version: 66.04
glider: 512
mission: 1
dive: 719
start: 2 15 111 9 38 0
data:
$ID,512
$MISSION,1
$DIVE,719
$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,-21506.242
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$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,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,092724,2252.546,-15754.175,24,1.1,42,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-79.0
$GPS2,093707,2252.589,-15754.202,12,1.2,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.014,0.166
$KALMAN_X,-201249.3,-192.4,171.6,230202.5,-2389.6
$KALMAN_Y,-513206.2,-147.6,-250.9,647556.5,-343.8
$MHEAD_RNG_PITCHd_Wd,354.7,2784,-27.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.16,-59.4,0.0,0.0,0,68,0.00,0.00,-45.22,0.000,2,0.000,0.000,44,2739,2903
$GC,72,-1.21,-102.2,3.3,-5.0,6,105,11.18,1.83,-13.73,0.000,4,0.250,0.062,2463,3862,3576
$GC,349,-1.21,-102.2,104.4,-35.4,36,357,0.00,1.75,0.00,0.000,6,0.000,0.025,2468,2703,3578
$GC,613,-1.21,-102.2,190.8,-31.1,61,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2696,3580
$GC,886,-1.21,-102.2,272.8,-28.9,70,889,0.00,1.90,0.00,0.000,4,0.000,0.059,2460,3867,3581
$GC,920,-1.21,-102.2,282.9,-28.5,70,924,0.00,1.75,0.00,0.000,6,0.000,0.023,2464,2677,3581
$GC,1179,-1.21,-102.2,351.7,-27.3,77,1182,0.00,2.00,0.00,0.000,4,0.000,0.026,2473,1296,3581
$GC,1225,-1.21,-102.2,363.2,-21.4,78,1229,0.00,2.22,0.00,0.000,6,0.000,0.058,2464,2681,3581
$GC,1509,-1.21,-102.2,431.9,-23.5,85,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2680,3581
$GC,1754,-1.21,-102.2,487.2,-22.5,91,1758,0.00,1.98,0.00,0.000,4,0.000,0.064,2454,3904,3579
$GC,1811,-1.21,-102.2,500.5,-21.6,92,1815,0.00,1.75,0.00,0.000,6,0.000,0.025,2460,2701,3579
$GC,2090,-1.21,-102.2,561.1,-21.8,99,2094,0.00,1.98,0.00,0.000,4,0.000,0.061,2453,3905,3578
$GC,2130,-1.21,-102.2,570.4,-23.4,99,2136,0.00,1.77,0.00,0.000,6,0.000,0.025,2459,2692,3577
$STATE,2298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2298,begin apogee
$GC,2307,-0.32,0.0,606.3,21.4,104,2398,1.17,0.00,87.28,1.005,6,0.202,0.000,2760,2684,3160
$STATE,2399,end apogee,CONTROL_FINISHED_OK
$STATE,2399,begin climb
$GC,2403,1.21,102.2,610.7,0.0,106,2500,1.45,2.25,89.50,0.988,4,0.081,0.027,3271,1216,2742
$GC,2753,1.24,121.7,608.9,7.5,114,2777,0.00,2.20,17.17,0.939,6,0.000,0.042,3271,2635,2663
$GC,3037,1.24,121.7,575.4,12.5,121,3041,0.00,2.00,0.00,0.000,4,0.000,0.055,3270,3896,2658
$GC,3089,1.24,121.7,568.9,12.0,122,3093,0.00,1.88,0.00,0.000,6,0.000,0.026,3279,2616,2657
$GC,3374,1.24,121.7,539.9,10.1,129,3378,0.00,2.03,0.00,0.000,4,0.000,0.050,3272,3900,2655
