version: 66.04
glider: 512
mission: 1
dive: 230
start: 1 4 111 5 17 27
data:
$ID,512
$MISSION,1
$DIVE,230
$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,-9966.4209
$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,41
$R_STBD_OVSHOOT,14
$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
$GPS1,051137,2251.651,-15755.398,39,0.8,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.9
$GPS2,051632,2251.652,-15755.454,18,1.5,18,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.011,0.218
$KALMAN_X,-95914.2,799.0,249.3,121645.8,-3288.7
$KALMAN_Y,-223588.0,-359.7,593.6,355538.9,-6649.2
$MHEAD_RNG_PITCHd_Wd,347.0,4039,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.79,-116.8,0.0,0.0,0,100,0.00,0.00,-83.20,0.000,6,0.000,0.000,39,2550,2877
$GC,103,-0.79,-116.8,2.9,-3.7,11,120,11.30,2.28,0.00,0.000,4,0.256,0.078,2576,3906,2878
$GC,359,-0.79,-116.8,61.9,-22.8,45,368,0.00,2.05,0.00,0.000,6,0.000,0.027,2583,2537,2881
$GC,621,-0.79,-116.8,109.1,-15.6,70,625,0.00,2.38,0.00,0.000,4,0.000,0.094,2574,3898,2881
$GC,874,-0.79,-116.8,147.8,-14.6,92,883,0.00,2.00,0.00,0.000,6,0.000,0.027,2580,2545,2883
$GC,1138,-0.79,-116.8,179.3,-12.5,117,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2545,2884
$GC,1398,-0.79,-116.8,211.1,-12.2,136,1402,0.00,2.38,0.00,0.000,4,0.000,0.097,2571,3904,2884
$GC,1514,-0.79,-116.8,227.1,-14.7,138,1518,0.00,2.00,0.00,0.000,6,0.000,0.027,2579,2547,2884
$GC,1769,-0.79,-116.8,257.1,-11.3,145,1774,0.00,2.38,0.00,0.000,4,0.000,0.099,2570,3896,2884
$GC,1830,-0.79,-116.8,263.7,-11.6,146,1834,0.00,1.98,0.00,0.000,6,0.000,0.028,2578,2555,2884
$GC,2097,-0.79,-116.8,291.5,-10.4,153,2101,0.00,2.38,0.00,0.000,4,0.000,0.100,2569,3898,2885
$GC,2354,-0.79,-116.8,320.0,-10.4,158,2360,0.00,1.98,0.00,0.000,6,0.000,0.028,2577,2555,2884
$GC,2604,-0.79,-116.8,343.2,-9.1,165,2608,0.00,2.35,0.00,0.000,4,0.000,0.099,2568,3896,2883
$GC,2860,-0.79,-116.8,372.1,-10.5,170,2864,0.00,2.00,0.00,0.000,6,0.000,0.029,2576,2551,2882
$GC,3116,-0.79,-116.8,395.0,-8.3,177,3120,0.00,2.38,0.00,0.000,4,0.000,0.097,2567,3907,2882
$GC,3373,-0.79,-116.8,420.4,-9.2,182,3379,0.00,2.03,0.00,0.000,6,0.000,0.028,2574,2541,2881
$GC,3623,-0.79,-116.8,439.7,-7.5,189,3627,0.00,2.38,0.00,0.000,4,0.000,0.097,2565,3899,2879
$GC,3880,-0.79,-116.8,460.6,-8.1,194,3887,0.00,2.00,0.00,0.000,6,0.000,0.030,2573,2549,2878
$GC,4133,-0.79,-116.8,478.5,-7.0,201,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2550,2877
$GC,4374,-0.79,-116.8,497.7,-7.9,207,4378,0.00,2.05,0.00,0.000,4,0.000,0.031,2584,1153,2876
$GC,4401,-0.79,-116.8,500.0,-8.0,207,4405,0.00,2.38,0.00,0.000,6,0.000,0.078,2574,2549,2875
$STATE,4410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4410,begin apogee
$GC,4415,-0.32,0.0,500.7,7.2,207,4516,0.60,0.00,98.82,0.976,6,0.207,0.000,2734,2549,2400
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4519,0.79,116.8,502.2,0.0,210,4627,1.15,2.22,100.88,0.981,4,0.123,0.033,3105,1165,1923
$GC,4677,0.79,116.8,463.7,31.9,213,4684,0.00,2.35,0.00,0.000,6,0.000,0.060,3105,2555,1917
$GC,4927,0.79,116.8,381.4,32.7,220,4931,0.00,2.12,0.00,0.000,4,0.000,0.033,3116,1157,1913
$GC,4988,0.79,116.8,362.0,28.7,221,4992,0.00,2.28,0.00,0.000,6,0.000,0.056,3110,2547,1911
$GC,5260,0.79,116.8,274.3,32.6,228,5264,0.00,2.10,0.00,0.000,4,0.000,0.035,3119,1155,1909
$GC,5305,0.79,116.8,260.5,30.1,229,5309,0.00,2.28,0.00,0.000,6,0.000,0.058,3120,2552,1909
$GC,5561,0.79,116.8,181.7,30.9,239,5565,0.00,2.10,0.00,0.000,4,0.000,0.033,3130,1154,1907
$GC,5619,0.79,116.8,164.5,29.8,244,5623,0.00,2.25,0.00,0.000,6,0.000,0.055,3123,2556,1906
$GC,5880,0.79,116.8,91.7,23.6,268,5884,0.00,2.17,0.00,0.000,4,0.000,0.064,3123,3900,1905
$GC,5938,0.79,116.8,77.2,26.5,273,5942,0.00,2.00,0.00,0.000,6,0.000,0.033,3132,2564,1904
$GC,6202,0.79,116.8,3.7,30.6,305,6210,0.00,2.12,0.00,0.000,4,0.000,0.031,3145,1151,1901
$STATE,6216,end climb,SURFACE_DEPTH_REACHED
$STATE,6216,begin surface coast
$FINISH,0.2,1.023952
$STATE,6228,end surface coast,CONTROL_FINISHED_OK
$STATE,6228,begin surface
$SM_CCo,6248,136.38,0.626,0,0,687,420.19
$SM_GC,0.88,0.00,0.00,136.38,0.000,0.000,0.626,52,2562,687,-8.74,0.34,420.19
$IRIDIUM_FIX,2241.69,-15754.11,300300,030322
$TT8_MAMPS,0.023777
$HUMID,1827
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,20.10
$XPDR_PINGS,2
$24V_AH,24.3,33.158
$10V_AH,10.8,19.140
$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,21.650,65.675,199.700,136.375,0.000,30.872,33.985,135.475,0.500,0.000,0.000,18.134,677.701,3943.952,418.406,1329.734,324.947,33.334,954.333,0.000,1319.993,0.000,0.542,0.000
$DEVICE_MAMPS,256.178,100.477,980.993,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,208.401,514.934,531.500,119.409,493.251,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25703,309
$CAP_FILE_SIZE,59880,0
$CFSIZE,260165632,250892288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,1
$GPS,040111,070449,2252.156,-15755.527,11,2.0,22,10.1