version: 66.04
glider: 512
mission: 1
dive: 557
start: 1 31 111 4 28 9
data:
$ID,512
$MISSION,1
$DIVE,557
$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,-17996.197
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2900
$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,62
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3420
$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
$GPS1,041817,2249.802,-15801.079,19,1.7,19,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.4
$GPS2,042720,2249.738,-15801.124,24,1.4,24,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.067,0.234
$KALMAN_X,-170588.1,-1620.2,-544.3,189804.9,6537.9
$KALMAN_Y,-530200.6,586.8,458.3,657800.8,-7978.1
$MHEAD_RNG_PITCHd_Wd,333.9,7611,-18.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.88,-130.3,0.0,0.0,0,59,0.00,0.00,-38.35,0.000,2,0.000,0.000,30,2610,3004
$GC,63,-0.91,-155.7,3.3,-5.7,5,103,10.82,2.10,-18.02,0.000,4,0.233,0.075,2587,3872,3964
$GC,133,-0.91,-155.7,26.8,-33.3,15,141,0.00,1.80,0.00,0.000,6,0.000,0.025,2587,2658,3965
$GC,406,-0.91,-155.7,97.2,-25.4,41,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2651,3967
$GC,669,-0.91,-155.7,148.7,-20.2,66,672,0.00,2.05,0.00,0.000,4,0.000,0.027,2587,1256,3968
$GC,727,-0.91,-155.7,158.0,-13.2,71,731,0.00,2.22,0.00,0.000,6,0.000,0.055,2578,2637,3969
$GC,1019,-0.91,-155.7,207.2,-15.9,95,1022,0.00,2.05,0.00,0.000,4,0.000,0.069,2576,3897,3971
$GC,1046,-0.91,-155.7,211.4,-14.6,95,1051,0.12,1.80,0.00,0.000,6,0.144,0.025,2609,2642,3970
$GC,1309,-0.91,-155.7,234.5,-8.7,102,1312,0.00,2.03,0.00,0.000,4,0.000,0.026,2620,1248,3972
$GC,1355,-0.91,-155.7,238.3,-7.3,103,1359,0.00,2.25,0.00,0.000,6,0.000,0.056,2619,2664,3972
$GC,1640,-0.91,-155.7,262.4,-8.6,110,1644,0.00,2.00,0.00,0.000,4,0.000,0.072,2615,3893,3972
$GC,1668,-0.91,-155.7,265.0,-8.5,110,1672,0.00,1.80,0.00,0.000,6,0.000,0.026,2616,2636,3972
$GC,1930,-0.91,-155.7,285.4,-7.8,117,1934,0.00,2.00,0.00,0.000,4,0.000,0.026,2616,1257,3971
$GC,1964,-0.91,-155.7,288.2,-7.8,117,1969,0.00,2.20,0.00,0.000,6,0.000,0.053,2617,2649,3971
$GC,2216,-0.91,-155.7,309.5,-8.6,123,2219,0.00,2.03,0.00,0.000,4,0.000,0.071,2614,3893,3971
$GC,2244,-0.91,-155.7,312.0,-8.2,123,2248,0.00,1.77,0.00,0.000,6,0.000,0.025,2614,2648,3970
$GC,2507,-0.91,-155.7,332.3,-7.6,130,2510,0.00,2.03,0.00,0.000,4,0.000,0.026,2614,1251,3969
$GC,2563,-0.91,-155.7,336.7,-7.9,131,2567,0.00,2.22,0.00,0.000,6,0.000,0.051,2607,2660,3969
$GC,2836,-0.91,-155.7,359.6,-8.6,138,2840,0.00,2.00,0.00,0.000,4,0.000,0.067,2597,3892,3968
$GC,2876,-0.91,-155.7,363.4,-8.6,138,2882,0.00,1.80,0.00,0.000,6,0.000,0.026,2597,2639,3967
$GC,3127,-0.91,-155.7,386.6,-9.5,145,3130,0.00,2.03,0.00,0.000,4,0.000,0.028,2597,1259,3967
$GC,3183,-0.91,-155.7,391.9,-8.4,146,3188,0.00,2.22,0.00,0.000,6,0.000,0.054,2593,2656,3967
$GC,3457,-0.91,-155.7,417.1,-9.1,153,3461,0.00,2.03,0.00,0.000,4,0.000,0.074,2590,3888,3965
$GC,3491,-0.91,-155.7,420.2,-8.4,153,3495,0.00,1.77,0.00,0.000,6,0.000,0.027,2589,2660,3965
$GC,3747,-0.91,-155.7,441.6,-8.5,160,3751,0.00,2.05,0.00,0.000,4,0.000,0.028,2590,1264,3964
$GC,3787,-0.91,-155.7,445.0,-8.0,160,3794,0.00,2.25,0.00,0.000,6,0.000,0.056,2589,2647,3964
