version: 66.04
glider: 512
mission: 1
dive: 510
start: 1 27 111 19 57 53
data:
$ID,512
$MISSION,1
$DIVE,510
$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,-16942.514
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,194836,2248.760,-15803.646,14,1.7,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.3
$GPS2,195702,2248.711,-15803.669,13,1.7,13,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.032,0.262
$KALMAN_X,-159898.8,-14.3,-173.1,172739.2,-810.8
$KALMAN_Y,-506894.3,-481.4,149.0,633962.5,-10218.0
$MHEAD_RNG_PITCHd_Wd,342.9,9403,-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,-155.7,0.0,0.0,0,63,0.00,0.00,-45.25,0.000,2,0.000,0.000,53,2678,3066
$GC,67,-0.84,-155.7,3.8,-5.7,6,100,10.95,1.98,-16.10,0.000,4,0.249,0.071,2510,3869,3962
$GC,278,-0.84,-155.7,70.5,-24.6,29,286,0.00,1.83,0.00,0.000,6,0.000,0.029,2517,2670,3965
$GC,541,-0.84,-155.7,158.1,-36.2,54,544,0.00,2.12,0.00,0.000,4,0.000,0.029,2528,1225,3966
$GC,588,-0.84,-155.7,173.2,-28.8,58,592,0.00,2.28,0.00,0.000,6,0.000,0.059,2518,2630,3966
$GC,863,-0.84,-155.7,246.8,-27.2,72,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2630,3967
$GC,1107,-0.84,-155.7,309.2,-24.8,78,1110,0.00,2.08,0.00,0.000,4,0.000,0.029,2524,1227,3968
$GC,1174,-0.84,-155.7,323.5,-17.3,79,1178,0.00,2.33,0.00,0.000,6,0.000,0.061,2519,2668,3969
$GC,1442,-0.84,-155.7,379.0,-21.4,86,1446,0.00,2.12,0.00,0.000,4,0.000,0.029,2528,1229,3968
$GC,1475,-0.84,-155.7,386.3,-19.9,86,1480,0.00,2.30,0.00,0.000,6,0.000,0.059,2520,2659,3968
$GC,1732,-0.84,-155.7,436.2,-20.0,93,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2660,3967
$GC,1975,-0.84,-155.7,482.3,-18.7,99,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2660,3966
$GC,2219,-0.84,-155.7,527.8,-18.8,105,2223,0.00,2.12,0.00,0.000,4,0.000,0.031,2522,1225,3965
$GC,2258,-0.84,-155.7,535.3,-16.6,105,2265,0.00,2.33,0.00,0.000,6,0.000,0.058,2512,2646,3965
$GC,2508,-0.84,-155.7,580.2,-18.2,112,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2646,3963
$STATE,2627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2627,begin apogee
$GC,2635,-0.32,0.0,601.3,17.3,115,2760,0.62,0.00,122.10,1.031,6,0.166,0.000,2688,2525,3367
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin climb
$GC,2764,0.84,155.7,609.1,0.0,118,2901,1.15,0.00,132.02,1.012,6,0.091,0.000,3068,2525,2732
$GC,3161,0.96,254.5,616.0,5.5,128,3251,0.12,2.33,84.75,1.017,4,0.122,0.061,3096,3903,2328
$GC,3325,0.96,254.5,586.7,25.1,131,3331,0.00,2.08,0.00,0.000,6,0.000,0.030,3105,2553,2324
$GC,3575,0.96,254.5,528.1,22.9,138,3579,0.00,2.12,0.00,0.000,4,0.000,0.030,3116,1125,2319
$GC,3666,0.96,254.5,509.0,20.6,140,3670,0.00,2.28,0.00,0.000,6,0.000,0.048,3110,2556,2318
$GC,3955,0.96,254.5,443.8,23.2,147,3959,0.00,2.12,0.00,0.000,4,0.000,0.031,3119,1130,2315
$GC,4016,0.96,254.5,430.9,19.7,148,4020,0.00,2.28,0.00,0.000,6,0.000,0.050,3120,2557,2315
$GC,4289,0.96,254.5,375.6,20.5,155,4293,0.00,2.15,0.00,0.000,4,0.000,0.031,3130,1120,2313
$GC,4322,0.96,254.5,368.7,20.3,155,4326,0.00,2.28,0.00,0.000,6,0.000,0.051,3123,2560,2313
$GC,4573,0.96,254.5,317.4,20.6,161,4577,0.00,2.12,0.00,0.000,4,0.000,0.030,3133,1127,2312
$GC,4629,0.96,254.5,306.3,19.7,162,4633,0.00,2.28,0.00,0.000,6,0.000,0.050,3133,2560,2312
$GC,4903,0.96,254.5,251.9,19.7,169,4906,0.00,2.12,0.00,0.000,4,0.000,0.030,3142,1124,2310
$GC,5048,0.96,254.5,225.5,17.0,172,5052,0.00,2.25,0.00,0.000,6,0.000,0.048,3137,2549,2310
$GC,5307,0.96,254.5,180.9,17.7,186,5311,0.00,2.15,0.00,0.000,4,0.000,0.061,3137,3895,2309
$GC,5376,0.96,254.5,167.9,17.9,192,5380,0.15,2.00,0.00,0.000,6,0.260,0.028,3118,2532,2309
$GC,5647,0.96,254.5,126.6,15.3,217,5651,0.00,2.17,0.00,0.000,4,0.000,0.052,3110,3897,2309
$GC,5839,0.96,254.5,97.0,13.9,234,5843,0.00,1.98,0.00,0.000,6,0.000,0.028,3119,2556,2309
$GC,6109,0.98,269.9,68.9,9.0,259,6126,0.00,2.12,11.18,0.625,4,0.000,0.028,3130,1143,2266
$GC,6310,0.98,269.9,47.1,11.5,277,6318,0.00,2.25,0.00,0.000,6,0.000,0.048,3123,2546,2265
$GC,6576,0.98,269.9,11.5,13.8,314,6584,0.00,2.12,0.00,0.000,4,0.000,0.029,3133,1133,2265
$GC,6614,0.98,269.9,6.2,13.9,320,6622,0.00,2.28,0.00,0.000,6,0.000,0.049,3133,2552,2265
$STATE,6638,end climb,SURFACE_DEPTH_REACHED
$STATE,6639,begin surface coast
$FINISH,0.3,1.024051
$STATE,6662,end surface coast,CONTROL_FINISHED_OK
$STATE,6662,begin surface
$SM_CCo,6683,47.58,0.598,0,0,1939,350.04
$SM_GC,0.94,0.00,0.00,47.58,0.000,0.000,0.598,51,2676,1939,-8.59,0.74,350.04
$IRIDIUM_FIX,2241.69,-15804.53,220400,202005
$TT8_MAMPS,0.023777
$HUMID,1823
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.9,66.981
$10V_AH,10.7,38.987
$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,21.525,65.275,350.050,47.575,0.000,60.575,70.110,198.799,0.250,0.000,0.000,13.994,677.341,4341.338,422.205,1262.354,545.630,33.337,946.489,0.000,1260.335,0.000,0.543,0.000
$DEVICE_MAMPS,260.013,73.632,1030.848,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,221.758,544.108,561.244,134.122,552.614,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28817,328
$CAP_FILE_SIZE,61945,0
$CFSIZE,260165632,240939008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,270111,215116,2249.188,-15804.024,11,2.8,30,10.1