version: 66.04
glider: 512
mission: 1
dive: 520
start: 1 28 111 14 56 13
data:
$ID,512
$MISSION,1
$DIVE,520
$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,-17171.268
$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,58
$R_STBD_OVSHOOT,45
$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
$GPS1,145025,2253.769,-15801.854,9,1.8,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-78.0
$GPS2,145520,2253.789,-15801.864,17,1.0,17,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.250,0.084
$KALMAN_X,-164739.3,-89.5,60.4,180521.0,-3726.4
$KALMAN_Y,-515267.5,760.8,488.9,650163.6,-5442.4
$MHEAD_RNG_PITCHd_Wd,61.4,10871,-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,-37.83,0.000,2,0.000,0.000,48,2684,2909
$GC,60,-0.84,-155.7,3.3,-5.9,5,99,10.80,0.00,-20.90,0.000,6,0.244,0.000,2514,2684,3962
$GC,364,-0.84,-155.7,125.0,-42.8,38,367,0.00,1.88,0.00,0.000,4,0.000,0.050,2506,3877,3964
$GC,410,-0.84,-155.7,140.7,-27.8,42,414,0.00,1.80,0.00,0.000,6,0.000,0.025,2510,2651,3965
$GC,694,-0.84,-155.7,223.9,-28.8,63,698,0.00,2.08,0.00,0.000,4,0.000,0.028,2521,1230,3967
$GC,750,-0.84,-155.7,239.7,-23.0,64,754,0.00,2.22,0.00,0.000,6,0.000,0.055,2511,2622,3967
$GC,1030,-0.84,-155.7,307.1,-25.0,71,1034,0.00,2.03,0.00,0.000,4,0.000,0.026,2518,1236,3968
$GC,1057,-0.84,-155.7,313.7,-21.1,71,1062,0.00,2.25,0.00,0.000,6,0.000,0.054,2508,2654,3968
$GC,1313,-0.84,-155.7,370.9,-23.4,78,1317,0.00,2.00,0.00,0.000,4,0.000,0.064,2498,3902,3967
$GC,1341,-0.84,-155.7,377.8,-24.4,78,1345,0.00,1.88,0.00,0.000,6,0.000,0.025,2506,2634,3967
$GC,1602,-0.84,-155.7,435.4,-22.5,85,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2627,3967
$GC,1847,-0.84,-155.7,485.5,-20.2,91,1850,0.00,2.08,0.00,0.000,4,0.000,0.062,2498,3902,3966
$GC,1869,-0.84,-155.7,490.3,-19.6,91,1873,0.00,1.83,0.00,0.000,6,0.000,0.025,2505,2643,3966
$GC,2136,-0.84,-155.7,540.0,-18.7,98,2140,0.00,2.05,0.00,0.000,4,0.000,0.065,2497,3892,3964
$GC,2170,-0.84,-155.7,546.5,-18.1,98,2174,0.00,1.83,0.00,0.000,6,0.000,0.026,2504,2659,3964
$GC,2426,-0.84,-155.7,591.3,-17.9,105,2430,0.00,2.05,0.00,0.000,4,0.000,0.066,2496,3901,3962
$GC,2449,-0.84,-155.7,595.8,-18.9,105,2452,0.00,1.83,0.00,0.000,6,0.000,0.027,2503,2649,3962
$STATE,2509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2510,begin apogee
$GC,2517,-0.32,0.0,606.9,17.9,107,2642,0.65,0.00,122.03,1.024,6,0.163,0.000,2692,2547,3367
$STATE,2643,end apogee,CONTROL_FINISHED_OK
$STATE,2643,begin climb
$GC,2647,0.84,155.7,616.1,0.0,110,2783,1.12,0.00,132.25,1.006,6,0.079,0.000,3073,2547,2732
$GC,3000,1.01,290.0,630.8,4.0,119,3124,0.15,2.28,115.80,1.009,4,0.116,0.056,3120,3905,2183
$GC,3133,1.01,290.0,609.1,29.6,122,3137,0.00,2.08,0.00,0.000,6,0.000,0.027,3129,2565,2181
$GC,3417,1.01,290.0,523.8,29.7,129,3420,0.00,2.15,0.00,0.000,4,0.000,0.032,3140,1134,2174
$GC,3462,1.01,290.0,510.6,29.1,130,3467,0.00,2.28,0.00,0.000,6,0.000,0.049,3137,2554,2173
$GC,3747,1.01,290.0,431.0,27.6,137,3751,0.00,2.12,0.00,0.000,4,0.000,0.031,3146,1129,2170
$GC,3797,1.01,290.0,418.4,24.4,138,3801,0.00,2.25,0.00,0.000,6,0.000,0.049,3146,2555,2170
$GC,4075,1.01,290.0,345.6,25.9,145,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2556,2169
$GC,4320,1.01,290.0,278.7,27.2,151,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2555,2168
$GC,4563,1.01,290.0,218.3,24.4,157,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2556,2166
$GC,4816,1.01,290.0,158.9,22.8,175,4819,0.00,2.12,0.00,0.000,4,0.000,0.031,3155,1126,2166
$GC,4844,1.01,290.0,152.1,22.0,177,4852,0.00,2.25,0.00,0.000,6,0.000,0.047,3150,2542,2166
$GC,5106,1.01,290.0,99.1,15.3,202,5110,0.00,2.08,0.00,0.000,4,0.000,0.028,3158,1123,2165
$GC,5152,1.01,290.0,90.3,19.4,206,5157,0.15,2.25,0.00,0.000,6,0.222,0.046,3126,2553,2165
$GC,5418,1.01,290.0,49.6,15.7,230,5422,0.00,2.12,0.00,0.000,4,0.000,0.055,3123,3895,2164
$GC,5530,1.01,290.0,28.5,17.8,240,5538,0.00,2.03,0.00,0.000,6,0.000,0.025,3132,2533,2164
$STATE,5671,end climb,SURFACE_DEPTH_REACHED
$STATE,5671,begin surface coast
$FINISH,0.1,1.024020
$STATE,5693,end surface coast,CONTROL_FINISHED_OK
$STATE,5693,begin surface
$SM_CCo,5714,30.75,0.595,0,0,1939,350.04
$SM_GC,2.16,0.00,0.00,30.75,0.000,0.000,0.595,44,2666,1939,-8.61,0.42,350.04
$IRIDIUM_FIX,2246.36,-15801.49,230400,131313
$TT8_MAMPS,0.023777
$HUMID,1900
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,23.9,68.258
$10V_AH,10.7,39.661
$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,21.450,54.050,370.075,30.750,0.000,24.277,38.016,118.600,0.250,0.000,0.000,17.459,559.570,3745.635,417.937,959.119,368.635,33.358,839.826,0.000,955.793,0.000,0.544,0.000
$DEVICE_MAMPS,243.906,65.962,1023.945,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,181.876,427.185,440.858,103.430,423.995,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22593,269
$CAP_FILE_SIZE,50244,0
$CFSIZE,260165632,240619520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,280111,163324,2253.740,-15801.072,29,1.4,45,10.1