version: 66.04
glider: 512
mission: 1
dive: 515
start: 1 28 111 5 51 59
data:
$ID,512
$MISSION,1
$DIVE,515
$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,-17085.588
$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,66
$R_STBD_OVSHOOT,54
$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
$GPS1,054522,2251.708,-15804.164,31,6.2,51,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.5
$GPS2,055110,2251.701,-15804.197,16,2.8,35,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.035,0.262
$KALMAN_X,-161314.9,212.2,126.6,172719.1,-853.5
$KALMAN_Y,-515098.4,3004.3,227.8,644127.8,-7085.0
$MHEAD_RNG_PITCHd_Wd,342.3,4004,-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,-38.08,0.000,2,0.000,0.000,52,2695,2922
$GC,60,-0.84,-155.7,3.3,-6.0,5,100,10.98,1.92,-20.33,0.000,4,0.249,0.073,2508,3854,3963
$GC,251,-0.84,-155.7,66.6,-25.5,27,260,0.00,1.77,0.00,0.000,6,0.000,0.025,2513,2671,3965
$GC,515,-0.84,-155.7,156.3,-31.9,52,519,0.00,2.12,0.00,0.000,4,0.000,0.028,2524,1228,3967
$GC,561,-0.84,-155.7,169.5,-24.9,56,565,0.00,2.28,0.00,0.000,6,0.000,0.063,2515,2618,3967
$GC,836,-0.84,-155.7,247.2,-28.6,70,840,0.00,2.08,0.00,0.000,4,0.000,0.065,2505,3905,3968
$GC,870,-0.84,-155.7,256.8,-27.1,70,874,0.00,1.88,0.00,0.000,6,0.000,0.025,2508,2646,3968
$GC,1127,-0.84,-155.7,319.6,-24.5,77,1130,0.00,2.05,0.00,0.000,4,0.000,0.028,2519,1243,3968
$GC,1149,-0.84,-155.7,325.5,-24.0,77,1153,0.00,2.25,0.00,0.000,6,0.000,0.056,2509,2656,3969
$GC,1410,-0.84,-155.7,381.6,-22.2,84,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2657,3969
$GC,1654,-0.84,-155.7,432.7,-20.5,90,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2656,3968
$GC,1898,-0.84,-155.7,481.1,-20.0,96,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2657,3967
$GC,2141,-0.84,-155.7,527.5,-19.1,102,2145,0.00,2.10,0.00,0.000,4,0.000,0.029,2518,1242,3966
$GC,2181,-0.84,-155.7,534.7,-16.3,102,2187,0.00,2.28,0.00,0.000,6,0.000,0.058,2508,2656,3965
$GC,2431,-0.84,-155.7,578.6,-17.9,109,2434,0.00,2.03,0.00,0.000,4,0.000,0.068,2498,3903,3964
$GC,2464,-0.84,-155.7,584.8,-17.8,109,2468,0.00,1.85,0.00,0.000,6,0.000,0.028,2506,2643,3964
$STATE,2555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2555,begin apogee
$GC,2562,-0.32,0.0,600.3,16.8,112,2687,0.65,0.00,121.97,1.032,6,0.165,0.000,2694,2543,3367
$STATE,2688,end apogee,CONTROL_FINISHED_OK
$STATE,2688,begin climb
$GC,2692,0.84,155.7,608.7,0.0,115,2829,1.15,0.00,133.40,1.016,6,0.091,0.000,3072,2543,2732
$GC,3042,1.02,299.4,622.7,3.7,124,3174,0.17,2.22,123.53,1.019,4,0.117,0.031,3136,1150,2145
$GC,3196,1.02,299.4,595.6,29.3,127,3200,0.00,2.30,0.00,0.000,6,0.000,0.051,3136,2550,2141
$GC,3447,1.02,299.4,522.5,29.4,133,3450,0.00,2.10,0.00,0.000,4,0.000,0.031,3146,1149,2135
$GC,3486,1.02,299.4,511.4,26.7,133,3492,0.00,2.25,0.00,0.000,6,0.000,0.051,3145,2559,2134
$GC,3736,1.02,299.4,438.2,29.5,140,3740,0.00,2.10,0.00,0.000,4,0.000,0.031,3155,1152,2133
$GC,3783,1.02,299.4,424.8,28.6,141,3787,0.00,2.20,0.00,0.000,6,0.000,0.050,3150,2551,2133
$GC,4072,1.02,299.4,339.1,29.5,148,4076,0.00,2.10,0.00,0.000,4,0.000,0.031,3158,1141,2130
$GC,4111,1.02,299.4,327.7,28.3,148,4119,0.12,2.25,0.00,0.000,6,0.242,0.051,3134,2553,2131
$GC,4361,1.02,299.4,261.7,25.8,155,4365,0.00,2.08,0.00,0.000,4,0.000,0.030,3145,1142,2129
$GC,4384,1.02,299.4,256.4,22.9,155,4388,0.00,2.22,0.00,0.000,6,0.000,0.046,3137,2564,2130
$GC,4645,1.02,299.4,191.3,25.0,162,4649,0.00,2.10,0.00,0.000,4,0.000,0.030,3146,1144,2128
$GC,4680,1.02,299.4,183.8,21.4,165,4684,0.00,2.22,0.00,0.000,6,0.000,0.052,3146,2551,2128
$GC,4945,1.02,299.4,122.2,21.0,189,4948,0.00,2.08,0.00,0.000,4,0.000,0.031,3155,1150,2127
$GC,4980,1.02,299.4,113.7,22.3,192,4984,0.00,2.20,0.00,0.000,6,0.000,0.049,3150,2551,2127
$GC,5244,1.02,299.4,58.5,20.5,216,5248,0.00,2.17,0.00,0.000,4,0.000,0.061,3150,3907,2126
$GC,5337,1.02,299.4,37.4,23.6,224,5345,0.10,2.03,0.00,0.000,6,0.243,0.027,3135,2564,2125
$STATE,5519,end climb,SURFACE_DEPTH_REACHED
$STATE,5519,begin surface coast
$FINISH,0.2,1.024240
$STATE,5537,end surface coast,CONTROL_FINISHED_OK
$STATE,5537,begin surface
$SM_CCo,5558,26.90,0.612,0,0,1940,350.04
$SM_GC,2.90,0.00,0.00,26.90,0.000,0.000,0.612,51,2680,1940,-8.59,0.85,350.04
$IRIDIUM_FIX,2241.69,-15801.49,230400,030348
$TT8_MAMPS,0.023777
$HUMID,1921
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.9,67.639
$10V_AH,10.7,39.333
$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,21.800,59.450,378.900,26.900,0.000,29.626,40.167,129.000,0.000,0.000,0.000,36.966,541.198,3630.391,450.688,924.180,389.430,33.337,844.760,0.000,903.997,0.000,0.542,0.000
$DEVICE_MAMPS,249.275,72.865,1032.382,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,174.168,406.692,418.064,99.371,412.350,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22605,258
$CAP_FILE_SIZE,50441,0
$CFSIZE,260165632,240783360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,1
$GPS,280111,072616,2252.497,-15804.417,11,3.3,30,10.1