version: 66.04
glider: 512
mission: 1
dive: 511
start: 1 27 111 21 57 41
data:
$ID,512
$MISSION,1
$DIVE,511
$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,-16979.018
$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,47
$R_STBD_OVSHOOT,38
$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
$GPS1,215116,2249.188,-15804.024,11,2.8,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-80.2
$GPS2,215652,2249.201,-15804.028,15,2.8,34,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.165,0.207
$KALMAN_X,-160100.0,-29.6,-99.8,172262.8,-423.6
$KALMAN_Y,-508702.3,-207.2,320.2,636229.6,-7727.6
$MHEAD_RNG_PITCHd_Wd,28.5,8348,-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,-38.03,0.000,2,0.000,0.000,50,2677,2912
$GC,60,-0.84,-155.7,3.3,-6.0,5,100,10.95,1.98,-20.67,0.000,4,0.248,0.074,2511,3874,3961
$GC,184,-0.84,-155.7,45.8,-25.9,21,188,0.00,1.85,0.00,0.000,6,0.000,0.028,2518,2656,3964
$GC,452,-0.84,-155.7,144.7,-34.7,46,456,0.00,2.10,0.00,0.000,4,0.000,0.028,2529,1219,3964
$GC,476,-0.84,-155.7,152.5,-32.9,48,481,0.00,2.25,0.00,0.000,6,0.000,0.054,2519,2632,3965
$GC,765,-0.84,-155.7,233.8,-27.4,66,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2633,3967
$GC,1010,-0.84,-155.7,294.1,-24.3,72,1014,0.00,2.08,0.00,0.000,4,0.000,0.028,2521,1222,3967
$GC,1076,-0.84,-155.7,308.1,-17.4,73,1081,0.00,2.33,0.00,0.000,6,0.000,0.059,2510,2661,3967
$GC,1338,-0.84,-155.7,366.6,-23.5,80,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2662,3967
$GC,1583,-0.84,-155.7,421.3,-22.7,86,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2662,3967
$GC,1826,-0.84,-155.7,472.9,-20.7,92,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2662,3966
$GC,2069,-0.84,-155.7,520.3,-19.2,98,2073,0.00,2.12,0.00,0.000,4,0.000,0.030,2518,1230,3965
$GC,2115,-0.84,-155.7,528.2,-15.3,99,2119,0.00,2.33,0.00,0.000,6,0.000,0.063,2509,2656,3965
$GC,2401,-0.84,-155.7,577.2,-17.6,106,2405,0.00,2.00,0.00,0.000,4,0.000,0.068,2499,3892,3962
$GC,2423,-0.84,-155.7,581.9,-18.0,106,2427,0.00,1.85,0.00,0.000,6,0.000,0.028,2507,2624,3962
$STATE,2566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2566,begin apogee
$GC,2573,-0.32,0.0,606.5,17.1,110,2698,0.65,0.00,121.70,1.027,6,0.170,0.000,2691,2618,3367
$STATE,2698,end apogee,CONTROL_FINISHED_OK
$STATE,2698,begin climb
$GC,2702,0.84,155.7,614.4,0.0,113,2838,1.08,0.00,132.20,1.012,6,0.074,0.000,3066,2618,2732
$GC,3069,0.95,245.3,621.9,5.9,122,3152,0.12,2.22,77.03,1.014,4,0.109,0.062,3105,3901,2366
$GC,3205,0.95,245.3,598.2,26.3,125,3209,0.00,2.05,0.00,0.000,6,0.000,0.029,3115,2564,2363
$GC,3489,0.95,245.3,528.4,23.7,132,3493,0.00,2.15,0.00,0.000,4,0.000,0.031,3126,1127,2357
$GC,3612,0.95,245.3,501.4,20.7,134,3617,0.00,2.28,0.00,0.000,6,0.000,0.049,3123,2553,2355
$GC,3863,0.95,245.3,448.9,20.9,140,3866,0.00,2.12,0.00,0.000,4,0.000,0.031,3133,1120,2352
$GC,4026,0.95,245.3,419.5,17.4,143,4030,0.00,2.28,0.00,0.000,6,0.000,0.051,3133,2558,2352
$GC,4282,0.95,245.3,367.9,21.2,150,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2558,2350
$GC,4527,0.95,245.3,319.8,19.9,156,4530,0.00,2.12,0.00,0.000,4,0.000,0.030,3143,1126,2349
$GC,4600,0.95,245.3,306.5,17.2,157,4605,0.12,2.25,0.00,0.000,6,0.239,0.048,3112,2559,2349
$GC,4855,0.95,245.3,262.9,16.8,164,4859,0.00,2.12,0.00,0.000,4,0.000,0.031,3121,1129,2348
$GC,4980,0.95,245.3,242.1,16.3,166,4984,0.00,2.25,0.00,0.000,6,0.000,0.051,3122,2553,2347
$GC,5231,0.95,245.3,203.6,14.9,172,5235,0.00,2.15,0.00,0.000,4,0.000,0.059,3122,3904,2347
$GC,5381,0.95,245.3,178.1,15.3,182,5388,0.00,2.08,0.00,0.000,6,0.000,0.029,3132,2527,2346
$GC,5645,0.95,245.3,139.8,14.4,207,5649,0.00,2.20,0.00,0.000,4,0.000,0.055,3132,3897,2346
$GC,5750,0.95,245.3,124.6,13.0,216,5758,0.12,2.03,0.00,0.000,6,0.252,0.028,3114,2537,2346
$GC,6016,0.95,245.3,100.7,9.8,241,6020,0.00,2.17,0.00,0.000,4,0.000,0.052,3110,3901,2346
$GC,6118,0.98,266.8,89.7,8.7,250,6143,0.00,1.98,15.70,0.659,6,0.000,0.028,3119,2551,2281
$GC,6401,0.98,266.8,59.6,11.3,276,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2551,2279
$GC,6666,0.98,266.8,26.9,12.3,303,6673,0.00,2.08,0.00,0.000,4,0.000,0.028,3130,1150,2279
$GC,6761,0.98,266.8,14.3,13.0,320,6769,0.00,2.20,0.00,0.000,6,0.000,0.046,3123,2546,2279
$STATE,6844,end climb,SURFACE_DEPTH_REACHED
$STATE,6844,begin surface coast
$FINISH,0.3,1.024024
$STATE,6867,end surface coast,CONTROL_FINISHED_OK
$STATE,6867,begin surface
$SM_CCo,6888,49.50,0.594,0,0,1939,350.04
$SM_GC,0.94,0.00,0.00,49.50,0.000,0.000,0.594,53,2683,1939,-8.59,0.93,350.04
$IRIDIUM_FIX,2239.35,-15804.53,220400,202042
$TT8_MAMPS,0.023777
$HUMID,1810
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.9,67.098
$10V_AH,10.7,39.065
$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,21.700,59.800,346.625,49.500,0.000,27.973,42.608,125.607,0.250,0.000,0.000,35.872,689.809,4476.074,432.136,1283.038,398.805,33.339,942.984,0.000,1259.076,0.000,0.542,0.000
$DEVICE_MAMPS,252.343,73.632,1027.013,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,229.133,564.106,581.763,134.790,558.891,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28773,339
$CAP_FILE_SIZE,59206,0
$CFSIZE,260165632,240906240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,1
$GPS,270111,235507,2249.659,-15803.406,37,2.3,67,10.1