,245329920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,1
$GPS,160111,155444,2249.303,-15754.872,13,2.0,13,10.1