version: 66.04
glider: 512
mission: 1
dive: 530
start: 1 29 111 8 23 41
data:
$ID,512
$MISSION,1
$DIVE,530
$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,-17367.961
$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,35
$R_STBD_OVSHOOT,51
$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
$GPS1,081738,2252.836,-15755.949,13,1.8,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.1
$GPS2,082249,2252.807,-15755.991,15,2.0,32,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,-0.090
$KALMAN_X,-181623.2,3035.4,670.4,203754.9,-14410.4
$KALMAN_Y,-522424.8,1922.6,361.7,654458.3,-6631.2
$MHEAD_RNG_PITCHd_Wd,99.8,11190,-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,-155.7,0.0,0.0,0,79,0.00,0.00,-61.12,0.000,2,0.000,0.000,34,2691,2983
$GC,83,-0.84,-155.7,3.5,-6.0,8,116,10.43,2.25,-18.25,0.000,4,0.234,0.041,2526,1215,3963
$GC,141,-0.84,-155.7,25.8,-42.6,16,150,0.00,2.30,0.00,0.000,6,0.000,0.058,2518,2609,3964
$GC,413,-0.84,-155.7,124.6,-32.3,42,416,0.00,2.10,0.00,0.000,4,0.000,0.066,2508,3907,3967
$GC,437,-0.84,-155.7,132.7,-33.5,44,441,0.00,1.88,0.00,0.000,6,0.000,0.025,2513,2620,3966
$GC,713,-0.84,-155.7,214.1,-28.0,67,716,0.00,2.12,0.00,0.000,4,0.000,0.066,2504,3909,3968
$GC,759,-0.84,-155.7,226.2,-25.2,68,763,0.00,1.85,0.00,0.000,6,0.000,0.024,2507,2640,3969
$GC,1048,-0.84,-155.7,291.8,-23.0,75,1052,0.00,2.03,0.00,0.000,4,0.000,0.028,2517,1245,3970
$GC,1081,-0.84,-155.7,299.0,-19.6,75,1085,0.00,2.33,0.00,0.000,6,0.000,0.069,2508,2662,3970
$GC,1332,-0.84,-155.7,354.7,-23.1,81,1336,0.00,2.03,0.00,0.000,4,0.000,0.075,2499,3893,3970
$GC,1360,-0.84,-155.7,362.2,-26.4,81,1364,0.00,1.83,0.00,0.000,6,0.000,0.025,2502,2644,3970
$GC,1622,-0.84,-155.7,419.9,-21.8,88,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2638,3970
$GC,1866,-0.84,-155.7,470.2,-20.6,94,1869,0.00,2.10,0.00,0.000,4,0.000,0.076,2495,3890,3969
$GC,1894,-0.84,-155.7,476.6,-22.1,94,1897,0.00,1.83,0.00,0.000,6,0.000,0.026,2499,2646,3969
$GC,2157,-0.84,-155.7,528.1,-19.5,101,2160,0.00,2.08,0.00,0.000,4,0.000,0.031,2510,1241,3968
$GC,2196,-0.84,-155.7,535.5,-15.4,101,2202,0.00,2.33,0.00,0.000,6,0.000,0.067,2501,2648,3967
$GC,2446,-0.84,-155.7,578.0,-17.3,108,2450,0.00,2.05,0.00,0.000,4,0.000,0.077,2491,3893,3966
$GC,2492,-0.84,-155.7,586.1,-16.2,109,2496,0.10,1.83,0.00,0.000,6,0.158,0.026,2525,2649,3965
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2616,begin apogee
$GC,2623,-0.32,0.0,604.0,14.0,112,2751,0.55,0.00,124.15,1.025,6,0.136,0.000,2695,2531,3367
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin climb
$GC,2755,0.84,155.7,611.5,0.0,115,2897,1.15,2.38,132.70,1.009,4,0.107,0.061,3054,3896,2731
