version: 66.04
glider: 512
mission: 1
dive: 503
start: 1 27 111 8 9 13
data:
$ID,512
$MISSION,1
$DIVE,503
$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,-16787.789
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,31
$R_STBD_OVSHOOT,56
$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
$GPS1,080255,2245.452,-15806.673,60,2.0,61,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-79.7
$GPS2,080821,2245.469,-15806.602,12,2.1,31,10.0
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.174,0.199
$KALMAN_X,-158812.3,145.8,-167.0,166441.4,102.1
$KALMAN_Y,-496634.6,809.1,-27.1,616600.8,-4138.0
$MHEAD_RNG_PITCHd_Wd,31.1,6772,-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,-38.20,0.000,2,0.000,0.000,44,2694,2942
$GC,60,-0.84,-155.7,3.5,-6.3,5,100,10.70,2.25,-19.48,0.000,4,0.239,0.046,2526,1234,3963
$GC,143,-0.84,-155.7,37.0,-43.6,16,151,0.00,2.25,0.00,0.000,6,0.000,0.052,2517,2613,3964
$GC,407,-0.84,-155.7,143.5,-38.3,41,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2614,3966
$GC,695,-0.84,-155.7,235.1,-29.0,60,698,0.00,2.05,0.00,0.000,4,0.000,0.028,2522,1223,3968
$GC,785,-0.84,-155.7,254.1,-15.6,62,790,0.00,2.33,0.00,0.000,6,0.000,0.059,2519,2662,3968
$GC,1070,-0.84,-155.7,316.2,-22.6,69,1073,0.00,2.12,0.00,0.000,4,0.000,0.028,2521,1222,3968
$GC,1103,-0.84,-155.7,324.4,-23.1,69,1107,0.00,2.30,0.00,0.000,6,0.000,0.054,2511,2663,3968
$GC,1353,-0.84,-155.7,378.2,-21.9,75,1357,0.00,1.95,0.00,0.000,4,0.000,0.061,2501,3890,3968
$GC,1387,-0.84,-155.7,385.8,-20.8,75,1391,0.00,1.88,0.00,0.000,6,0.000,0.025,2509,2619,3968
$GC,1644,-0.84,-155.7,438.8,-21.0,82,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2614,3967
$GC,1886,-0.84,-155.7,487.7,-19.8,88,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2613,3966
$GC,2130,-0.84,-155.7,534.5,-19.1,94,2133,0.00,2.10,0.00,0.000,4,0.000,0.066,2500,3893,3965
$GC,2163,-0.84,-155.7,540.8,-17.9,94,2167,0.00,1.83,0.00,0.000,6,0.000,0.026,2507,2660,3964
$GC,2422,-0.84,-155.7,586.0,-18.0,101,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2655,3963
$STATE,2497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2497,begin apogee
$GC,2505,-0.32,0.0,600.3,18.0,103,2630,0.65,0.00,122.65,1.088,6,0.166,0.000,2694,2547,3367
$STATE,2631,end apogee,CONTROL_FINISHED_OK
$STATE,2631,begin climb
$GC,2634,0.84,155.7,608.9,0.0,106,2772,1.10,0.00,134.05,1.076,6,0.077,0.000,3067,2547,2732
$GC,2985,0.98,266.2,619.7,5.0,115,3087,0.15,2.30,96.47,1.070,4,0.108,0.055,3110,3893,2281
$GC,3127,0.98,266.2,594.6,26.2,118,3131,0.00,2.05,0.00,0.000,6,0.000,0.026,3119,2556,2277
$GC,3394,0.98,266.2,527.2,24.9,125,3398,0.00,2.12,0.00,0.000,4,0.000,0.031,3130,1135,2271
$GC,3461,0.98,266.2,511.8,21.9,126,3466,0.00,2.25,0.00,0.000,6,0.000,0.048,3124,2548,2269
$GC,3723,0.98,266.2,449.0,24.3,133,3727,0.00,2.10,0.00,0.000,4,0.000,0.031,3132,1136,2267
$GC,3745,0.98,266.2,443.9,22.0,133,3749,0.00,2.25,0.00,0.000,6,0.000,0.050,3132,2558,2267
$GC,4006,0.98,266.2,384.9,23.0,140,4010,0.00,2.12,0.00,0.000,4,0.000,0.031,3143,1129,2265
$GC,4194,0.98,266.2,344.5,22.0,144,4198,0.00,2.25,0.00,0.000,6,0.000,0.048,3137,2561,2265
$GC,4473,0.98,266.2,282.7,22.3,151,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2561,2263
$GC,4716,0.98,266.2,231.2,20.1,157,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2561,2263
$GC,4966,0.98,266.2,185.1,17.1,169,4970,0.00,2.12,0.00,0.000,4,0.000,0.029,3146,1137,2262
$GC,5059,0.98,266.2,168.8,17.5,177,5063,0.12,2.22,0.00,0.000,6,0.222,0.047,3120,2550,2262
$GC,5323,0.98,266.2,119.4,18.9,201,5327,0.00,2.10,0.00,0.000,4,0.000,0.030,3130,1132,2261
$GC,5491,0.98,266.2,98.1,10.0,216,5495,0.00,2.25,0.00,0.000,6,0.000,0.047,3123,2563,2261
$GC,5755,0.98,266.2,66.6,13.5,240,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2563,2261
$GC,6018,0.98,266.2,29.3,13.3,265,6027,0.00,2.12,0.00,0.000,4,0.000,0.028,3133,1136,2261
$GC,6109,0.98,266.2,17.1,13.0,281,6118,0.00,2.22,0.00,0.000,6,0.000,0.044,3133,2551,2260
$STATE,6213,end climb,SURFACE_DEPTH_REACHED
$STATE,6213,begin surface coast
$FINISH,0.3,1.024053
$STATE,6236,end surface coast,CONTROL_FINISHED_OK
$STATE,6239,begin surface
$SM_CCo,6260,44.22,0.637,0,0,1939,350.04
$SM_GC,0.96,0.00,0.00,44.22,0.000,0.000,0.637,50,2691,1939,-8.59,1.16,350.04
$IRIDIUM_FIX,2237.01,-15807.58,220400,060659
$TT8_MAMPS,0.023777
$HUMID,1811
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.8,65.998
$10V_AH,10.7,38.561
$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,21.350,51.800,353.175,44.225,0.000,22.545,35.337,130.806,0.000,0.000,0.000,34.750,618.064,4099.334,460.541,1081.365,378.569,33.363,882.346,0.000,1067.370,0.000,0.542,0.000
$DEVICE_MAMPS,239.304,65.962,1088.373,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,205.417,496.893,511.386,120.920,497.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25539,304
$CAP_FILE_SIZE,52215,0
$CFSIZE,260165632,241188864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,270111,095552,2245.901,-15805.691,35,2.2,54,10.0