version: 66.04
glider: 512
mission: 1
dive: 519
start: 1 28 111 13 8 52
data:
$ID,512
$MISSION,1
$DIVE,519
$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,-17153.182
$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,46
$R_STBD_OVSHOOT,49
$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
$GPS1,130236,2253.797,-15802.740,86,0.9,87,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-78.3
$GPS2,130801,2253.842,-15802.760,16,1.0,16,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.253,0.077
$KALMAN_X,-164130.5,662.8,109.2,177573.3,-3617.1
$KALMAN_Y,-514995.1,905.8,660.4,649665.2,-5508.6
$MHEAD_RNG_PITCHd_Wd,63.0,12401,-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,-155.7,0.0,0.0,0,56,0.00,0.00,-38.33,0.000,2,0.000,0.000,30,2696,2934
$GC,60,-0.84,-155.7,3.3,-6.0,5,100,10.80,1.92,-19.98,0.000,4,0.241,0.071,2511,3862,3964
$GC,135,-0.84,-155.7,31.6,-47.4,16,139,0.00,1.80,0.00,0.000,6,0.000,0.025,2518,2645,3965
$GC,405,-0.84,-155.7,136.7,-36.3,41,408,0.00,2.08,0.00,0.000,4,0.000,0.028,2529,1236,3967
$GC,440,-0.84,-155.7,148.2,-30.0,44,444,0.00,2.22,0.00,0.000,6,0.000,0.054,2519,2622,3967
$GC,698,-0.84,-155.7,224.4,-28.9,62,702,0.00,2.03,0.00,0.000,4,0.000,0.061,2509,3895,3968
$GC,760,-0.84,-155.7,242.0,-23.2,63,764,0.00,1.83,0.00,0.000,6,0.000,0.024,2517,2641,3969
$GC,1032,-0.84,-155.7,309.1,-24.9,70,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2635,3969
$GC,1277,-0.84,-155.7,363.3,-22.2,76,1280,0.00,2.05,0.00,0.000,4,0.000,0.028,2522,1238,3969
$GC,1316,-0.84,-155.7,371.7,-18.8,76,1322,0.00,2.28,0.00,0.000,6,0.000,0.054,2512,2661,3969
$GC,1567,-0.84,-155.7,421.6,-20.4,83,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2660,3969
$GC,1810,-0.84,-155.7,468.9,-19.0,89,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2661,3968
$GC,2054,-0.84,-155.7,512.7,-17.9,95,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2661,3966
$GC,2299,-0.84,-155.7,555.3,-17.5,101,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2661,3965
$GC,2541,-0.84,-155.7,597.8,-17.1,107,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2661,3962
$STATE,2578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2579,begin apogee
$GC,2586,-0.32,0.0,604.8,17.1,108,2711,0.62,0.00,121.97,1.025,6,0.166,0.000,2689,2545,3367
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2715,0.84,155.7,612.6,0.0,111,2855,1.15,2.25,132.62,1.007,4,0.086,0.029,3083,1136,2731
$GC,3109,0.99,278.6,623.1,4.5,120,3221,0.12,2.25,105.72,1.012,6,0.122,0.047,3120,2551,2231
$GC,3500,0.99,278.6,533.6,27.3,130,3504,0.00,2.12,0.00,0.000,4,0.000,0.031,3130,1130,2221
$GC,3567,0.99,278.6,516.2,24.9,131,3572,0.00,2.25,0.00,0.000,6,0.000,0.047,3123,2552,2220
$GC,3829,0.99,278.6,448.3,26.4,138,3833,0.00,2.12,0.00,0.000,4,0.000,0.031,3132,1131,2217
$GC,3859,0.99,278.6,441.1,25.1,138,3863,0.00,2.25,0.00,0.000,6,0.000,0.048,3133,2560,2217
$GC,4115,0.99,278.6,376.5,25.5,145,4119,0.00,2.10,0.00,0.000,4,0.000,0.029,3142,1129,2216
$GC,4205,0.99,278.6,355.0,21.6,147,4209,0.00,2.22,0.00,0.000,6,0.000,0.047,3137,2551,2215
$GC,4490,0.99,278.6,284.9,24.5,154,4494,0.00,2.10,0.00,0.000,4,0.000,0.030,3146,1129,2213
$GC,4586,0.99,278.6,262.4,22.4,156,4590,0.00,2.25,0.00,0.000,6,0.000,0.050,3146,2560,2213
$GC,4865,0.99,278.6,199.6,22.3,163,4868,0.00,2.12,0.00,0.000,4,0.000,0.055,3146,3899,2211
$GC,4922,0.99,278.6,186.5,23.5,168,4927,0.15,2.00,0.00,0.000,6,0.253,0.027,3126,2539,2210
$GC,5194,0.99,278.6,132.1,21.3,193,5198,0.00,2.08,0.00,0.000,4,0.000,0.029,3136,1132,2210
$GC,5296,0.99,278.6,112.0,15.2,202,5300,0.00,2.22,0.00,0.000,6,0.000,0.045,3136,2561,2210
$GC,5560,0.99,278.6,71.2,15.3,226,5564,0.00,2.10,0.00,0.000,4,0.000,0.056,3135,3895,2209
$GC,5606,0.99,278.6,63.8,16.6,230,5610,0.00,2.00,0.00,0.000,6,0.000,0.025,3146,2521,2210
$GC,5870,0.99,278.6,20.8,15.2,260,5878,0.00,2.22,0.00,0.000,4,0.000,0.054,3146,3884,2209
$GC,5934,0.99,278.6,9.4,19.0,271,5943,0.12,1.98,0.00,0.000,6,0.240,0.025,3126,2550,2210
$STATE,5965,end climb,SURFACE_DEPTH_REACHED
$STATE,5965,begin surface coast
$FINISH,0.4,1.024033
$STATE,5983,end surface coast,CONTROL_FINISHED_OK
$STATE,5983,begin surface
$SM_CCo,6004,40.33,0.599,0,0,1940,350.04
$SM_GC,1.47,0.00,0.00,40.33,0.000,0.000,0.599,48,2684,1940,-8.61,0.96,350.04
$IRIDIUM_FIX,2246.36,-15801.49,230400,111141
$TT8_MAMPS,0.023777
$HUMID,1865
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.9,68.138
$10V_AH,10.7,39.601
$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,21.400,55.175,360.325,40.325,0.000,28.258,33.427,140.667,0.250,0.000,0.000,16.141,589.104,3920.802,434.809,1033.623,398.355,33.341,872.949,0.000,1032.678,0.000,0.543,0.000
$DEVICE_MAMPS,253.110,71.331,1025.479,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,188.637,442.587,456.707,105.567,430.953,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22509,279
$CAP_FILE_SIZE,53188,0
$CFSIZE,260165632,240652288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,280111,145025,2253.769,-15801.854,9,1.8,9,10.1