$GC,3392,1.24,125.1,538.3,9.2,129,3396,0.00,1.88,0.00,0.000,6,0.000,0.028,3280,2625,2655
$GC,3667,1.26,142.0,516.6,7.8,136,3696,0.00,2.03,19.38,0.867,4,0.000,0.046,3272,3909,2581
$GC,3951,1.26,142.0,480.3,11.7,142,3954,0.00,1.90,0.00,0.000,6,0.000,0.026,3280,2618,2578
$GC,4224,1.26,142.0,450.8,10.4,149,4228,0.00,2.03,0.00,0.000,4,0.000,0.046,3272,3902,2575
$GC,4483,1.26,142.0,422.9,10.7,154,4487,0.00,1.88,0.00,0.000,6,0.000,0.028,3281,2629,2574
$GC,4740,1.26,142.0,397.1,9.9,161,4744,0.00,2.03,0.00,0.000,4,0.000,0.049,3272,3906,2573
$GC,5000,1.29,162.9,376.3,7.4,166,5024,0.00,1.90,18.60,0.883,6,0.000,0.027,3281,2605,2496
$GC,5299,1.29,162.9,340.3,12.9,174,5302,0.00,2.03,0.00,0.000,4,0.000,0.028,3291,1226,2491
$GC,5558,1.29,162.9,305.0,13.0,179,5562,0.00,2.20,0.00,0.000,6,0.000,0.043,3287,2631,2490
$GC,5809,1.29,162.9,275.7,11.3,185,5812,0.00,2.08,0.00,0.000,4,0.000,0.028,3296,1224,2490
$GC,6068,1.29,162.9,246.1,9.7,190,6072,0.00,2.17,0.00,0.000,6,0.000,0.042,3296,2630,2489
$GC,6326,1.31,179.3,224.6,7.8,197,6346,0.00,2.00,14.85,0.757,4,0.000,0.049,3296,3901,2429
$GC,6599,1.31,179.3,190.9,14.1,206,6606,0.00,1.90,0.00,0.000,6,0.000,0.026,3306,2628,2427
$GC,6863,1.31,179.3,158.5,11.9,231,6867,0.00,2.00,0.00,0.000,4,0.000,0.044,3301,3903,2426
$GC,7121,1.32,190.3,133.7,8.4,254,7139,0.00,1.88,10.93,0.656,6,0.000,0.025,3309,2604,2383
$GC,7406,1.37,228.3,111.0,5.5,280,7445,0.00,2.10,33.72,0.673,4,0.000,0.025,3320,1227,2228
$GC,7698,1.37,228.3,67.2,17.9,305,7706,0.00,2.20,0.00,0.000,6,0.000,0.039,3314,2630,2224
$GC,7963,1.37,228.3,18.0,19.3,335,7971,0.00,2.08,0.00,0.000,4,0.000,0.025,3323,1220,2224
$STATE,8040,end climb,SURFACE_DEPTH_REACHED
$STATE,8040,begin surface coast
$FINISH,1.3,1.023784
$STATE,8047,end surface coast,CONTROL_FINISHED_OK
$STATE,8047,begin surface
$SM_CCo,8073,67.30,0.581,0,0,1732,350.04
$SM_GC,2.08,0.00,0.00,67.30,0.000,0.000,0.581,45,2711,1732,-8.84,0.34,350.04
$IRIDIUM_FIX,2244.02,-15751.94,110500,090923
$TT8_MAMPS,0.023777
$HUMID,1832
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.7,95.363
$10V_AH,10.7,53.598
$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,23.050,67.950,291.425,67.300,0.000,53.596,72.082,249.652,0.000,0.000,0.000,17.088,798.934,5239.836,391.952,1626.360,671.649,33.368,1077.566,0.000,1604.073,0.000,0.543,0.000
$DEVICE_MAMPS,250.042,63.661,1004.770,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,236.653,539.669,555.841,116.115,479.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28805,350
$CAP_FILE_SIZE,75099,0
$CFSIZE,260165632,233357312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,150211,115455,2253.151,-15754.449,12,1.9,30,10.1