version: 66.04
glider: 512
mission: 1
dive: 261
start: 1 6 111 18 22 21
data:
$ID,512
$MISSION,1
$DIVE,261
$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,-10642.975
$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,43
$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
$GPS1,181637,2248.761,-15755.328,26,1.6,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.7
$GPS2,182128,2248.744,-15755.348,12,3.1,31,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.074,0.205
$KALMAN_X,-125182.9,830.7,364.4,150950.2,-1950.1
$KALMAN_Y,-247927.7,1902.9,959.9,371855.7,-9416.9
$MHEAD_RNG_PITCHd_Wd,329.9,5289,-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,-78.12,0.000,6,0.000,0.000,37,2551,2877
$GC,103,-0.79,-116.8,3.7,-5.6,11,120,11.18,2.30,0.00,0.000,4,0.251,0.084,2577,3901,2878
$GC,234,-0.79,-116.8,36.4,-19.9,32,238,0.00,2.03,0.00,0.000,6,0.000,0.028,2584,2541,2879
$GC,504,-0.79,-116.8,89.4,-17.6,57,508,0.00,2.42,0.00,0.000,4,0.000,0.105,2576,3889,2881
$GC,758,-0.79,-116.8,137.9,-16.0,79,765,0.00,2.03,0.00,0.000,6,0.000,0.027,2582,2526,2882
$GC,1020,-0.79,-116.8,172.1,-12.2,104,1024,0.00,2.45,0.00,0.000,4,0.000,0.107,2573,3889,2883
$GC,1153,-0.79,-116.8,189.8,-13.9,115,1160,0.00,1.98,0.00,0.000,6,0.000,0.028,2580,2545,2884
$GC,1406,-0.79,-116.8,221.4,-12.5,128,1410,0.00,2.42,0.00,0.000,4,0.000,0.107,2572,3895,2884
$GC,1663,-0.79,-116.8,254.8,-11.8,133,1669,0.00,1.98,0.00,0.000,6,0.000,0.028,2578,2558,2884
$GC,1913,-0.79,-116.8,281.5,-10.2,140,1917,0.00,2.40,0.00,0.000,4,0.000,0.109,2568,3890,2884
$GC,2169,-0.79,-116.8,310.6,-9.1,145,2177,0.00,1.98,0.00,0.000,6,0.000,0.028,2576,2546,2884
$GC,2420,-0.79,-116.8,332.4,-8.8,152,2424,0.00,2.40,0.00,0.000,4,0.000,0.108,2567,3887,2884
$GC,2542,-0.79,-116.8,343.8,-8.7,154,2548,0.00,1.98,0.00,0.000,6,0.000,0.028,2574,2549,2884
$GC,2793,-0.79,-116.8,363.5,-7.8,161,2797,0.00,2.40,0.00,0.000,4,0.000,0.109,2565,3889,2883
$GC,2882,-0.79,-116.8,372.2,-9.5,163,2886,0.00,1.98,0.00,0.000,6,0.000,0.029,2573,2558,2883
$GC,3166,-0.79,-116.8,394.9,-8.0,170,3170,0.00,2.05,0.00,0.000,4,0.000,0.030,2574,1150,2882
$GC,3182,-0.79,-116.8,396.5,-8.3,170,3187,0.12,2.38,0.00,0.000,6,0.215,0.080,2589,2553,2882
$GC,3455,-0.79,-116.8,417.2,-7.3,177,3459,0.00,2.30,0.00,0.000,4,0.000,0.089,2580,3903,2880
$GC,3561,-0.79,-116.8,425.7,-8.0,179,3564,0.00,2.00,0.00,0.000,6,0.000,0.031,2589,2540,2880
$GC,3830,-0.79,-116.8,443.2,-6.3,186,3834,0.00,2.05,0.00,0.000,4,0.000,0.030,2599,1136,2879
$GC,3942,-0.79,-116.8,451.0,-7.5,188,3946,0.00,2.38,0.00,0.000,6,0.000,0.075,2589,2561,2878
$GC,4202,-0.79,-116.8,469.6,-7.4,195,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2561,2877
$GC,4449,-0.79,-116.8,487.5,-7.2,201,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2561,2876
$STATE,4648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4648,begin apogee
$GC,4653,-0.32,0.0,502.0,7.1,206,4755,0.57,0.00,99.57,0.999,6,0.196,0.000,2740,2560,2400
$STATE,4756,end apogee,CONTROL_FINISHED_OK
$STATE,4756,begin climb
$GC,4758,0.79,116.8,503.8,0.0,208,4869,1.15,2.30,101.65,0.965,4,0.125,0.033,3107,1151,1922
$GC,4964,0.79,116.8,450.1,29.4,212,4971,0.00,2.30,0.00,0.000,6,0.000,0.054,3107,2553,1914
$GC,5214,0.79,116.8,366.4,33.9,219,5218,0.00,2.12,0.00,0.000,4,0.000,0.035,3117,1157,1911
$GC,5342,0.79,116.8,328.3,26.7,221,5348,0.00,2.25,0.00,0.000,6,0.000,0.052,3110,2551,1910
$GC,5594,0.79,116.8,252.6,30.2,228,5597,0.00,2.10,0.00,0.000,4,0.000,0.034,3120,1158,1908
$GC,5654,0.79,116.8,233.5,30.1,229,5658,0.00,2.22,0.00,0.000,6,0.000,0.053,3120,2556,1907
$GC,5913,0.79,116.8,154.1,30.0,243,5917,0.00,2.10,0.00,0.000,4,0.000,0.033,3130,1157,1905
$GC,5951,0.79,116.8,142.9,28.4,246,5960,0.00,2.22,0.00,0.000,6,0.000,0.050,3123,2549,1905
$GC,6215,0.79,116.8,73.1,24.5,271,6219,0.00,2.17,0.00,0.000,4,0.000,0.063,3123,3900,1904
$GC,6273,0.79,116.8,56.2,29.2,276,6283,0.00,2.03,0.00,0.000,6,0.000,0.034,3134,2566,1903
$STATE,6460,end climb,SURFACE_DEPTH_REACHED
$STATE,6460,begin surface coast
$FINISH,-0.0,1.023955
$STATE,6469,end surface coast,CONTROL_FINISHED_OK
$STATE,6469,begin surface
$SM_CCo,6486,121.22,0.619,0,0,849,380.21
$SM_GC,1.07,0.00,0.00,121.22,0.000,0.000,0.619,43,2558,849,-8.77,0.20,380.21
$IRIDIUM_FIX,2241.69,-15754.11,010400,161634
$TT8_MAMPS,0.023777
$HUMID,1842
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,24.3,35.993
$10V_AH,10.8,21.372
$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,21.550,65.700,201.225,121.225,0.000,25.352,32.511,121.640,0.250,0.000,0.000,32.398,671.750,4239.095,410.937,1281.896,307.710,33.336,934.204,0.000,1256.074,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,108.914,998.634,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,204.094,485.714,501.047,110.742,458.792,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25661,303
$CAP_FILE_SIZE,60025,0
$CFSIZE,260165632,249757696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,060111,201320,2249.387,-15755.534,14,1.9,15,10.1