version: 66.04
glider: 512
mission: 1
dive: 377
start: 1 14 111 21 59 0
data:
$ID,512
$MISSION,1
$DIVE,377
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,150
$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,350
$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,-13006.851
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,38
$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,3347
$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
$GPS1,215156,2250.240,-15756.356,13,1.6,13,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.5
$GPS2,215807,2250.214,-15756.369,13,1.6,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.113,0.230
$KALMAN_X,-151332.1,-1797.9,76.8,178274.0,2826.4
$KALMAN_Y,-346714.0,2243.0,819.5,473151.8,-16697.3
$MHEAD_RNG_PITCHd_Wd,323.8,6435,-16.9,-9.615
$D_GRID,600
$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,-0.85,-146.0,0.0,0.0,0,86,0.00,0.00,-69.35,0.000,2,0.000,0.000,38,2562,2941
$GC,90,-0.85,-146.0,3.1,-4.8,9,130,10.85,2.17,-19.98,0.000,4,0.251,0.042,2523,1134,3945
$GC,248,-0.85,-146.0,50.0,-24.8,29,252,0.00,2.45,0.00,0.000,6,0.000,0.091,2513,2545,3946
$GC,515,-0.85,-146.0,154.5,-35.5,54,519,0.00,2.33,0.00,0.000,4,0.000,0.091,2503,3901,3947
$GC,601,-0.85,-146.0,180.9,-24.1,61,605,0.00,2.03,0.00,0.000,6,0.000,0.029,2510,2539,3948
$GC,879,-0.85,-146.0,261.9,-29.4,73,883,0.00,2.08,0.00,0.000,4,0.000,0.031,2521,1128,3950
$GC,918,-0.85,-146.0,272.1,-24.3,73,924,0.00,2.40,0.00,0.000,6,0.000,0.076,2512,2561,3950
$GC,1168,-0.85,-146.0,332.9,-24.8,80,1172,0.00,2.28,0.00,0.000,4,0.000,0.089,2501,3899,3951
$GC,1246,-0.85,-146.0,351.5,-20.1,81,1250,0.00,2.03,0.00,0.000,6,0.000,0.029,2509,2533,3951
$GC,1501,-0.85,-146.0,409.2,-22.9,88,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2526,3951
$GC,1745,-0.85,-146.0,462.3,-22.0,94,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2527,3951
$GC,1989,-0.85,-146.0,512.6,-20.2,100,1993,0.00,2.45,0.00,0.000,4,0.000,0.110,2500,3890,3950
$GC,2015,-0.85,-146.0,518.0,-20.3,100,2019,0.00,2.00,0.00,0.000,6,0.000,0.033,2508,2541,3949
$GC,2271,-0.85,-146.0,565.3,-18.6,107,2275,0.00,2.45,0.00,0.000,4,0.000,0.110,2499,3894,3947
$GC,2304,-0.85,-146.0,571.6,-18.5,107,2310,0.00,2.00,0.00,0.000,6,0.000,0.032,2507,2545,3946
$STATE,2470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2470,begin apogee
$GC,2476,-0.32,0.0,600.8,17.6,112,2600,0.65,0.00,120.32,1.019,6,0.175,0.000,2690,2538,3347
$STATE,2601,end apogee,CONTROL_FINISHED_OK
$STATE,2601,begin climb
$GC,2604,0.85,146.0,606.9,0.0,115,2732,1.12,0.00,124.15,0.996,6,0.096,0.000,3065,2536,2752
$GC,2969,0.96,235.4,611.0,5.6,124,3053,0.15,2.35,75.85,0.999,4,0.118,0.071,3110,3897,2386
$GC,3101,0.96,235.4,588.5,27.4,127,3105,0.00,2.10,0.00,0.000,6,0.000,0.035,3119,2548,2383
$GC,3392,0.96,235.4,517.1,23.7,134,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2540,2378
$GC,3634,0.96,235.4,461.9,22.7,140,3637,0.00,2.12,0.00,0.000,4,0.000,0.033,3129,1119,2375
$GC,3695,0.96,235.4,449.0,20.0,141,3698,0.00,2.30,0.00,0.000,6,0.000,0.057,3123,2549,2375
$GC,3967,0.96,235.4,392.5,20.7,148,3971,0.00,2.12,0.00,0.000,4,0.000,0.034,3133,1128,2372
$GC,4040,0.96,235.4,378.3,19.1,149,4043,0.00,2.30,0.00,0.000,6,0.000,0.056,3132,2550,2372
$GC,4303,0.96,235.4,329.3,18.4,156,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2550,2370
$GC,4544,0.96,235.4,284.2,18.4,162,4548,0.00,2.17,0.00,0.000,4,0.000,0.062,3124,3906,2370
$GC,4662,0.96,235.4,260.8,19.0,164,4666,0.00,2.05,0.00,0.000,6,0.000,0.035,3132,2535,2369
$GC,4926,0.96,235.4,221.5,14.6,171,4929,0.00,2.08,0.00,0.000,4,0.000,0.031,3143,1129,2368
$GC,5071,0.96,235.4,200.8,12.0,174,5075,0.00,2.28,0.00,0.000,6,0.000,0.050,3137,2568,2367
$GC,5334,0.96,235.4,166.2,14.2,197,5338,0.00,2.12,0.00,0.000,4,0.000,0.031,3146,1133,2366
$GC,5450,0.96,235.4,151.5,11.5,207,5459,0.10,2.28,0.00,0.000,6,0.247,0.053,3122,2541,2366
$GC,5712,0.96,235.4,119.9,10.7,232,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2541,2366
$GC,5967,1.02,282.7,98.4,7.5,256,6009,0.00,2.20,36.88,0.675,4,0.000,0.062,3120,3891,2193
$GC,6186,1.02,282.7,61.8,19.7,275,6193,0.00,2.03,0.00,0.000,6,0.000,0.029,3130,2550,2190
$GC,6450,1.02,282.7,10.7,19.8,309,6458,0.00,2.10,0.00,0.000,4,0.000,0.030,3141,1147,2189
$GC,6488,1.02,282.7,3.7,19.0,315,6496,0.00,2.25,0.00,0.000,6,0.000,0.051,3137,2539,2188
$STATE,6502,end climb,SURFACE_DEPTH_REACHED
$STATE,6502,begin surface coast
$FINISH,0.2,1.012709
$STATE,6520,end surface coast,CONTROL_FINISHED_OK
$STATE,6520,begin surface
$SM_CCo,6538,40.05,0.588,0,0,1919,350.04
$SM_GC,1.15,0.00,0.00,40.05,0.000,0.000,0.588,44,2547,1919,-8.61,-0.06,350.04
$IRIDIUM_FIX,2239.35,-15757.16,090400,202023
$TT8_MAMPS,0.023777
$HUMID,1817
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,24.1,48.484
$10V_AH,10.7,28.928
$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,21.375,61.500,357.200,40.050,0.000,29.031,45.934,162.758,0.000,0.000,0.000,18.232,653.854,4253.171,452.651,1180.659,425.469,33.339,952.085,0.000,1172.484,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,110.448,1019.343,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,215.356,525.608,539.367,117.908,492.849,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25688,320
$CAP_FILE_SIZE,57316,0
$CFSIZE,260165632,246099968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,140111,234952,2250.776,-15757.033,15,7.5,34,10.1