version: 66.04
glider: 512
mission: 1
dive: 240
start: 1 5 111 0 44 33
data:
$ID,512
$MISSION,1
$DIVE,240
$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,380
$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,-10181.543
$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,59
$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,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
$GPS1,003843,2252.615,-15756.749,11,1.9,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.8
$GPS2,004340,2252.580,-15756.800,12,2.6,31,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,-0.099
$KALMAN_X,-100660.5,-1511.0,177.3,126462.4,-4278.2
$KALMAN_Y,-229781.0,1148.8,417.6,362122.3,-2757.9
$MHEAD_RNG_PITCHd_Wd,106.9,4789,-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,12,begin dive
$GC,15,-0.79,-116.8,0.0,0.0,0,101,0.00,0.00,-83.80,0.000,6,0.000,0.000,39,2568,2877
$GC,104,-0.79,-116.8,2.9,-3.4,11,121,11.12,2.10,0.00,0.000,4,0.251,0.025,2597,1146,2878
$GC,223,-0.79,-116.8,25.2,-16.6,32,232,0.00,2.40,0.00,0.000,6,0.000,0.079,2587,2540,2880
$GC,494,-0.79,-116.8,79.1,-19.9,59,498,0.00,2.30,0.00,0.000,4,0.000,0.082,2576,3912,2881
$GC,556,-0.79,-116.8,92.6,-21.7,64,560,0.00,2.00,0.00,0.000,6,0.000,0.028,2581,2551,2881
$GC,824,-0.79,-116.8,132.1,-12.5,89,829,0.00,2.45,0.00,0.000,4,0.000,0.108,2572,3913,2882
$GC,1078,-0.79,-116.8,169.9,-15.8,111,1088,0.00,2.03,0.00,0.000,6,0.000,0.028,2577,2539,2884
$GC,1371,-0.79,-116.8,204.8,-10.7,136,1375,0.00,2.45,0.00,0.000,4,0.000,0.109,2568,3899,2884
$GC,1425,-0.79,-116.8,211.4,-11.9,137,1430,0.00,1.98,0.00,0.000,6,0.000,0.027,2574,2569,2885
$GC,1698,-0.79,-116.8,239.1,-10.1,144,1701,0.00,2.10,0.00,0.000,4,0.000,0.028,2579,1124,2885
$GC,1826,-0.79,-116.8,251.6,-9.5,146,1833,0.00,2.40,0.00,0.000,6,0.000,0.077,2570,2565,2886
$GC,2077,-0.79,-116.8,273.9,-8.9,153,2081,0.00,2.10,0.00,0.000,4,0.000,0.028,2574,1126,2886
$GC,2122,-0.79,-116.8,277.6,-7.2,154,2127,0.12,2.35,0.00,0.000,6,0.216,0.074,2589,2543,2886
$GC,2412,-0.79,-116.8,300.6,-8.4,161,2415,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,1135,2885
$GC,2461,-0.79,-116.8,305.2,-8.7,162,2465,0.00,2.35,0.00,0.000,6,0.000,0.074,2590,2553,2885
$GC,2746,-0.79,-116.8,330.8,-9.2,169,2750,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1125,2884
$GC,2841,-0.79,-116.8,338.7,-8.1,171,2845,0.00,2.38,0.00,0.000,6,0.000,0.072,2589,2562,2884
$GC,3118,-0.79,-116.8,360.7,-7.6,178,3122,0.00,2.25,0.00,0.000,4,0.000,0.087,2579,3896,2882
$GC,3167,-0.79,-116.8,364.9,-8.6,179,3172,0.00,2.03,0.00,0.000,6,0.000,0.030,2580,2536,2881
$GC,3454,-0.79,-116.8,389.2,-8.9,186,3458,0.00,2.03,0.00,0.000,4,0.000,0.029,2587,1146,2881
$GC,3571,-0.79,-116.8,399.6,-8.5,188,3575,0.00,2.35,0.00,0.000,6,0.000,0.073,2578,2562,2880
$GC,3832,-0.79,-116.8,423.8,-9.5,195,3836,0.00,2.22,0.00,0.000,4,0.000,0.082,2567,3896,2879
$GC,4061,-0.79,-116.8,447.9,-9.2,200,4065,0.00,2.00,0.00,0.000,6,0.000,0.031,2574,2558,2878
$GC,4346,-0.79,-116.8,471.8,-8.4,207,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2549,2877
$GC,4589,-0.79,-116.8,491.1,-7.8,213,4593,0.00,2.42,0.00,0.000,4,0.000,0.111,2565,3891,2875
$STATE,4697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4697,begin apogee
$GC,4705,-0.32,0.0,500.0,7.5,215,4807,0.62,0.00,99.38,0.973,6,0.209,0.000,2737,2529,2400
$STATE,4808,end apogee,CONTROL_FINISHED_OK
$STATE,4808,begin climb
$GC,4810,0.79,116.8,500.0,0.0,218,4921,1.15,2.20,101.28,0.950,4,0.128,0.032,3103,1146,1922
$GC,4961,0.79,116.8,461.4,31.7,221,4965,0.00,2.33,0.00,0.000,6,0.000,0.055,3097,2547,1917
$GC,5217,0.79,116.8,378.4,31.8,228,5220,0.00,2.12,0.00,0.000,4,0.000,0.035,3106,1155,1913
$GC,5300,0.79,116.8,352.6,28.5,229,5306,0.00,2.28,0.00,0.000,6,0.000,0.056,3106,2550,1910
$GC,5551,0.79,116.8,274.7,31.3,236,5554,0.00,2.12,0.00,0.000,4,0.000,0.034,3117,1147,1909
$GC,5695,0.79,116.8,232.1,27.6,239,5700,0.00,2.28,0.00,0.000,6,0.000,0.050,3111,2553,1908
$GC,5962,0.79,116.8,154.1,30.5,256,5966,0.00,2.10,0.00,0.000,4,0.000,0.034,3120,1152,1907
$GC,6064,0.79,116.8,125.3,26.8,265,6068,0.00,2.28,0.00,0.000,6,0.000,0.059,3120,2558,1905
$GC,6326,0.79,116.8,59.5,24.8,289,6330,0.00,2.10,0.00,0.000,4,0.000,0.031,3131,1147,1905
$GC,6374,0.79,116.8,47.4,23.1,293,6383,0.00,2.28,0.00,0.000,6,0.000,0.051,3124,2556,1904
$STATE,6539,end climb,SURFACE_DEPTH_REACHED
$STATE,6539,begin surface coast
$FINISH,0.5,1.023897
$STATE,6547,end surface coast,CONTROL_FINISHED_OK
$STATE,6547,begin surface
$SM_CCo,6564,119.82,0.623,0,0,850,380.21
$SM_GC,0.92,0.00,0.00,119.82,0.000,0.000,0.623,43,2565,850,-8.76,0.42,380.21
$IRIDIUM_FIX,2246.36,-15801.49,300300,222227
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,24.3,34.050
$10V_AH,10.8,19.853
$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,21.650,74.950,200.650,119.825,0.000,24.672,35.761,126.038,0.250,0.000,0.000,32.874,703.967,4230.795,396.621,1345.953,316.595,33.331,943.204,0.000,1322.614,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,111.215,972.556,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,215.437,526.189,542.136,120.608,500.183,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25631,319
$CAP_FILE_SIZE,62308,0
$CFSIZE,260165632,250523648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,050111,023706,2251.742,-15756.850,32,1.0,33,10.1