version: 66.04
glider: 512
mission: 1
dive: 512
start: 1 28 111 0 1 17
data:
$ID,512
$MISSION,1
$DIVE,512
$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,-16994.707
$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,62
$R_STBD_OVSHOOT,27
$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
$GPS1,235507,2249.659,-15803.406,37,2.3,67,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-78.4
$GPS2,000026,2249.679,-15803.390,14,1.1,14,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.027,0.263
$KALMAN_X,-161692.4,289.3,161.8,174378.5,-2084.7
$KALMAN_Y,-511141.4,770.1,786.6,638112.1,-8094.4
$MHEAD_RNG_PITCHd_Wd,344.1,7940,-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,-155.7,0.0,0.0,0,55,0.00,0.00,-37.80,0.000,2,0.000,0.000,53,2683,2911
$GC,59,-0.84,-155.7,3.2,-5.2,5,99,10.88,1.98,-21.00,0.000,4,0.246,0.073,2509,3879,3962
$GC,251,-0.84,-155.7,59.1,-22.8,27,255,0.00,1.83,0.00,0.000,6,0.000,0.027,2516,2666,3964
$GC,519,-0.84,-155.7,146.5,-30.5,52,523,0.00,2.10,0.00,0.000,4,0.000,0.030,2527,1243,3965
$GC,609,-0.84,-155.7,169.4,-19.4,60,613,0.00,2.25,0.00,0.000,6,0.000,0.057,2518,2636,3966
$GC,891,-0.84,-155.7,246.5,-28.5,75,894,0.00,2.00,0.00,0.000,4,0.000,0.059,2508,3900,3967
$GC,938,-0.84,-155.7,259.2,-26.0,76,941,0.00,1.83,0.00,0.000,6,0.000,0.025,2510,2651,3967
$GC,1227,-0.84,-155.7,326.8,-23.4,83,1231,0.00,2.08,0.00,0.000,4,0.000,0.030,2521,1238,3967
$GC,1300,-0.84,-155.7,340.5,-15.6,84,1304,0.00,2.28,0.00,0.000,6,0.000,0.057,2510,2656,3967
$GC,1563,-0.84,-155.7,395.7,-21.8,91,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2656,3967
$GC,1806,-0.84,-155.7,447.1,-20.8,97,1809,0.00,2.10,0.00,0.000,4,0.000,0.029,2518,1237,3965
$GC,1873,-0.84,-155.7,458.9,-14.1,98,1877,0.00,2.30,0.00,0.000,6,0.000,0.058,2508,2655,3965
$GC,2140,-0.84,-155.7,508.6,-19.0,105,2144,0.00,2.00,0.00,0.000,4,0.000,0.065,2498,3899,3964
$GC,2174,-0.84,-155.7,515.3,-19.0,105,2177,0.00,1.85,0.00,0.000,6,0.000,0.026,2506,2638,3964
$GC,2430,-0.84,-155.7,561.3,-18.3,112,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2632,3962
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2679,-0.32,0.0,604.8,17.8,118,2803,0.65,0.00,121.57,1.025,6,0.164,0.000,2694,2539,3367
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin climb
$GC,2807,0.84,155.7,613.0,0.0,121,2944,1.10,0.00,132.68,1.010,6,0.071,0.000,3074,2538,2732
$GC,3158,0.97,260.0,621.6,5.3,130,3255,0.12,2.20,89.93,1.011,4,0.118,0.031,3121,1146,2305
$GC,3311,0.97,260.0,594.2,24.6,133,3315,0.00,2.25,0.00,0.000,6,0.000,0.049,3113,2551,2301
$GC,3572,0.97,260.0,527.2,25.4,140,3576,0.00,2.17,0.00,0.000,4,0.000,0.060,3110,3902,2295
$GC,3605,0.97,260.0,518.4,26.4,140,3609,0.00,2.03,0.00,0.000,6,0.000,0.030,3118,2554,2294
$GC,3861,0.97,260.0,456.7,24.1,147,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2547,2293
$GC,4104,0.97,260.0,403.8,21.3,153,4108,0.00,2.10,0.00,0.000,4,0.000,0.031,3129,1137,2291
$GC,4172,0.97,260.0,388.8,21.3,154,4176,0.00,2.25,0.00,0.000,6,0.000,0.051,3123,2551,2291
$GC,4436,0.97,260.0,332.3,21.5,161,4439,0.00,2.10,0.00,0.000,4,0.000,0.031,3132,1135,2289
$GC,4582,0.97,260.0,303.7,18.1,164,4586,0.00,2.25,0.00,0.000,6,0.000,0.050,3133,2551,2289
$GC,4855,0.97,260.0,244.4,21.1,171,4859,0.00,2.10,0.00,0.000,4,0.000,0.030,3142,1133,2287
$GC,4878,0.97,260.0,239.3,20.7,171,4882,0.00,2.25,0.00,0.000,6,0.000,0.048,3137,2555,2287
$GC,5133,0.97,260.0,189.5,19.6,180,5136,0.00,2.15,0.00,0.000,4,0.000,0.058,3137,3905,2287
$GC,5169,0.97,260.0,182.1,20.4,183,5173,0.15,2.03,0.00,0.000,6,0.264,0.029,3118,2539,2286
$GC,5438,0.97,260.0,136.7,15.9,208,5442,0.00,2.17,0.00,0.000,4,0.000,0.054,3110,3899,2286
$GC,5466,0.97,260.0,131.0,18.1,210,5475,0.00,2.03,0.00,0.000,6,0.000,0.028,3119,2539,2285
$GC,5730,0.97,260.0,92.9,13.5,235,5734,0.00,2.05,0.00,0.000,4,0.000,0.029,3130,1146,2285
$GC,5756,0.97,260.0,89.1,14.6,237,5760,0.00,2.20,0.00,0.000,6,0.000,0.046,3124,2554,2285
$GC,6025,0.97,260.0,52.7,11.8,262,6029,0.00,2.08,0.00,0.000,4,0.000,0.028,3133,1143,2285
$GC,6204,0.97,260.0,32.4,11.8,278,6208,0.00,2.22,0.00,0.000,6,0.000,0.048,3132,2557,2286
$STATE,6434,end climb,SURFACE_DEPTH_REACHED
$STATE,6434,begin surface coast
$FINISH,0.4,1.023945
$STATE,6457,end surface coast,CONTROL_FINISHED_OK
$STATE,6457,begin surface
$SM_CCo,6478,54.20,0.604,0,0,1940,350.04
$SM_GC,1.02,0.00,0.00,54.20,0.000,0.000,0.604,52,2686,1940,-8.59,1.02,350.04
$IRIDIUM_FIX,2239.35,-15915.70,220400,222201
$TT8_MAMPS,0.023777
$HUMID,1828
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.9,67.217
$10V_AH,10.7,39.139
$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,21.575,63.400,344.175,54.200,0.000,29.003,37.668,133.176,0.250,0.000,0.000,15.060,668.952,4159.801,433.487,1198.973,398.429,33.335,906.403,0.000,1194.476,0.000,0.543,0.000
$DEVICE_MAMPS,263.848,72.865,1024.712,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,218.971,535.100,551.214,134.256,556.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25581,323
$CAP_FILE_SIZE,57097,0
$CFSIZE,260165632,240877568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,280111,015102,2250.400,-15803.635,12,1.9,12,10.1