version: 66.04
glider: 512
mission: 1
dive: 558
start: 1 31 111 6 47 31
data:
$ID,512
$MISSION,1
$DIVE,558
$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,-18010.312
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,25
$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
$GPS1,064131,2250.537,-15801.889,41,2.0,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.0
$GPS2,064638,2250.500,-15801.921,13,2.0,13,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.263,-0.023
$KALMAN_X,-172712.3,-1280.9,-261.6,189935.8,1733.1
$KALMAN_Y,-530493.8,515.1,194.5,659839.6,-4300.5
$MHEAD_RNG_PITCHd_Wd,84.9,9568,-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,-155.7,0.0,0.0,0,64,0.00,0.00,-45.45,0.000,2,0.000,0.000,33,2624,2993
$GC,68,-0.84,-155.7,3.6,-6.2,6,108,10.80,2.08,-17.60,0.000,4,0.235,0.041,2570,1251,3963
$GC,239,-0.84,-155.7,44.7,-15.4,26,244,0.00,2.28,0.00,0.000,6,0.000,0.064,2561,2641,3966
$GC,502,-0.84,-155.7,116.4,-25.5,50,506,0.00,2.05,0.00,0.000,4,0.000,0.067,2551,3903,3968
$GC,571,-0.84,-155.7,130.6,-15.2,56,574,0.00,1.83,0.00,0.000,6,0.000,0.025,2552,2648,3968
$GC,839,-0.84,-155.7,188.0,-21.6,81,843,0.00,2.05,0.00,0.000,4,0.000,0.027,2552,1245,3970
$GC,900,-0.84,-155.7,199.4,-14.8,86,907,0.00,2.30,0.00,0.000,6,0.000,0.061,2549,2649,3971
$GC,1150,-0.84,-155.7,247.7,-19.9,93,1154,0.00,2.00,0.00,0.000,4,0.000,0.065,2540,3895,3972
$GC,1196,-0.84,-155.7,256.1,-16.3,94,1200,0.15,1.80,0.00,0.000,6,0.138,0.025,2581,2651,3972
$GC,1488,-0.84,-155.7,295.1,-13.6,101,1491,0.00,2.05,0.00,0.000,4,0.000,0.027,2586,1250,3972
$GC,1544,-0.84,-155.7,302.1,-10.1,102,1548,0.00,2.25,0.00,0.000,6,0.000,0.054,2578,2665,3972
$GC,1816,-0.84,-155.7,337.4,-13.1,109,1820,0.00,2.00,0.00,0.000,4,0.000,0.070,2577,3886,3973
$GC,1868,-0.84,-155.7,343.0,-9.5,110,1871,0.00,1.80,0.00,0.000,6,0.000,0.025,2576,2641,3972
$GC,2152,-0.84,-155.7,374.2,-11.2,117,2155,0.00,2.03,0.00,0.000,4,0.000,0.028,2576,1257,3972
$GC,2185,-0.84,-155.7,378.1,-10.5,117,2190,0.00,2.22,0.00,0.000,6,0.000,0.055,2576,2658,3972
$GC,2442,-0.84,-155.7,407.4,-12.1,124,2445,0.00,2.03,0.00,0.000,4,0.000,0.069,2576,3900,3971
$GC,2493,-0.84,-155.7,413.1,-9.2,125,2496,0.00,1.83,0.00,0.000,6,0.000,0.025,2576,2639,3971
$GC,2777,-0.84,-155.7,442.3,-10.3,132,2781,0.00,2.03,0.00,0.000,4,0.000,0.028,2576,1260,3970
$GC,2817,-0.84,-155.7,446.2,-9.1,132,2823,0.00,2.25,0.00,0.000,6,0.000,0.059,2576,2651,3969
$GC,3068,-0.84,-155.7,470.5,-9.9,139,3071,0.00,2.05,0.00,0.000,4,0.000,0.074,2576,3894,3968
$GC,3101,-0.84,-155.7,473.9,-9.8,139,3105,0.00,1.80,0.00,0.000,6,0.000,0.025,2576,2649,3968
$GC,3358,-0.84,-155.7,498.7,-10.0,146,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2643,3967
$GC,3603,-0.84,-155.7,522.9,-9.8,152,3606,0.00,2.05,0.00,0.000,4,0.000,0.030,2576,1261,3966
$GC,3651,-0.84,-155.7,527.5,-8.9,153,3655,0.00,2.28,0.00,0.000,6,0.000,0.063,2576,2660,3966
$GC,3935,-0.84,-155.7,557.7,-11.1,160,3939,0.00,2.03,0.00,0.000,4,0.000,0.075,2576,3892,3964
$GC,3982,-0.84,-155.7,562.5,-9.8,161,3986,0.00,1.83,0.00,0.000,6,0.000,0.028,2576,2658,3964
$GC,4273,-0.84,-155.7,592.3,-9.9,168,4276,0.00,2.08,0.00,0.000,4,0.000,0.031,2576,1259,3962
$GC,4329,-0.84,-155.7,597.9,-9.3,169,4333,0.00,2.28,0.00,0.000,6,0.000,0.062,2576,2654,3962
$STATE,4348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4348,begin apogee
$GC,4356,-0.32,0.0,600.0,9.6,169,4471,0.50,0.00,112.32,1.052,6,0.117,0.000,2743,2553,3421
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4472,begin climb
$GC,4475,0.84,155.7,605.5,0.0,172,4617,1.05,2.25,133.02,1.032,4,0.062,0.031,3128,1133,2785
$GC,4711,1.23,473.0,630.1,-3.6,177,4993,0.35,2.30,273.52,1.019,6,0.065,0.048,3248,2565,1491
$GC,5262,1.23,473.0,405.6,53.1,191,5265,0.00,2.10,0.00,0.000,4,0.000,0.046,3244,3907,1484
$GC,5431,1.23,473.0,323.5,48.9,194,5434,0.00,2.05,0.00,0.000,6,0.000,0.032,3253,2552,1482
$GC,5688,1.23,473.0,192.2,51.6,201,5692,0.00,2.15,0.00,0.000,4,0.000,0.037,3264,1130,1482
$GC,5770,1.23,473.0,152.2,49.5,208,5774,0.00,2.25,0.00,0.000,6,0.000,0.046,3258,2555,1481
$GC,6034,1.23,473.0,25.2,45.2,233,6042,0.00,2.15,0.00,0.000,4,0.000,0.032,3266,1140,1480
$STATE,6085,end climb,SURFACE_DEPTH_REACHED
$STATE,6085,begin surface coast
$FINISH,0.0,1.010836
$STATE,6092,end surface coast,CONTROL_FINISHED_OK
$STATE,6092,begin surface
$SM_CCo,6176,0.00,0.000,0,0,1475,476.86
$SM_GC,1.06,8.48,0.00,0.00,0.041,0.000,0.000,36,2668,1475,-8.71,0.51,476.86
$IRIDIUM_FIX,2239.35,-15759.32,260400,040436
$TT8_MAMPS,0.023777
$HUMID,2065
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.7,73.407
$10V_AH,10.7,41.897
$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,21.325,71.050,518.875,0.000,0.000,25.193,43.615,122.046,0.000,0.000,0.000,13.489,551.635,4033.660,480.320,1030.992,391.259,33.360,1015.143,0.000,1020.587,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,75.166,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,163.623,341.790,352.453,75.078,308.627,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19332,243
$CAP_FILE_SIZE,56812,0
$CFSIZE,260165632,239394816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,310111,083120,2250.031,-15801.304,15,1.9,16,10.1