$GC,3155,0.95,240.3,619.0,6.1,124,3235,0.12,2.03,72.82,1.013,6,0.159,0.031,3095,2550,2386
$GC,3477,0.95,240.3,562.0,20.7,132,3480,0.00,2.22,0.00,0.000,4,0.000,0.062,3094,3905,2378
$GC,3659,0.95,240.3,520.8,23.6,136,3663,0.00,2.03,0.00,0.000,6,0.000,0.031,3102,2558,2377
$GC,3948,0.95,240.3,458.8,21.0,143,3952,0.00,2.15,0.00,0.000,4,0.000,0.035,3113,1135,2374
$GC,4148,0.95,240.3,420.3,17.9,147,4152,0.00,2.30,0.00,0.000,6,0.000,0.059,3110,2559,2373
$GC,4422,0.95,240.3,370.6,17.7,154,4426,0.00,2.12,0.00,0.000,4,0.000,0.034,3119,1140,2371
$GC,4450,0.95,240.3,365.4,16.4,154,4454,0.00,2.25,0.00,0.000,6,0.000,0.054,3110,2551,2371
$GC,4707,0.95,240.3,323.2,16.6,161,4711,0.00,2.12,0.00,0.000,4,0.000,0.033,3119,1133,2370
$GC,4864,0.95,240.3,295.5,16.4,164,4868,0.00,2.28,0.00,0.000,6,0.000,0.055,3110,2555,2369
$GC,5128,0.95,240.3,250.3,16.8,171,5132,0.00,2.12,0.00,0.000,4,0.000,0.032,3119,1139,2368
$GC,5386,0.95,240.3,214.7,13.1,176,5390,0.00,2.25,0.00,0.000,6,0.000,0.054,3110,2563,2367
$GC,5648,0.95,240.3,182.0,11.6,192,5652,0.00,2.15,0.00,0.000,4,0.000,0.059,3110,3903,2366
$GC,5673,0.95,240.3,178.9,12.8,194,5677,0.00,2.03,0.00,0.000,6,0.000,0.028,3119,2537,2366
$GC,5942,0.95,240.3,146.4,11.6,219,5946,0.00,2.17,0.00,0.000,4,0.000,0.055,3121,3899,2366
$GC,6198,0.95,240.3,110.0,14.8,242,6202,0.00,1.98,0.00,0.000,6,0.000,0.026,3131,2541,2366
$GC,6468,1.00,282.4,80.4,7.9,267,6506,0.00,2.12,33.50,0.671,4,0.000,0.027,3142,1138,2215
$GC,6610,1.00,282.4,64.0,15.4,279,6618,0.00,2.28,0.00,0.000,6,0.000,0.046,3138,2550,2211
$GC,6873,1.00,282.4,23.0,14.4,308,6881,0.00,2.10,0.00,0.000,4,0.000,0.027,3147,1150,2210
$STATE,7003,end climb,SURFACE_DEPTH_REACHED
$STATE,7003,begin surface coast
$FINISH,0.4,1.024023
$STATE,7030,end surface coast,CONTROL_FINISHED_OK
$STATE,7030,begin surface
$SM_CCo,7052,38.78,0.592,0,0,1939,350.04
$SM_GC,1.58,0.00,0.00,38.78,0.000,0.000,0.592,27,2662,1939,-8.67,0.34,350.04
$IRIDIUM_FIX,2244.02,-15754.11,240400,070736
$TT8_MAMPS,0.023777
$HUMID,1840
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.9,69.580
$10V_AH,10.7,40.291
$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,20.425,76.525,363.175,38.775,0.000,25.110,36.385,121.701,0.000,0.000,0.000,32.931,722.168,4437.947,424.958,1433.891,395.275,33.335,1029.099,0.000,1403.177,0.000,0.543,0.000
$DEVICE_MAMPS,233.935,76.700,1025.479,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,227.006,548.431,564.116,127.740,524.133,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28874,336
$CAP_FILE_SIZE,64718,0
$CFSIZE,260165632,240271360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,290111,102307,2252.233,-15755.479,34,1.0,34,10.1