version: 66.04
glider: 512
mission: 1
dive: 641
start: 2 6 111 9 50 54
data:
$ID,512
$MISSION,1
$DIVE,641
$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,150
$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,-19859.738
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2865
$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,51
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3170
$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
$GPS1,094406,2248.386,-15803.159,34,1.2,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.3
$GPS2,095002,2248.448,-15803.125,17,1.2,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,0.078
$KALMAN_X,-190094.8,-93.0,-82.4,203865.8,2203.3
$KALMAN_Y,-554248.6,855.5,601.4,679043.9,-3642.5
$MHEAD_RNG_PITCHd_Wd,286.1,2689,-25.4,-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,-1.10,-67.6,0.0,0.0,0,71,0.00,0.00,-53.28,0.000,2,0.000,0.000,27,2696,3143
$GC,76,-1.16,-116.5,3.4,-4.9,7,101,10.25,2.22,-9.65,0.000,4,0.224,0.038,2490,1231,3647
$GC,245,-1.16,-116.5,58.3,-26.8,27,253,0.00,2.35,0.00,0.000,6,0.000,0.074,2481,2609,3650
$GC,508,-1.16,-116.5,150.9,-33.0,52,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2609,3651
$GC,787,-1.16,-116.5,236.5,-29.9,70,791,0.00,2.00,0.00,0.000,4,0.000,0.025,2482,1235,3653
$GC,811,-1.16,-116.5,242.9,-26.9,70,815,0.00,2.30,0.00,0.000,6,0.000,0.059,2473,2652,3653
$GC,1073,-1.16,-116.5,313.4,-26.9,77,1076,0.00,2.03,0.00,0.000,4,0.000,0.067,2463,3898,3654
$GC,1119,-1.16,-116.5,325.6,-25.6,78,1123,0.00,1.83,0.00,0.000,6,0.000,0.024,2463,2638,3654
$GC,1409,-1.16,-116.5,403.4,-26.9,85,1413,0.00,2.03,0.00,0.000,4,0.000,0.026,2462,1238,3654
$GC,1443,-1.16,-116.5,412.2,-25.4,85,1448,0.15,2.33,0.00,0.000,6,0.178,0.059,2489,2666,3654
$GC,1695,-1.16,-116.5,468.5,-22.6,91,1698,0.00,2.05,0.00,0.000,4,0.000,0.077,2481,3901,3653
$GC,1774,-1.16,-116.5,487.1,-21.2,92,1777,0.00,1.83,0.00,0.000,6,0.000,0.025,2482,2649,3652
$GC,2032,-1.16,-116.5,541.4,-21.2,99,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2640,3651
$GC,2274,-1.16,-116.5,592.5,-20.7,105,2278,0.00,2.15,0.00,0.000,4,0.000,0.083,2473,3895,3650
$STATE,2310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2310,begin apogee
$GC,2321,-0.32,0.0,600.8,19.9,105,2424,0.93,0.00,100.00,1.041,6,0.154,0.000,2750,2540,3170
$STATE,2425,end apogee,CONTROL_FINISHED_OK
$STATE,2425,begin climb
$GC,2428,1.16,116.5,605.9,0.0,108,2539,1.33,2.35,101.62,1.039,4,0.049,0.058,3253,3906,2694
$GC,2741,1.16,116.5,599.7,10.5,115,2745,0.00,2.05,0.00,0.000,6,0.000,0.028,3263,2537,2687
$GC,3021,1.17,124.8,573.3,8.8,122,3034,0.00,2.25,7.00,0.829,4,0.000,0.052,3258,3906,2661
$GC,3290,1.17,124.8,546.1,10.1,128,3294,0.00,2.03,0.00,0.000,6,0.000,0.028,3267,2539,2658
$GC,3581,1.18,130.3,519.3,9.1,135,3591,0.00,2.08,6.15,0.801,4,0.000,0.027,3278,1130,2638
$GC,3846,1.18,130.3,494.6,9.8,141,3851,0.12,2.22,0.00,0.000,6,0.244,0.046,3249,2554,2636
$GC,4133,1.22,164.7,473.9,6.3,148,4169,0.00,2.20,31.35,0.997,4,0.000,0.029,3258,1131,2498
$GC,4396,1.22,164.7,435.3,16.5,153,4400,0.00,2.28,0.00,0.000,6,0.000,0.048,3257,2562,2492
$GC,4685,1.22,164.7,384.1,18.0,160,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2561,2490
$GC,4932,1.22,164.7,344.9,15.6,166,4935,0.00,2.10,0.00,0.000,4,0.000,0.028,3267,1141,2489
$GC,5068,1.22,164.7,324.5,14.3,169,5073,0.00,2.20,0.00,0.000,6,0.000,0.044,3267,2559,2488
$GC,5354,1.22,164.7,283.5,14.0,176,5358,0.00,2.10,0.00,0.000,4,0.000,0.028,3278,1124,2487
$GC,5366,1.22,164.7,281.6,13.7,176,5370,0.00,2.25,0.00,0.000,6,0.000,0.046,3276,2555,2487
$GC,5639,1.22,164.7,244.4,13.2,183,5643,0.00,2.12,0.00,0.000,4,0.000,0.050,3271,3904,2487
$GC,5897,1.22,164.7,212.1,11.7,188,5900,0.00,2.00,0.00,0.000,6,0.000,0.028,3280,2551,2486
$GC,6158,1.27,207.4,193.2,5.5,201,6200,0.00,2.17,36.60,0.818,4,0.000,0.029,3290,1145,2324
$GC,6214,1.29,218.7,189.3,8.5,206,6231,0.00,2.22,11.55,0.746,6,0.000,0.045,3287,2548,2278
$GC,6494,1.29,218.7,129.0,23.8,231,6497,0.00,2.10,0.00,0.000,4,0.000,0.028,3295,1132,2272
$GC,6509,1.29,218.7,125.1,22.2,232,6513,0.00,2.25,0.00,0.000,6,0.000,0.048,3296,2555,2272
$GC,6773,1.29,218.7,72.6,17.2,256,6777,0.00,2.08,0.00,0.000,4,0.000,0.025,3306,1125,2271
$GC,6888,1.29,218.7,52.9,14.3,266,6897,0.00,2.25,0.00,0.000,6,0.000,0.040,3301,2549,2270
$GC,7156,1.29,218.7,8.3,18.1,302,7164,0.00,2.10,0.00,0.000,4,0.000,0.027,3309,1133,2270
$STATE,7180,end climb,SURFACE_DEPTH_REACHED
$STATE,7181,begin surface coast
$FINISH,0.2,1.024104
$STATE,7198,end surface coast,CONTROL_FINISHED_OK
$STATE,7198,begin surface
$SM_CCo,7223,74.45,0.653,0,0,1742,350.04
$SM_GC,1.78,0.00,0.00,74.45,0.000,0.000,0.653,25,2666,1742,-8.87,0.45,350.04
$IRIDIUM_FIX,2241.69,-15802.37,020500,070740
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.6,85.055
$10V_AH,10.7,46.867
$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,21.650,73.025,294.275,74.450,0.000,29.517,43.147,144.803,0.250,0.000,0.000,17.369,706.469,4719.728,401.090,1361.954,469.212,33.369,987.147,0.000,1345.289,0.000,0.543,0.000
$DEVICE_MAMPS,243.906,82.836,1040.819,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,209.140,467.618,480.751,107.983,448.327,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25662,309
$CAP_FILE_SIZE,66263,0
$CFSIZE,260165632,236695552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,060211,115325,2248.661,-15803.646,11,1.7,11,10.1