version: 66.04
glider: 512
mission: 1
dive: 252
start: 1 6 111 0 33 57
data:
$ID,512
$MISSION,1
$DIVE,252
$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,-10461.807
$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,39
$R_STBD_OVSHOOT,17
$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
$GPS1,002807,2247.113,-15755.721,9,1.8,14,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-78.4
$GPS2,003302,2247.115,-15755.729,14,1.9,14,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.175,0.130
$KALMAN_X,-124453.3,1537.3,593.2,148617.3,-8936.6
$KALMAN_Y,-231961.1,1301.2,43.8,354412.8,-2011.8
$MHEAD_RNG_PITCHd_Wd,43.5,3544,-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,14,-0.79,-116.8,0.0,0.0,0,99,0.00,0.00,-78.60,0.000,6,0.000,0.000,38,2562,2875
$GC,102,-0.79,-116.8,3.5,-5.4,11,119,10.98,2.12,0.00,0.000,4,0.246,0.027,2596,1131,2876
$GC,360,-0.79,-116.8,53.7,-17.8,46,368,0.00,2.45,0.00,0.000,6,0.000,0.081,2587,2551,2879
$GC,623,-0.79,-116.8,105.5,-19.1,71,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2551,2880
$GC,878,-0.79,-116.8,142.3,-12.4,95,882,0.00,2.25,0.00,0.000,4,0.000,0.078,2576,3903,2882
$GC,897,-0.79,-116.8,144.8,-13.1,96,901,0.00,2.03,0.00,0.000,6,0.000,0.028,2578,2522,2882
$GC,1165,-0.79,-116.8,176.9,-10.9,121,1170,0.00,2.47,0.00,0.000,4,0.000,0.104,2569,3906,2883
$GC,1363,-0.79,-116.8,201.5,-12.2,138,1367,0.00,1.98,0.00,0.000,6,0.000,0.027,2574,2549,2883
$GC,1624,-0.79,-116.8,228.9,-10.2,145,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2542,2883
$GC,1869,-0.79,-116.8,253.7,-10.0,151,1873,0.00,2.40,0.00,0.000,4,0.000,0.105,2565,3895,2884
$GC,1908,-0.79,-116.8,257.9,-11.6,152,1912,0.00,1.98,0.00,0.000,6,0.000,0.028,2571,2537,2884
$GC,2196,-0.79,-116.8,288.7,-11.0,159,2200,0.00,2.42,0.00,0.000,4,0.000,0.106,2562,3895,2884
$GC,2251,-0.79,-116.8,295.8,-13.0,160,2256,0.00,1.98,0.00,0.000,6,0.000,0.029,2569,2560,2884
$GC,2524,-0.79,-116.8,323.4,-9.5,167,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2552,2883
$GC,2767,-0.79,-116.8,346.9,-9.5,173,2771,0.00,2.08,0.00,0.000,4,0.000,0.030,2574,1140,2882
$GC,2822,-0.79,-116.8,352.6,-10.3,174,2827,0.12,2.38,0.00,0.000,6,0.216,0.079,2590,2550,2882
$GC,3101,-0.79,-116.8,377.5,-8.5,181,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2550,2881
$GC,3344,-0.79,-116.8,395.3,-7.2,187,3348,0.00,2.30,0.00,0.000,4,0.000,0.087,2581,3907,2880
$GC,3438,-0.79,-116.8,403.5,-8.5,189,3442,0.00,2.03,0.00,0.000,6,0.000,0.030,2589,2550,2880
$GC,3719,-0.79,-116.8,423.7,-7.4,196,3723,0.00,2.42,0.00,0.000,4,0.000,0.108,2580,3896,2878
$GC,3791,-0.79,-116.8,430.7,-9.6,197,3794,0.00,2.00,0.00,0.000,6,0.000,0.031,2588,2556,2878
$GC,4046,-0.79,-116.8,452.0,-8.6,204,4050,0.00,2.42,0.00,0.000,4,0.000,0.107,2580,3902,2878
$GC,4151,-0.79,-116.8,462.3,-9.9,206,4155,0.00,2.03,0.00,0.000,6,0.000,0.031,2587,2551,2876
$GC,4418,-0.79,-116.8,483.8,-7.8,213,4422,0.00,2.42,0.00,0.000,4,0.000,0.107,2578,3899,2875
$GC,4461,-0.79,-116.8,487.8,-8.7,214,4465,0.00,2.03,0.00,0.000,6,0.000,0.031,2583,2549,2875
$STATE,4621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4621,begin apogee
$GC,4626,-0.32,0.0,500.2,7.7,218,4728,0.60,0.00,99.30,0.985,6,0.197,0.000,2742,2541,2400
$STATE,4729,end apogee,CONTROL_FINISHED_OK
$STATE,4729,begin climb
$GC,4731,0.79,116.8,501.8,0.0,220,4837,1.12,0.00,101.95,0.952,6,0.120,0.000,3095,2541,1923
$GC,5056,0.79,116.8,406.1,33.3,228,5060,0.00,2.12,0.00,0.000,4,0.000,0.034,3106,1157,1914
$GC,5128,0.79,116.8,383.5,28.6,229,5132,0.00,2.33,0.00,0.000,6,0.000,0.062,3106,2557,1912
$GC,5392,0.79,116.8,296.0,33.5,236,5395,0.00,2.12,0.00,0.000,4,0.000,0.033,3117,1154,1910
$GC,5486,0.79,116.8,267.7,28.0,238,5490,0.00,2.28,0.00,0.000,6,0.000,0.057,3110,2554,1909
$GC,5741,0.79,116.8,190.3,30.2,245,5744,0.00,2.12,0.00,0.000,4,0.000,0.034,3119,1142,1907
$GC,5799,0.79,116.8,173.9,27.3,250,5803,0.00,2.30,0.00,0.000,6,0.000,0.060,3120,2556,1907
$GC,6060,0.79,116.8,95.8,27.3,274,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2556,1905
$GC,6316,0.79,116.8,29.8,26.5,298,6324,0.00,2.15,0.00,0.000,4,0.000,0.033,3130,1152,1904
$GC,6332,0.79,116.8,25.5,26.3,300,6340,0.00,2.22,0.00,0.000,6,0.000,0.050,3123,2546,1904
$STATE,6415,end climb,SURFACE_DEPTH_REACHED
$STATE,6415,begin surface coast
$FINISH,-0.0,1.023899
$STATE,6427,end surface coast,CONTROL_FINISHED_OK
$STATE,6427,begin surface
$SM_CCo,6444,124.07,0.629,0,0,849,380.21
$SM_GC,0.80,0.00,0.00,124.07,0.000,0.000,0.629,43,2554,849,-8.77,0.11,380.21
$IRIDIUM_FIX,2241.69,-15757.16,310300,222221
$TT8_MAMPS,0.023777
$HUMID,1850
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,24.3,35.166
$10V_AH,10.8,20.717
$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,21.400,61.825,201.250,124.075,0.000,30.361,35.065,136.589,0.000,0.000,0.000,14.410,666.899,4304.651,414.119,1167.654,325.810,33.333,873.702,0.000,1167.287,0.000,0.543,0.000
$DEVICE_MAMPS,246.207,108.147,984.828,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,214.389,521.701,537.293,120.703,499.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25622,317
$CAP_FILE_SIZE,56541,0
$CFSIZE,260165632,250093568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,060111,022436,2246.924,-15755.538,33,1.0,34,10.1