version: 66.04
glider: 512
mission: 1
dive: 251
start: 1 5 111 22 36 27
data:
$ID,512
$MISSION,1
$DIVE,251
$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,-10446.77
$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,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
$GPS1,223009,2247.867,-15755.823,12,4.0,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.0
$GPS2,223534,2247.883,-15755.834,12,4.1,31,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.076
$KALMAN_X,-122663.5,1180.5,714.6,146876.8,-8734.4
$KALMAN_Y,-232097.1,1598.7,151.3,355566.8,-2054.5
$MHEAD_RNG_PITCHd_Wd,100.4,3733,-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,-116.8,0.0,0.0,0,100,0.00,0.00,-78.88,0.000,6,0.000,0.000,41,2550,2875
$GC,103,-0.79,-116.8,3.5,-5.0,11,120,11.05,2.25,0.00,0.000,4,0.249,0.074,2575,3901,2877
$GC,363,-0.79,-116.8,63.0,-22.3,44,371,0.00,2.05,0.00,0.000,6,0.000,0.028,2580,2543,2879
$GC,626,-0.79,-116.8,112.8,-15.9,69,630,0.00,2.40,0.00,0.000,4,0.000,0.101,2569,3891,2880
$GC,879,-0.79,-116.8,151.0,-14.2,91,886,0.00,2.00,0.00,0.000,6,0.000,0.027,2576,2540,2882
$GC,1141,-0.79,-116.8,180.5,-10.0,116,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2537,2883
$GC,1393,-0.79,-116.8,210.3,-11.9,134,1396,0.00,2.03,0.00,0.000,4,0.000,0.027,2586,1143,2883
$GC,1492,-0.79,-116.8,221.0,-10.4,136,1497,0.00,2.35,0.00,0.000,6,0.000,0.076,2577,2545,2884
$GC,1771,-0.79,-116.8,251.3,-10.7,143,1774,0.00,2.05,0.00,0.000,4,0.000,0.027,2585,1146,2884
$GC,1792,-0.79,-116.8,253.5,-10.0,143,1796,0.00,2.35,0.00,0.000,6,0.000,0.074,2576,2554,2884
$GC,2058,-0.79,-116.8,281.3,-10.7,150,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2555,2884
$GC,2303,-0.79,-116.8,305.9,-9.7,156,2307,0.00,2.25,0.00,0.000,4,0.000,0.084,2565,3898,2883
$GC,2560,-0.79,-116.8,333.2,-10.2,161,2565,0.00,2.00,0.00,0.000,6,0.000,0.029,2573,2556,2883
$GC,2818,-0.79,-116.8,354.9,-8.3,168,2822,0.00,2.40,0.00,0.000,4,0.000,0.104,2564,3901,2882
$GC,2993,-0.79,-116.8,371.1,-9.9,172,2997,0.00,2.00,0.00,0.000,6,0.000,0.029,2571,2538,2881
$GC,3283,-0.79,-116.8,394.7,-8.1,179,3287,0.00,2.42,0.00,0.000,4,0.000,0.103,2562,3898,2880
$GC,3344,-0.79,-116.8,400.4,-9.4,180,3348,0.00,2.03,0.00,0.000,6,0.000,0.030,2569,2542,2879
$GC,3611,-0.79,-116.8,424.3,-8.9,187,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2535,2878
$GC,3854,-0.79,-116.8,445.9,-8.5,193,3858,0.00,2.05,0.00,0.000,4,0.000,0.031,2574,1145,2877
$GC,4007,-0.79,-116.8,457.6,-7.1,196,4012,0.12,2.38,0.00,0.000,6,0.225,0.080,2589,2546,2877
$GC,4273,-0.79,-116.8,474.8,-6.3,203,4277,0.00,2.30,0.00,0.000,4,0.000,0.088,2580,3900,2875
$GC,4323,-0.79,-116.8,478.3,-7.4,204,4327,0.00,2.00,0.00,0.000,6,0.000,0.031,2588,2544,2874
$GC,4602,-0.79,-116.8,495.9,-6.5,211,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2537,2873
$STATE,4680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4680,begin apogee
$GC,4685,-0.32,0.0,501.4,6.6,213,4787,0.57,0.00,99.47,0.990,6,0.196,0.000,2742,2536,2399
$STATE,4788,end apogee,CONTROL_FINISHED_OK
$STATE,4788,begin climb
$GC,4790,0.79,116.8,502.1,0.0,215,4899,1.12,2.20,101.18,0.958,4,0.120,0.034,3107,1158,1922
$GC,4948,0.79,116.8,460.5,33.4,218,4955,0.00,2.38,0.00,0.000,6,0.000,0.061,3107,2563,1916
$GC,5199,0.79,116.8,377.6,33.2,225,5202,0.00,2.15,0.00,0.000,4,0.000,0.034,3117,1154,1912
$GC,5343,0.79,116.8,335.0,26.8,228,5347,0.00,2.28,0.00,0.000,6,0.000,0.057,3110,2549,1909
$GC,5621,0.79,116.8,250.2,30.3,235,5625,0.00,2.12,0.00,0.000,4,0.000,0.035,3120,1148,1908
$GC,5699,0.79,116.8,227.3,27.1,236,5703,0.00,2.28,0.00,0.000,6,0.000,0.059,3120,2558,1907
$GC,5962,0.79,116.8,148.9,32.4,252,5966,0.00,2.10,0.00,0.000,4,0.000,0.033,3132,1155,1906
$GC,6088,0.79,116.8,113.6,27.3,263,6092,0.00,2.25,0.00,0.000,6,0.000,0.057,3132,2550,1904
$GC,6351,0.79,116.8,43.0,26.8,287,6354,0.00,2.17,0.00,0.000,4,0.000,0.063,3133,3904,1904
$GC,6397,0.79,116.8,29.9,28.3,291,6406,0.12,2.03,0.00,0.000,6,0.228,0.031,3112,2574,1903
$STATE,6496,end climb,SURFACE_DEPTH_REACHED
$STATE,6496,begin surface coast
$FINISH,-0.1,1.023863
$STATE,6510,end surface coast,CONTROL_FINISHED_OK
$STATE,6510,begin surface
$SM_CCo,6527,122.35,0.627,0,0,850,380.21
$SM_GC,0.89,0.00,0.00,122.35,0.000,0.000,0.627,45,2563,850,-8.76,0.40,380.21
$IRIDIUM_FIX,2239.35,-15802.37,310300,202051
$TT8_MAMPS,0.023777
$HUMID,1862
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,24.3,35.077
$10V_AH,10.8,20.648
$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,21.500,61.250,200.650,122.350,0.000,28.983,35.581,149.555,0.000,0.000,0.000,32.449,685.954,4271.755,395.067,1292.359,342.936,33.338,913.173,0.000,1269.180,0.000,0.542,0.000
$DEVICE_MAMPS,249.275,103.545,990.197,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,210.291,503.396,517.872,114.777,475.737,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25632,311
$CAP_FILE_SIZE,59635,0
$CFSIZE,260165632,250126336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,060111,002807,2247.113,-15755.721,9,1.8,14,10.1