version: 66.04
glider: 512
mission: 1
dive: 241
start: 1 5 111 2 43 2
data:
$ID,512
$MISSION,1
$DIVE,241
$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,-10199.129
$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,57
$R_STBD_OVSHOOT,22
$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
$GPS1,023706,2251.742,-15756.850,32,1.0,33,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.0
$GPS2,024208,2251.700,-15756.912,16,1.0,16,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.018
$KALMAN_X,-103581.8,-968.4,144.9,128681.7,-5516.5
$KALMAN_Y,-229869.7,1257.5,300.9,360595.2,-2682.7
$MHEAD_RNG_PITCHd_Wd,84.7,3152,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-116.8,0.0,0.0,0,100,0.00,0.00,-78.07,0.000,6,0.000,0.000,36,2565,2877
$GC,103,-0.79,-116.8,3.6,-5.0,11,120,11.15,2.25,0.00,0.000,4,0.251,0.081,2576,3893,2878
$GC,144,-0.79,-116.8,14.1,-24.8,17,152,0.00,2.03,0.00,0.000,6,0.000,0.028,2585,2559,2879
$GC,416,-0.79,-116.8,69.1,-19.8,49,420,0.00,2.40,0.00,0.000,4,0.000,0.105,2575,3894,2881
$GC,499,-0.79,-116.8,87.1,-21.2,56,502,0.00,2.00,0.00,0.000,6,0.000,0.028,2580,2542,2881
$GC,767,-0.79,-116.8,133.2,-15.5,81,772,0.00,2.42,0.00,0.000,4,0.000,0.107,2570,3887,2882
$GC,800,-0.79,-116.8,138.2,-14.2,83,807,0.00,2.00,0.00,0.000,6,0.000,0.027,2577,2536,2882
$GC,1061,-0.79,-116.8,168.8,-11.8,108,1066,0.00,2.42,0.00,0.000,4,0.000,0.107,2568,3884,2884
$GC,1317,-0.79,-116.8,204.9,-13.6,128,1324,0.00,1.98,0.00,0.000,6,0.000,0.028,2576,2541,2884
$GC,1567,-0.79,-116.8,231.1,-9.9,135,1571,0.00,2.03,0.00,0.000,4,0.000,0.027,2586,1142,2885
$GC,1707,-0.79,-116.8,244.6,-10.2,138,1711,0.00,2.38,0.00,0.000,6,0.000,0.078,2576,2556,2886
$GC,1990,-0.79,-116.8,272.5,-9.5,145,1994,0.00,2.08,0.00,0.000,4,0.000,0.028,2585,1145,2886
$GC,2051,-0.79,-116.8,278.4,-8.8,146,2055,0.00,2.38,0.00,0.000,6,0.000,0.080,2575,2553,2886
$GC,2324,-0.79,-116.8,304.9,-9.9,153,2328,0.00,2.28,0.00,0.000,4,0.000,0.087,2564,3897,2885
$GC,2440,-0.79,-116.8,317.7,-10.9,155,2444,0.00,2.00,0.00,0.000,6,0.000,0.029,2572,2549,2884
$GC,2696,-0.79,-116.8,341.7,-9.2,162,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2542,2884
$GC,2940,-0.79,-116.8,363.9,-9.0,168,2944,0.00,2.45,0.00,0.000,4,0.000,0.110,2563,3899,2882
$GC,3016,-0.79,-116.8,372.5,-11.4,169,3023,0.00,2.00,0.00,0.000,6,0.000,0.030,2571,2546,2882
$GC,3267,-0.79,-116.8,394.4,-8.7,176,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2543,2882
$GC,3510,-0.79,-116.8,415.8,-8.6,182,3514,0.00,2.45,0.00,0.000,4,0.000,0.113,2563,3895,2881
$GC,3570,-0.79,-116.8,422.1,-11.3,183,3574,0.00,2.00,0.00,0.000,6,0.000,0.031,2570,2555,2880
$GC,3837,-0.79,-116.8,443.9,-7.7,190,3841,0.00,2.45,0.00,0.000,4,0.000,0.113,2562,3894,2879
$GC,3914,-0.79,-116.8,451.1,-9.0,191,3921,0.00,2.03,0.00,0.000,6,0.000,0.031,2569,2537,2879
$GC,4165,-0.79,-116.8,471.5,-7.8,198,4169,0.00,2.47,0.00,0.000,4,0.000,0.113,2560,3897,2878
$GC,4383,-0.79,-116.8,491.0,-8.5,203,4388,0.12,1.98,0.00,0.000,6,0.225,0.031,2587,2546,2876
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4553,-0.32,0.0,502.3,6.6,207,4656,0.57,0.00,99.85,0.992,6,0.200,0.000,2739,2544,2400
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4659,0.79,116.8,503.4,0.0,209,4768,1.12,2.20,101.75,0.973,4,0.125,0.032,3100,1162,1922
$GC,4806,0.79,116.8,465.9,31.9,212,4810,0.00,2.38,0.00,0.000,6,0.000,0.062,3097,2557,1916
$GC,5068,0.79,116.8,378.9,33.7,219,5071,0.00,2.12,0.00,0.000,4,0.000,0.033,3106,1158,1912
$GC,5112,0.79,116.8,364.7,31.2,220,5116,0.00,2.25,0.00,0.000,6,0.000,0.055,3106,2551,1910
$GC,5395,0.79,116.8,274.1,31.6,227,5399,0.00,2.10,0.00,0.000,4,0.000,0.033,3117,1163,1909
$GC,5461,0.79,116.8,255.6,24.6,228,5466,0.00,2.28,0.00,0.000,6,0.000,0.058,3110,2559,1908
$GC,5720,0.79,116.8,183.8,27.8,237,5724,0.00,2.10,0.00,0.000,4,0.000,0.032,3120,1152,1907
$GC,5825,0.79,116.8,156.0,27.2,246,5833,0.00,2.30,0.00,0.000,6,0.000,0.058,3120,2547,1905
$GC,6088,0.79,116.8,85.7,24.6,271,6092,0.00,2.08,0.00,0.000,4,0.000,0.033,3130,1160,1904
$GC,6145,0.79,116.8,71.8,23.6,276,6149,0.00,2.22,0.00,0.000,6,0.000,0.054,3131,2559,1903
$STATE,6401,end climb,SURFACE_DEPTH_REACHED
$STATE,6401,begin surface coast
$FINISH,-0.0,1.014006
$STATE,6414,end surface coast,CONTROL_FINISHED_OK
$STATE,6414,begin surface
$SM_CCo,6431,118.95,0.647,0,0,850,380.21
$SM_GC,0.89,0.00,0.00,118.95,0.000,0.000,0.647,47,2568,850,-8.76,0.51,380.21
$IRIDIUM_FIX,2241.69,-15756.28,310300,000052
$TT8_MAMPS,0.024544
$HUMID,1837
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,20.20
$XPDR_PINGS,1
$24V_AH,24.3,34.140
$10V_AH,10.8,19.923
$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,21.600,70.475,201.600,118.950,0.000,29.390,39.450,139.511,0.250,0.000,0.000,16.956,668.855,4223.323,401.657,1238.565,333.151,33.338,909.702,0.000,1229.720,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,112.749,991.731,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,209.243,505.979,518.445,115.863,483.211,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25861,310
$CAP_FILE_SIZE,59976,0
$CFSIZE,260165632,250490880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,050111,043256,2251.077,-15756.755,8,1.7,8,10.1