version: 66.04
glider: 512
mission: 1
dive: 223
start: 1 3 111 15 31 20
data:
$ID,512
$MISSION,1
$DIVE,223
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,120
$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,420
$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,-9803.7373
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2400
$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
$GPS1,152237,2249.016,-15755.505,31,1.4,31,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.2
$GPS2,153026,2249.062,-15755.550,16,1.2,16,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.107,0.190
$KALMAN_X,-96316.1,2091.4,560.2,120268.6,-7594.5
$KALMAN_Y,-218179.4,2396.9,416.2,342758.1,-7301.4
$MHEAD_RNG_PITCHd_Wd,19.4,3024,-16.1,-8.013
$D_GRID,500
$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,13,begin dive
$GC,15,-0.79,-116.8,0.0,0.0,0,101,0.00,0.00,-83.72,0.000,6,0.000,0.000,39,2561,2877
$GC,104,-0.79,-116.8,3.0,-3.5,11,121,11.23,2.20,0.00,0.000,4,0.255,0.070,2575,3901,2879
$GC,362,-0.79,-116.8,65.3,-24.5,44,371,0.00,2.03,0.00,0.000,6,0.000,0.028,2582,2554,2881
$GC,626,-0.79,-116.8,114.6,-15.4,69,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2546,2882
$GC,880,-0.79,-116.8,146.8,-13.8,93,884,0.00,2.38,0.00,0.000,4,0.000,0.100,2573,3898,2882
$GC,1135,-0.79,-116.8,183.4,-13.6,115,1142,0.00,2.00,0.00,0.000,6,0.000,0.028,2580,2545,2883
$GC,1411,-0.79,-116.8,214.5,-11.1,133,1414,0.00,2.03,0.00,0.000,4,0.000,0.027,2590,1145,2884
$GC,1471,-0.79,-116.8,221.1,-10.3,134,1475,0.00,2.38,0.00,0.000,6,0.000,0.079,2581,2543,2884
$GC,1746,-0.79,-116.8,250.9,-11.0,141,1750,0.00,2.28,0.00,0.000,4,0.000,0.085,2570,3900,2884
$GC,1970,-0.79,-116.8,280.7,-13.3,146,1974,0.00,2.00,0.00,0.000,6,0.000,0.028,2577,2548,2884
$GC,2253,-0.79,-116.8,309.7,-9.9,153,2257,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,1143,2884
$GC,2343,-0.79,-116.8,318.9,-9.1,155,2347,0.00,2.35,0.00,0.000,6,0.000,0.074,2578,2561,2884
$GC,2625,-0.79,-116.8,346.0,-9.5,162,2629,0.00,2.08,0.00,0.000,4,0.000,0.028,2586,1147,2883
$GC,2692,-0.79,-116.8,351.3,-7.8,163,2696,0.00,2.33,0.00,0.000,6,0.000,0.077,2577,2549,2882
$GC,2958,-0.79,-116.8,372.1,-7.8,170,2962,0.00,2.08,0.00,0.000,4,0.000,0.028,2585,1138,2882
$GC,2990,-0.79,-116.8,375.0,-8.5,170,2995,0.00,2.38,0.00,0.000,6,0.000,0.076,2576,2544,2882
$GC,3246,-0.79,-116.8,397.0,-8.8,177,3249,0.00,2.08,0.00,0.000,4,0.000,0.028,2584,1135,2881
$GC,3362,-0.79,-116.8,408.2,-9.0,179,3367,0.00,2.38,0.00,0.000,6,0.000,0.077,2575,2566,2880
$GC,3626,-0.79,-116.8,430.5,-8.3,186,3630,0.00,2.22,0.00,0.000,4,0.000,0.087,2565,3887,2879
$GC,3721,-0.79,-116.8,438.6,-7.6,188,3725,0.00,1.98,0.00,0.000,6,0.000,0.030,2572,2552,2879
$GC,4004,-0.79,-116.8,458.4,-6.9,195,4009,0.00,2.38,0.00,0.000,4,0.000,0.101,2563,3896,2877
$GC,4261,-0.79,-116.8,478.9,-8.0,200,4269,0.00,2.00,0.00,0.000,6,0.000,0.031,2570,2554,2875
$GC,4513,-0.79,-116.8,496.9,-7.3,207,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2553,2875
$STATE,4591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4591,begin apogee
$GC,4596,-0.32,0.0,503.2,7.6,209,4697,0.65,0.00,98.30,0.955,6,0.206,0.000,2740,2552,2400
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4698,begin climb
$GC,4700,0.79,116.8,505.0,0.0,211,4808,1.17,2.22,100.82,0.925,4,0.127,0.035,3111,1165,1922
$GC,4836,0.79,116.8,473.5,32.8,215,4841,0.00,2.38,0.00,0.000,6,0.000,0.067,3110,2549,1918
$GC,5119,0.79,116.8,376.2,34.9,222,5123,0.00,2.12,0.00,0.000,4,0.000,0.035,3120,1161,1912
$GC,5157,0.79,116.8,362.7,34.9,222,5164,0.00,2.33,0.00,0.000,6,0.000,0.061,3120,2553,1911
$GC,5407,0.79,116.8,280.5,32.8,229,5411,0.00,2.10,0.00,0.000,4,0.000,0.034,3130,1161,1909
$GC,5524,0.79,116.8,246.4,27.9,231,5528,0.00,2.28,0.00,0.000,6,0.000,0.059,3123,2557,1908
$GC,5779,0.79,116.8,165.8,32.6,243,5783,0.00,2.10,0.00,0.000,4,0.000,0.032,3133,1157,1907
$GC,5825,0.79,116.8,152.2,30.1,247,5830,0.00,2.25,0.00,0.000,6,0.000,0.058,3133,2549,1906
$GC,6088,0.79,116.8,75.0,25.8,271,6092,0.00,2.08,0.00,0.000,4,0.000,0.033,3143,1158,1904
$GC,6104,0.79,116.8,70.0,25.9,272,6112,0.12,2.25,0.00,0.000,6,0.230,0.051,3106,2549,1904
$GC,6368,0.79,116.8,3.0,24.9,306,6376,0.00,2.10,0.00,0.000,4,0.000,0.033,3116,1154,1902
$STATE,6382,end climb,SURFACE_DEPTH_REACHED
$STATE,6382,begin surface coast
$FINISH,0.2,1.011198
$STATE,6394,end surface coast,CONTROL_FINISHED_OK
$STATE,6395,begin surface
$SM_CCo,6414,136.30,0.595,0,0,685,420.19
$SM_GC,1.16,0.00,0.00,136.30,0.000,0.000,0.595,47,2568,685,-8.75,0.51,420.19
$IRIDIUM_FIX,2239.35,-15757.16,290300,151544
$TT8_MAMPS,0.023777
$HUMID,1821
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,20.20
$XPDR_PINGS,1
$24V_AH,24.4,32.509
$10V_AH,10.8,18.631
$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,21.750,70.075,199.125,136.300,0.000,56.159,124.464,137.585,0.250,0.000,0.000,16.317,680.735,4217.054,430.807,1270.909,434.965,33.336,943.885,0.000,1262.331,0.000,0.542,0.000
$DEVICE_MAMPS,254.644,101.244,954.915,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,209.044,507.106,521.028,116.666,485.894,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25618,310
$CAP_FILE_SIZE,60504,0
$CFSIZE,260165632,251150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,030111,172154,2249.705,-15755.452,31,1.0,48,10.1