version: 66.04
glider: 512
mission: 1
dive: 531
start: 1 29 111 10 35 2
data:
$ID,512
$MISSION,1
$DIVE,531
$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,-17383.705
$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,57
$R_STBD_OVSHOOT,20
$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
$GPS1,102307,2252.233,-15755.479,34,1.0,34,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-79.2
$GPS2,103408,2252.248,-15755.576,14,1.6,14,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.152,-0.216
$KALMAN_X,-180585.9,1690.3,489.2,204954.6,-8444.1
$KALMAN_Y,-521202.8,1777.1,442.3,652273.6,-3058.1
$MHEAD_RNG_PITCHd_Wd,134.9,10435,-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,-37.65,0.000,2,0.000,0.000,26,2663,2907
$GC,59,-0.84,-155.7,3.2,-6.0,5,99,10.43,2.15,-21.10,0.000,4,0.229,0.038,2530,1238,3962
$GC,174,-0.84,-155.7,37.5,-23.4,21,182,0.00,2.35,0.00,0.000,6,0.000,0.065,2520,2637,3963
$GC,436,-0.84,-155.7,124.6,-32.2,46,440,0.00,2.03,0.00,0.000,4,0.000,0.062,2511,3898,3964
$GC,475,-0.84,-155.7,135.8,-31.8,49,478,0.00,1.83,0.00,0.000,6,0.000,0.024,2512,2646,3964
$GC,741,-0.84,-155.7,213.6,-28.1,71,745,0.00,2.08,0.00,0.000,4,0.000,0.071,2504,3897,3966
$GC,792,-0.84,-155.7,227.7,-23.6,72,796,0.00,1.83,0.00,0.000,6,0.000,0.026,2505,2660,3966
$GC,1077,-0.84,-155.7,297.0,-25.6,79,1081,0.00,2.10,0.00,0.000,4,0.000,0.030,2516,1232,3967
$GC,1139,-0.84,-155.7,310.3,-16.6,80,1143,0.00,2.35,0.00,0.000,6,0.000,0.071,2507,2656,3967
$GC,1406,-0.84,-155.7,369.5,-23.0,87,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2657,3967
$GC,1649,-0.84,-155.7,422.2,-21.5,93,1653,0.00,2.05,0.00,0.000,4,0.000,0.077,2497,3897,3965
$GC,1700,-0.84,-155.7,432.8,-18.1,94,1704,0.00,1.85,0.00,0.000,6,0.000,0.026,2501,2638,3965
$GC,1985,-0.84,-155.7,488.7,-20.4,101,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2632,3965
$GC,2228,-0.84,-155.7,537.9,-20.0,107,2231,0.00,2.08,0.00,0.000,4,0.000,0.031,2512,1233,3962
$GC,2244,-0.84,-155.7,541.7,-20.3,107,2248,0.00,2.33,0.00,0.000,6,0.000,0.065,2503,2655,3962
$GC,2519,-0.84,-155.7,589.7,-17.4,114,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2656,3960
$STATE,2596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2596,begin apogee
$GC,2604,-0.32,0.0,603.7,17.3,116,2729,0.62,0.00,122.18,1.022,6,0.140,0.000,2692,2529,3367
$STATE,2730,end apogee,CONTROL_FINISHED_OK
$STATE,2730,begin climb
$GC,2734,0.84,155.7,611.5,0.0,119,2871,1.15,0.00,132.60,1.003,6,0.107,0.000,3062,2529,2732
$GC,3102,0.97,261.6,617.9,5.2,128,3208,0.17,2.38,93.22,0.992,4,0.172,0.069,3099,3892,2299
$GC,3239,0.97,261.6,597.1,25.5,131,3243,0.00,2.05,0.00,0.000,6,0.000,0.031,3107,2568,2297
$GC,3519,0.97,261.6,527.8,23.8,138,3522,0.00,2.17,0.00,0.000,4,0.000,0.038,3118,1147,2289
$GC,3702,0.97,261.6,490.0,20.2,142,3706,0.00,2.25,0.00,0.000,6,0.000,0.056,3110,2550,2288
$GC,3987,0.97,261.6,425.5,22.4,149,3991,0.00,2.15,0.00,0.000,4,0.000,0.035,3119,1130,2285
$GC,4021,0.97,261.6,417.8,20.5,149,4025,0.00,2.28,0.00,0.000,6,0.000,0.056,3110,2550,2285
$GC,4278,0.97,261.6,362.4,21.5,156,4282,0.00,2.12,0.00,0.000,4,0.000,0.033,3119,1132,2283
$GC,4318,0.97,261.6,353.9,21.2,156,4324,0.00,2.28,0.00,0.000,6,0.000,0.054,3110,2556,2283
$GC,4570,0.97,261.6,303.0,20.3,163,4573,0.00,2.12,0.00,0.000,4,0.000,0.033,3119,1139,2281
$GC,4677,0.97,261.6,282.9,17.3,165,4681,0.00,2.25,0.00,0.000,6,0.000,0.054,3110,2549,2281
$GC,4944,0.97,261.6,233.0,18.9,172,4948,0.00,2.12,0.00,0.000,4,0.000,0.033,3119,1126,2280
$GC,5128,0.97,261.6,203.6,16.4,176,5132,0.00,2.28,0.00,0.000,6,0.000,0.053,3110,2560,2280
$GC,5399,0.97,261.6,161.6,16.8,198,5402,0.00,2.15,0.00,0.000,4,0.000,0.059,3110,3906,2278
$GC,5643,0.97,261.6,117.6,17.5,220,5647,0.00,2.03,0.00,0.000,6,0.000,0.028,3119,2537,2278
$GC,5913,0.97,261.6,86.7,11.9,245,5917,0.00,2.20,0.00,0.000,4,0.000,0.054,3120,3907,2278
$GC,5930,0.97,261.6,84.1,12.0,246,5938,0.00,2.03,0.00,0.000,6,0.000,0.026,3130,2549,2278
$GC,6194,0.97,261.6,49.4,12.7,271,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2543,2278
$GC,6458,0.97,261.6,17.7,14.4,304,6466,0.00,2.08,0.00,0.000,4,0.000,0.028,3142,1145,2278
$STATE,6556,end climb,SURFACE_DEPTH_REACHED
$STATE,6557,begin surface coast
$FINISH,0.3,1.024041
$STATE,6579,end surface coast,CONTROL_FINISHED_OK
$STATE,6579,begin surface
$SM_CCo,6602,47.40,0.589,0,0,1939,350.04
$SM_GC,0.94,0.00,0.00,47.40,0.000,0.000,0.589,34,2677,1939,-8.65,0.76,350.04
$IRIDIUM_FIX,2244.02,-15754.11,240400,101048
$TT8_MAMPS,0.023777
$HUMID,1821
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.9,69.707
$10V_AH,10.7,40.369
$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,20.600,64.500,348.000,47.400,0.000,90.062,98.273,221.537,0.000,0.000,0.000,15.118,683.955,4313.495,433.662,1260.341,629.316,33.337,945.491,0.000,1255.350,0.000,0.541,0.000
$DEVICE_MAMPS,228.566,76.700,1022.411,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,220.534,541.609,559.627,133.012,548.451,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25613,326
$CAP_FILE_SIZE,62521,0
$CFSIZE,260165632,240230400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,290111,122717,2251.384,-15755.464,24,4.7,43,10.1