version: 66.04
glider: 512
mission: 1
dive: 926
start: 3 11 111 0 4 28
data:
$ID,512
$MISSION,1
$DIVE,926
$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,-25926.092
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2840
$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,2640
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3010
$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
$GPS1,235643,2246.878,-15801.218,7,1.7,12,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.7
$GPS2,000336,2246.892,-15801.239,44,1.0,44,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.078,-0.156
$KALMAN_X,-372571.3,974.0,343.8,388073.4,-3989.1
$KALMAN_Y,-651795.9,643.5,-28.6,774570.6,2142.2
$MHEAD_RNG_PITCHd_Wd,143.3,3013,-26.0,-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,17,-1.12,-64.7,0.0,0.0,0,64,0.00,0.00,-45.22,0.000,2,0.000,0.000,38,2711,2733
$GC,70,-1.19,-121.6,3.0,-3.9,6,103,10.80,2.28,-17.17,0.000,4,0.243,0.041,2458,1223,3508
$GC,209,-1.19,-121.6,46.4,-32.6,24,217,0.00,2.47,0.00,0.000,6,0.000,0.080,2449,2635,3509
$GC,474,-1.19,-121.6,152.4,-36.3,49,478,0.00,2.12,0.00,0.000,4,0.000,0.074,2439,3902,3511
$GC,548,-1.19,-121.6,177.4,-31.7,55,552,0.00,1.85,0.00,0.000,6,0.000,0.025,2446,2644,3511
$GC,829,-1.19,-121.6,267.6,-31.9,67,833,0.00,2.08,0.00,0.000,4,0.000,0.025,2457,1212,3513
$GC,859,-1.19,-121.6,276.4,-28.4,67,863,0.00,2.42,0.00,0.000,6,0.000,0.070,2448,2650,3513
$GC,1123,-1.19,-121.6,347.8,-27.8,74,1127,0.00,2.10,0.00,0.000,4,0.000,0.073,2438,3901,3513
$GC,1384,-1.19,-121.6,420.5,-25.5,79,1388,0.00,1.90,0.00,0.000,6,0.000,0.025,2443,2635,3513
$GC,1644,-1.19,-121.6,486.8,-26.4,86,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2628,3512
$GC,1885,-1.19,-121.6,547.2,-24.2,92,1889,0.00,2.12,0.00,0.000,4,0.000,0.065,2435,3901,3511
$GC,1897,-1.19,-121.6,550.5,-24.4,92,1901,0.00,1.88,0.00,0.000,6,0.000,0.026,2442,2624,3511
$STATE,2132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2132,begin apogee
$GC,2144,-0.32,0.0,607.4,23.7,98,2256,1.20,0.00,104.00,1.035,6,0.213,0.000,2729,2477,3009
$STATE,2257,end apogee,CONTROL_FINISHED_OK
$STATE,2257,begin climb
$GC,2262,1.19,121.6,614.7,0.0,101,2378,1.45,2.25,106.95,1.032,4,0.085,0.027,3228,1034,2513
$GC,2628,1.19,121.6,565.2,21.2,109,2632,0.00,2.25,0.00,0.000,6,0.000,0.042,3220,2467,2506
$GC,2899,1.19,121.6,508.7,20.7,116,2902,0.00,2.15,0.00,0.000,4,0.000,0.028,3229,1023,2502
$GC,3161,1.19,121.6,459.1,16.6,121,3165,0.00,2.30,0.00,0.000,6,0.000,0.048,3220,2457,2501
$GC,3415,1.19,121.6,419.0,15.4,127,3418,0.00,2.12,0.00,0.000,4,0.000,0.029,3229,1030,2499
$GC,3647,1.19,121.6,383.5,13.5,132,3652,0.00,2.28,0.00,0.000,6,0.000,0.042,3219,2479,2497
$GC,3927,1.19,121.6,342.1,14.8,139,3931,0.00,2.17,0.00,0.000,4,0.000,0.029,3229,1030,2495
$GC,4025,1.19,121.6,331.3,10.0,141,4029,0.00,2.28,0.00,0.000,6,0.000,0.045,3220,2466,2494
$GC,4310,1.19,121.6,300.2,10.9,148,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2466,2493
$GC,4554,1.20,126.2,277.6,9.2,154,4558,0.00,2.28,0.00,0.000,4,0.000,0.054,3218,3877,2492
$GC,4814,1.20,126.6,257.2,9.6,159,4818,0.00,2.15,0.00,0.000,6,0.000,0.027,3227,2434,2492
$GC,5073,1.22,143.7,237.7,7.9,166,5094,0.00,2.05,16.33,0.792,4,0.000,0.027,3237,1063,2424
$GC,5327,1.22,143.7,211.6,11.1,171,5331,0.00,2.25,0.00,0.000,6,0.000,0.044,3231,2471,2422
$GC,5586,1.22,144.0,183.5,9.6,186,5590,0.00,2.10,0.00,0.000,4,0.000,0.027,3240,1057,2421
$GC,5847,1.22,144.0,157.6,10.1,209,5851,0.00,2.20,0.00,0.000,6,0.000,0.041,3231,2463,2421
$GC,6117,1.24,164.5,135.5,7.6,234,6141,0.00,2.15,19.05,0.706,4,0.000,0.027,3240,1045,2339
$GC,6155,1.24,164.5,131.9,9.8,237,6162,0.00,2.25,0.00,0.000,6,0.000,0.041,3232,2457,2337
$GC,6419,1.24,164.5,106.3,9.6,262,6423,0.00,2.08,0.00,0.000,4,0.000,0.026,3240,1051,2336
$GC,6680,1.25,173.3,82.0,8.7,285,6693,0.00,2.20,8.88,0.594,6,0.000,0.041,3232,2460,2303
$GC,6950,1.25,173.3,51.1,11.7,310,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2460,2303
$GC,7216,1.25,173.3,22.9,11.1,341,7224,0.00,2.12,0.00,0.000,4,0.000,0.026,3241,1046,2303
$STATE,7402,end climb,SURFACE_DEPTH_REACHED
$STATE,7402,begin surface coast
$FINISH,0.4,1.023855
$STATE,7425,end surface coast,CONTROL_FINISHED_OK
$STATE,7425,begin surface
$SM_CCo,7454,97.78,0.590,0,0,1582,350.04
$SM_GC,1.59,0.00,0.00,97.78,0.000,0.000,0.590,46,2645,1582,-8.73,0.14,350.04
$IRIDIUM_FIX,2237.01,-15802.37,030600,212153
$TT8_MAMPS,0.023777
$HUMID,1846
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.8,121.054
$10V_AH,10.7,72.038
$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,22.900,65.650,255.200,97.775,0.000,29.900,33.259,159.726,0.000,0.000,0.000,44.250,815.132,4525.977,398.793,1669.932,559.391,33.346,1024.283,0.000,1627.269,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,79.768,1034.683,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.503,649.781,670.951,157.975,649.914,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31993,379
$CAP_FILE_SIZE,67369,0
$CFSIZE,260165632,224657408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,110311,021125,2246.260,-15801.198,13,1.6,18,10.1