version: 66.04
glider: 512
mission: 1
dive: 516
start: 1 28 111 7 35 47
data:
$ID,512
$MISSION,1
$DIVE,516
$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,-17101.762
$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,43
$R_STBD_OVSHOOT,48
$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
$GPS1,072616,2252.497,-15804.417,11,3.3,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-79.9
$GPS2,073456,2252.517,-15804.476,15,1.6,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.007,0.264
$KALMAN_X,-161587.8,608.9,35.6,172204.2,-1397.9
$KALMAN_Y,-518141.5,3927.6,1138.1,646856.6,-12535.1
$MHEAD_RNG_PITCHd_Wd,348.5,2523,-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,-155.7,0.0,0.0,0,55,0.00,0.00,-37.70,0.000,2,0.000,0.000,51,2680,2919
$GC,59,-0.84,-155.7,3.3,-6.4,5,99,10.62,1.98,-20.55,0.000,4,0.239,0.081,2508,3856,3963
$GC,238,-0.84,-155.7,64.2,-30.5,26,242,0.00,1.80,0.00,0.000,6,0.000,0.028,2513,2648,3964
$GC,508,-0.84,-155.7,160.8,-35.4,51,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2641,3967
$GC,794,-0.84,-155.7,248.6,-29.0,67,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2640,3969
$GC,1038,-0.84,-155.7,314.9,-26.6,73,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2640,3969
$GC,1282,-0.84,-155.7,371.9,-22.9,79,1285,0.00,2.05,0.00,0.000,4,0.000,0.080,2506,3860,3969
$GC,1321,-0.84,-155.7,381.5,-23.2,79,1327,0.00,1.80,0.00,0.000,6,0.000,0.029,2514,2652,3969
$GC,1573,-0.84,-155.7,435.4,-21.9,86,1576,0.00,2.15,0.00,0.000,4,0.000,0.041,2518,1238,3969
$GC,1606,-0.84,-155.7,442.6,-20.2,86,1610,0.00,2.28,0.00,0.000,6,0.000,0.070,2509,2616,3969
$GC,1856,-0.84,-155.7,493.9,-21.2,92,1860,0.00,2.15,0.00,0.000,4,0.000,0.081,2499,3904,3968
$GC,1913,-0.84,-155.7,505.2,-18.1,93,1916,0.00,1.88,0.00,0.000,6,0.000,0.030,2506,2652,3967
$GC,2191,-0.84,-155.7,560.5,-20.4,100,2195,0.00,2.15,0.00,0.000,4,0.000,0.043,2511,1242,3965
$GC,2230,-0.84,-155.7,568.3,-18.2,100,2237,0.00,2.38,0.00,0.000,6,0.000,0.074,2502,2647,3965
$STATE,2396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2396,begin apogee
$GC,2404,-0.32,0.0,600.9,19.7,105,2529,0.82,0.00,122.25,1.027,6,0.255,0.000,2685,2515,3366
$STATE,2530,end apogee,CONTROL_FINISHED_OK
$STATE,2530,begin climb
$GC,2534,0.84,155.7,608.3,0.0,108,2675,1.52,2.25,132.02,1.010,4,0.212,0.050,3070,1180,2732
$GC,2760,1.06,335.9,624.4,2.1,113,2926,0.28,2.33,154.98,1.006,6,0.242,0.068,3128,2563,1998
$GC,3182,1.06,335.9,510.9,32.6,124,3186,0.00,2.25,0.00,0.000,4,0.000,0.054,3138,1170,1989
$GC,3306,1.06,335.9,473.3,28.0,126,3312,0.00,2.28,0.00,0.000,6,0.000,0.067,3139,2546,1987
$GC,3558,1.06,335.9,397.4,30.7,133,3562,0.00,2.17,0.00,0.000,4,0.000,0.056,3147,1181,1985
$GC,3665,1.06,335.9,366.1,25.9,135,3669,0.00,2.28,0.00,0.000,6,0.000,0.073,3145,2550,1983
$GC,3932,1.06,335.9,286.0,30.1,142,3935,0.00,2.17,0.00,0.000,4,0.000,0.052,3153,1173,1982
$GC,4039,1.06,335.9,258.0,26.3,144,4043,0.00,2.28,0.00,0.000,6,0.000,0.067,3147,2555,1981
$GC,4300,1.06,335.9,189.5,24.9,153,4303,0.00,2.15,0.00,0.000,4,0.000,0.044,3156,1170,1980
$GC,4314,1.06,335.9,185.5,24.7,154,4318,0.00,2.22,0.00,0.000,6,0.000,0.058,3147,2557,1980
$GC,4577,1.06,335.9,114.7,27.7,178,4581,0.00,2.15,0.00,0.000,4,0.000,0.042,3156,1165,1979
$GC,4645,1.06,335.9,96.5,26.6,184,4650,0.00,2.22,0.00,0.000,6,0.000,0.058,3148,2552,1978
$GC,4909,1.06,335.9,32.3,24.1,208,4913,0.00,2.10,0.00,0.000,4,0.000,0.038,3156,1171,1978
$GC,4992,1.06,335.9,13.6,21.7,222,5001,0.00,2.22,0.00,0.000,6,0.000,0.054,3148,2552,1978
$STATE,5038,end climb,SURFACE_DEPTH_REACHED
$STATE,5038,begin surface coast
$FINISH,0.4,1.024060
$STATE,5050,end surface coast,CONTROL_FINISHED_OK
$STATE,5050,begin surface
$SM_CCo,5071,4.12,0.426,0,0,1940,350.04
$SM_GC,3.27,0.00,0.00,4.12,0.000,0.000,0.426,39,2669,1940,-8.63,0.57,350.04
$IRIDIUM_FIX,2244.02,-15806.70,230400,070748
$TT8_MAMPS,0.023777
$HUMID,1957
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,23.9,67.774
$10V_AH,10.7,39.389
$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,22.075,51.975,409.250,4.125,0.000,62.197,75.258,202.504,0.250,0.000,0.000,15.544,500.344,3262.728,426.405,901.875,515.090,33.336,842.110,0.000,895.008,0.000,0.542,0.000
$DEVICE_MAMPS,255.411,80.535,1027.013,426.452,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,156.120,364.248,373.260,86.878,360.445,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19376,232
$CAP_FILE_SIZE,49472,0
$CFSIZE,260165632,240758784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,280111,090230,2253.354,-15804.472,87,1.0,87,10.1