$GC,4038,-0.91,-155.7,466.6,-8.9,167,4042,0.00,2.05,0.00,0.000,4,0.000,0.071,2589,3899,3963
$GC,4078,-0.91,-155.7,470.1,-7.6,167,4084,0.00,1.83,0.00,0.000,6,0.000,0.026,2589,2638,3963
$GC,4329,-0.91,-155.7,490.5,-8.3,174,4333,0.00,2.03,0.00,0.000,4,0.000,0.029,2589,1266,3961
$GC,4386,-0.91,-155.7,495.5,-7.6,175,4390,0.00,2.22,0.00,0.000,6,0.000,0.058,2589,2649,3961
$GC,4659,-0.91,-155.7,517.7,-8.2,182,4663,0.00,2.03,0.00,0.000,4,0.000,0.071,2589,3893,3959
$GC,4693,-0.91,-155.7,520.4,-7.9,182,4697,0.00,1.80,0.00,0.000,6,0.000,0.027,2590,2651,3959
$GC,4950,-0.91,-155.7,539.7,-7.6,189,4953,0.00,2.05,0.00,0.000,4,0.000,0.030,2589,1260,3957
$GC,4989,-0.91,-155.7,543.0,-7.3,189,4996,0.00,2.25,0.00,0.000,6,0.000,0.058,2589,2653,3957
$GC,5241,-0.91,-155.7,562.8,-8.1,196,5245,0.00,2.05,0.00,0.000,4,0.000,0.075,2589,3898,3956
$GC,5281,-0.91,-155.7,566.1,-7.0,196,5287,0.00,1.83,0.00,0.000,6,0.000,0.027,2589,2636,3955
$GC,5532,-0.91,-155.7,583.1,-6.8,203,5536,0.00,2.10,0.00,0.000,4,0.000,0.072,2589,3895,3954
$GC,5726,-0.91,-155.7,597.6,-9.8,207,5730,0.00,1.85,0.00,0.000,6,0.000,0.028,2589,2652,3954
$STATE,5757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5757,begin apogee
$GC,5766,-0.32,0.0,600.1,6.4,208,5881,0.55,0.00,111.47,1.061,6,0.044,0.000,2809,2560,3420
$STATE,5882,end apogee,CONTROL_FINISHED_OK
$STATE,5882,begin climb
$GC,5886,0.91,155.7,608.1,0.0,211,6027,1.02,2.28,133.65,1.037,4,0.041,0.051,3192,3901,2784
$GC,6286,1.20,392.4,638.6,-2.2,220,6503,0.25,2.03,204.00,1.042,6,0.083,0.028,3286,2534,1820
$GC,6776,1.20,392.4,457.5,46.7,232,6780,0.00,2.20,0.00,0.000,4,0.000,0.051,3286,3903,1811
$GC,6916,1.20,392.4,393.0,44.7,235,6920,0.00,2.03,0.00,0.000,6,0.000,0.031,3295,2561,1810
$GC,7201,1.20,392.4,263.8,46.0,242,7205,0.00,2.12,0.00,0.000,4,0.000,0.030,3306,1127,1809
$GC,7223,1.20,392.4,252.9,46.1,242,7228,0.00,2.22,0.00,0.000,6,0.000,0.043,3301,2560,1808
$GC,7482,1.20,392.4,141.1,41.0,257,7486,0.00,2.10,0.00,0.000,4,0.000,0.029,3309,1132,1807
$GC,7496,1.20,392.4,134.5,41.9,258,7500,0.00,2.20,0.00,0.000,6,0.000,0.043,3309,2551,1806
$GC,7765,1.20,392.4,29.5,36.4,283,7773,0.00,2.15,0.00,0.000,4,0.000,0.052,3309,3893,1806
$STATE,7832,end climb,SURFACE_DEPTH_REACHED
$STATE,7832,begin surface coast
$FINISH,-0.0,1.023989
$STATE,7839,end surface coast,CONTROL_FINISHED_OK
$STATE,7839,begin surface
$SM_CCo,7923,0.00,0.000,0,0,1800,397.62
$SM_GC,1.07,8.85,0.00,0.00,0.056,0.000,0.000,38,2628,1800,-8.87,-0.62,397.62
$IRIDIUM_FIX,2241.69,-15802.37,260400,040446
$TT8_MAMPS,0.02301
$HUMID,2060
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,16.70
$XPDR_PINGS,1
$24V_AH,23.7,73.247
$10V_AH,10.7,41.841
$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,21.625,93.875,449.125,0.000,0.000,55.560,87.852,202.540,0.250,0.000,0.000,24.913,681.041,5518.529,455.097,1222.158,594.541,33.327,1066.292,0.000,1194.616,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,75.166,1060.761,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,199.789,393.469,404.051,80.116,333.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22532,296
$CAP_FILE_SIZE,74317,0
$CFSIZE,260165632,239411200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,310111,064131,2250.537,-15801.889,41,2.0,42,10.1