version: 66.04
glider: 512
mission: 1
dive: 517
start: 1 28 111 9 8 7
data:
$ID,512
$MISSION,1
$DIVE,517
$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,-17117.924
$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,63
$R_STBD_OVSHOOT,33
$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
$GPS1,090230,2253.354,-15804.472,87,1.0,87,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-80.5
$GPS2,090714,2253.372,-15804.484,15,1.2,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.213,0.156
$KALMAN_X,-161200.9,554.1,-18.9,171911.4,-971.2
$KALMAN_Y,-516600.2,2358.2,995.3,648600.8,-11807.2
$MHEAD_RNG_PITCHd_Wd,43.6,15330,-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,-37.95,0.000,2,0.000,0.000,38,2669,2924
$GC,60,-0.84,-155.7,3.3,-6.4,5,99,10.50,2.03,-20.55,0.000,4,0.234,0.081,2510,3877,3962
$GC,183,-0.84,-155.7,48.0,-31.2,21,187,0.00,1.85,0.00,0.000,6,0.000,0.031,2517,2672,3964
$GC,451,-0.84,-155.7,152.3,-38.4,46,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2669,3966
$GC,719,-0.84,-155.7,242.2,-32.3,63,723,0.00,2.17,0.00,0.000,4,0.000,0.042,2527,1248,3969
$GC,753,-0.84,-155.7,251.5,-25.6,63,757,0.00,2.28,0.00,0.000,6,0.000,0.065,2518,2635,3969
$GC,1004,-0.84,-155.7,316.0,-26.8,69,1007,0.00,2.05,0.00,0.000,4,0.000,0.069,2508,3899,3969
$GC,1037,-0.84,-155.7,325.0,-25.1,69,1041,0.00,1.88,0.00,0.000,6,0.000,0.031,2515,2649,3969
$GC,1294,-0.84,-155.7,381.9,-22.7,76,1298,0.00,2.15,0.00,0.000,4,0.000,0.043,2518,1238,3970
$GC,1322,-0.84,-155.7,388.6,-23.5,76,1326,0.00,2.33,0.00,0.000,6,0.000,0.067,2509,2661,3970
$GC,1578,-0.84,-155.7,445.1,-22.9,83,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2661,3969
$GC,1821,-0.84,-155.7,498.4,-21.6,89,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2661,3969
$GC,2065,-0.84,-155.7,547.7,-20.1,95,2068,0.00,2.22,0.00,0.000,4,0.000,0.045,2512,1232,3968
$GC,2112,-0.84,-155.7,556.1,-16.2,96,2116,0.00,2.38,0.00,0.000,6,0.000,0.077,2504,2649,3967
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2351,begin apogee
$GC,2359,-0.32,0.0,604.1,20.2,102,2486,0.93,0.00,122.78,1.025,6,0.291,0.000,2686,2509,3367
$STATE,2486,end apogee,CONTROL_FINISHED_OK
$STATE,2486,begin climb
$GC,2490,0.84,155.7,612.2,0.0,105,2627,1.60,0.00,132.48,1.007,6,0.236,0.000,3053,2508,2732
$GC,2857,0.98,267.2,619.7,5.0,114,2966,0.17,2.22,97.70,0.992,4,0.186,0.048,3109,1171,2276
$GC,3090,0.98,267.2,575.7,22.8,119,3094,0.00,2.28,0.00,0.000,6,0.000,0.062,3101,2552,2269
$GC,3352,0.98,267.2,512.1,24.4,126,3356,0.00,2.17,0.00,0.000,4,0.000,0.047,3109,1165,2266
$GC,3443,0.98,267.2,490.9,23.0,128,3447,0.00,2.28,0.00,0.000,6,0.000,0.064,3101,2556,2266
$GC,3726,0.98,267.2,429.3,20.7,135,3730,0.00,2.15,0.00,0.000,4,0.000,0.043,3109,1165,2263
$GC,3811,0.98,267.2,412.9,18.6,136,3817,0.00,2.25,0.00,0.000,6,0.000,0.061,3101,2550,2262
$GC,4061,0.98,267.2,360.0,21.5,143,4065,0.00,2.12,0.00,0.000,4,0.000,0.041,3109,1165,2261
$GC,4199,0.98,267.2,331.7,21.2,146,4204,0.00,2.22,0.00,0.000,6,0.000,0.058,3101,2553,2260
$GC,4484,0.98,267.2,273.6,19.7,153,4487,0.00,2.10,0.00,0.000,4,0.000,0.035,3109,1160,2258
$GC,4551,0.98,267.2,261.0,17.3,154,4555,0.00,2.22,0.00,0.000,6,0.000,0.053,3109,2561,2257
$GC,4814,0.98,267.2,214.6,17.8,161,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2562,2257
$GC,5062,0.98,267.2,171.5,17.1,176,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2562,2256
$GC,5317,0.98,267.2,126.7,19.5,200,5321,0.00,2.12,0.00,0.000,4,0.000,0.058,3109,3898,2256
$GC,5356,0.98,267.2,118.9,19.1,203,5363,0.00,2.00,0.00,0.000,6,0.000,0.028,3119,2564,2256
$GC,5620,0.98,267.2,77.1,16.9,228,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2557,2256
$GC,5884,0.98,267.2,40.9,13.2,253,5888,0.00,2.10,0.00,0.000,4,0.000,0.028,3129,1130,2256
$GC,5909,0.98,267.2,37.8,12.5,255,5913,0.00,2.20,0.00,0.000,6,0.000,0.042,3123,2556,2256
$STATE,6156,end climb,SURFACE_DEPTH_REACHED
$STATE,6156,begin surface coast
$FINISH,0.4,1.024059
$STATE,6173,end surface coast,CONTROL_FINISHED_OK
$STATE,6173,begin surface
$SM_CCo,6194,46.20,0.597,0,0,1939,350.04
$SM_GC,0.99,0.00,0.00,46.20,0.000,0.000,0.597,48,2691,1939,-8.60,1.16,350.04
$IRIDIUM_FIX,2246.36,-15803.66,230400,070742
$TT8_MAMPS,0.024544
$HUMID,1846
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.9,67.892
$10V_AH,10.7,39.458
$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,21.675,52.075,352.950,46.200,0.000,23.907,37.128,112.884,0.000,0.000,0.000,15.536,613.601,4040.395,428.016,1099.640,355.132,33.362,878.057,0.000,1095.698,0.000,0.542,0.000
$DEVICE_MAMPS,290.693,81.302,1025.479,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,202.306,485.629,501.369,118.477,488.949,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25712,299
$CAP_FILE_SIZE,52384,0
$CFSIZE,260165632,240721920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,280111,105302,2253.737,-15803.654,14,1.7,14,10.1