version: 66.04
glider: 512
mission: 1
dive: 573
start: 2 1 111 9 43 18
data:
$ID,512
$MISSION,1
$DIVE,573
$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,-18374.656
$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,45
$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,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
$GPS1,093730,2247.862,-15755.647,42,0.9,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.5
$GPS2,094226,2247.885,-15755.647,18,0.9,18,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.211,0.159
$KALMAN_X,-185646.4,1427.6,109.3,210569.4,385.8
$KALMAN_Y,-531975.7,-1111.0,171.7,658140.6,-2980.8
$MHEAD_RNG_PITCHd_Wd,297.0,4024,-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,-155.7,0.0,0.0,0,79,0.00,0.00,-60.78,0.000,2,0.000,0.000,42,2674,3160
$GC,83,-0.84,-155.7,3.2,-3.2,8,116,10.65,2.15,-14.62,0.000,4,0.234,0.041,2574,1225,3962
$GC,227,-0.84,-155.7,42.7,-14.3,26,231,0.00,2.30,0.00,0.000,6,0.000,0.061,2565,2625,3965
$GC,490,-0.84,-155.7,113.2,-25.6,50,493,0.00,2.05,0.00,0.000,4,0.000,0.064,2556,3900,3966
$GC,517,-0.84,-155.7,120.8,-25.8,52,525,0.00,1.85,0.00,0.000,6,0.000,0.024,2557,2656,3966
$GC,781,-0.84,-155.7,180.2,-21.8,77,784,0.00,2.08,0.00,0.000,4,0.000,0.028,2560,1240,3968
$GC,882,-0.84,-155.7,197.3,-13.2,86,886,0.00,2.30,0.00,0.000,6,0.000,0.057,2551,2666,3969
$GC,1154,-0.84,-155.7,250.3,-19.6,94,1157,0.00,2.10,0.00,0.000,4,0.000,0.026,2554,1237,3970
$GC,1200,-0.84,-155.7,258.0,-15.5,95,1204,0.00,2.30,0.00,0.000,6,0.000,0.059,2549,2657,3970
$GC,1486,-0.84,-155.7,309.5,-18.6,102,1490,0.00,2.00,0.00,0.000,4,0.000,0.064,2540,3900,3971
$GC,1520,-0.84,-155.7,316.2,-17.6,102,1524,0.08,1.85,0.00,0.000,6,0.142,0.024,2581,2638,3971
$GC,1775,-0.84,-155.7,346.9,-11.8,109,1779,0.00,2.03,0.00,0.000,4,0.000,0.026,2586,1246,3971
$GC,1823,-0.84,-155.7,351.4,-8.2,110,1827,0.00,2.25,0.00,0.000,6,0.000,0.055,2577,2658,3971
$GC,2107,-0.84,-155.7,384.5,-11.8,117,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2658,3970
$GC,2350,-0.84,-155.7,413.1,-11.7,123,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2658,3970
$GC,2594,-0.84,-155.7,441.3,-11.6,129,2598,0.00,2.08,0.00,0.000,4,0.000,0.027,2578,1251,3968
$GC,2623,-0.84,-155.7,444.6,-10.9,129,2627,0.00,2.25,0.00,0.000,6,0.000,0.057,2577,2649,3968
$GC,2880,-0.84,-155.7,471.6,-10.7,136,2884,0.00,2.05,0.00,0.000,4,0.000,0.075,2576,3896,3967
$GC,2926,-0.84,-155.7,476.1,-8.8,137,2930,0.00,1.85,0.00,0.000,6,0.000,0.025,2576,2638,3966
$GC,3216,-0.84,-155.7,504.1,-9.8,144,3220,0.00,2.03,0.00,0.000,4,0.000,0.028,2576,1256,3966
$GC,3263,-0.84,-155.7,508.4,-7.9,145,3267,0.00,2.25,0.00,0.000,6,0.000,0.059,2576,2651,3966
$GC,3547,-0.84,-155.7,536.5,-10.0,152,3551,0.00,2.03,0.00,0.000,4,0.000,0.072,2576,3893,3963
$GC,3598,-0.84,-155.7,541.4,-8.4,153,3601,0.00,1.83,0.00,0.000,6,0.000,0.025,2576,2654,3963
$GC,3883,-0.84,-155.7,567.1,-9.0,160,3886,0.00,2.05,0.00,0.000,4,0.000,0.027,2576,1254,3962
$GC,3930,-0.84,-155.7,571.0,-7.7,161,3934,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2652,3961
$GC,4214,-0.84,-155.7,596.3,-8.9,168,4218,0.00,2.05,0.00,0.000,4,0.000,0.077,2576,3890,3959
$GC,4254,-0.84,-155.7,599.7,-7.8,168,4260,0.00,1.80,0.00,0.000,6,0.000,0.025,2576,2646,3958
$STATE,4298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4298,begin apogee
$GC,4306,-0.32,0.0,603.6,8.1,170,4421,0.52,0.00,112.12,1.056,6,0.112,0.000,2747,2558,3420
$STATE,4422,end apogee,CONTROL_FINISHED_OK
$STATE,4422,begin climb
$GC,4426,0.84,155.7,610.5,0.0,173,4568,1.02,2.33,133.07,1.032,4,0.056,0.062,3122,3902,2784
$GC,4827,1.23,470.6,639.8,-3.5,182,5110,0.32,2.00,271.05,1.029,6,0.071,0.028,3250,2546,1501
$GC,5354,1.23,470.6,425.9,53.6,195,5357,0.00,2.10,0.00,0.000,4,0.000,0.032,3261,1156,1495
$GC,5428,1.23,470.6,388.2,47.8,196,5432,0.00,2.22,0.00,0.000,6,0.000,0.049,3257,2557,1494
$GC,5686,1.23,470.6,254.2,52.9,203,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2557,1492
$GC,5935,1.23,470.6,130.8,47.3,218,5938,0.00,2.08,0.00,0.000,4,0.000,0.031,3266,1164,1492
$GC,5980,1.23,470.6,110.6,44.0,222,5985,0.00,2.20,0.00,0.000,6,0.000,0.046,3266,2562,1491
$STATE,6228,end climb,SURFACE_DEPTH_REACHED
$STATE,6228,begin surface coast
$FINISH,0.1,1.001397
$STATE,6235,end surface coast,CONTROL_FINISHED_OK
$STATE,6235,begin surface
$SM_CCo,6316,0.00,0.000,0,0,1486,474.40
$SM_GC,0.89,8.45,0.00,0.00,0.041,0.000,0.000,35,2670,1486,-8.71,0.57,474.40
$IRIDIUM_FIX,2237.01,-15754.99,270400,070725
$TT8_MAMPS,0.023777
$HUMID,2059
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.7,75.731
$10V_AH,10.7,42.734
$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,21.050,62.850,516.250,0.000,0.000,25.329,41.253,112.427,0.500,0.000,0.000,19.083,555.137,4169.475,480.742,1034.539,378.540,33.336,1010.265,0.000,1017.067,0.000,0.541,0.000
$DEVICE_MAMPS,233.935,82.069,1056.159,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,169.090,352.574,362.176,77.376,319.070,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19334,251
$CAP_FILE_SIZE,56310,0
$CFSIZE,260165632,238931968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,010211,112943,2248.121,-15756.802,14,1.7,31,10.1