version: 66.04
glider: 512
mission: 1
dive: 960
start: 3 14 111 10 18 41
data:
$ID,512
$MISSION,1
$DIVE,960
$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,-26684.764
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,45
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2980
$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
$GPS1,100700,2253.821,-15754.023,38,1.3,45,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-79.6
$GPS2,101749,2253.844,-15753.979,16,1.5,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.042,-0.172
$KALMAN_X,-384432.2,745.8,255.8,412745.9,-2076.0
$KALMAN_Y,-661864.9,296.9,234.8,797594.5,1507.5
$MHEAD_RNG_PITCHd_Wd,183.7,2672,-25.6,-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,-1.11,-66.6,0.0,0.0,0,72,0.00,0.00,-52.78,0.000,2,0.000,0.000,42,2600,2930
$GC,78,-1.18,-125.2,3.1,-3.9,7,111,10.68,2.10,-11.57,0.000,4,0.234,0.038,2499,1209,3493
$GC,191,-1.18,-125.2,40.0,-30.6,22,195,0.00,2.38,0.00,0.000,6,0.000,0.063,2489,2633,3494
$GC,463,-1.18,-125.2,138.3,-34.5,47,466,0.00,2.05,0.00,0.000,4,0.000,0.059,2479,3900,3495
$GC,578,-1.18,-125.2,177.7,-30.8,57,582,0.00,1.88,0.00,0.000,6,0.000,0.023,2486,2641,3495
$GC,858,-1.18,-125.2,264.2,-30.4,69,862,0.00,2.08,0.00,0.000,4,0.000,0.025,2497,1216,3496
$GC,871,-1.18,-125.2,268.1,-29.1,69,875,0.00,2.30,0.00,0.000,6,0.000,0.051,2487,2646,3496
$GC,1152,-1.18,-125.2,338.3,-24.6,76,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2647,3497
$GC,1394,-1.18,-125.2,397.2,-23.8,82,1398,0.00,2.08,0.00,0.000,4,0.000,0.065,2477,3905,3497
$GC,1447,-1.18,-125.2,409.6,-22.2,83,1450,0.00,1.88,0.00,0.000,6,0.000,0.024,2479,2625,3496
$GC,1732,-1.18,-125.2,474.5,-22.7,90,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2618,3495
$GC,1978,-1.18,-125.2,526.3,-21.2,96,1981,0.00,2.05,0.00,0.000,4,0.000,0.027,2488,1233,3493
$GC,1996,-1.18,-125.2,530.8,-20.6,96,2001,0.00,2.30,0.00,0.000,6,0.000,0.054,2478,2645,3493
$GC,2265,-1.18,-125.2,584.7,-19.9,103,2269,0.00,2.05,0.00,0.000,4,0.000,0.063,2467,3892,3490
$GC,2334,-1.18,-125.2,599.8,-20.6,104,2338,0.00,1.85,0.00,0.000,6,0.000,0.024,2474,2633,3490
$STATE,2343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2343,begin apogee
$GC,2355,-0.32,0.0,602.3,20.0,104,2464,1.15,0.00,105.90,1.027,6,0.199,0.000,2762,2473,2980
$STATE,2465,end apogee,CONTROL_FINISHED_OK
$STATE,2465,begin climb
$GC,2470,1.18,125.2,607.1,0.0,107,2588,1.42,2.35,110.65,1.013,4,0.064,0.054,3257,3872,2468
$GC,2715,1.18,125.2,575.6,26.2,113,2719,0.00,2.15,0.00,0.000,6,0.000,0.026,3266,2444,2462
$GC,2989,1.18,125.2,509.5,23.8,120,2993,0.00,2.05,0.00,0.000,4,0.000,0.028,3277,1051,2457
$GC,3058,1.18,125.2,493.9,22.0,121,3062,0.00,2.22,0.00,0.000,6,0.000,0.041,3271,2474,2457
$GC,3322,1.18,125.2,438.1,20.9,128,3326,0.00,2.12,0.00,0.000,4,0.000,0.027,3280,1042,2453
$GC,3419,1.18,125.2,418.8,19.1,130,3423,0.00,2.22,0.00,0.000,6,0.000,0.040,3271,2463,2453
$GC,3700,1.18,125.2,363.0,20.2,137,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2463,2450
$GC,3944,1.18,125.2,325.5,15.1,143,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2463,2449
$GC,4189,1.18,125.2,291.5,13.6,149,4192,0.00,2.10,0.00,0.000,4,0.000,0.028,3280,1057,2447
$GC,4236,1.18,125.2,285.9,11.1,150,4241,0.00,2.20,0.00,0.000,6,0.000,0.039,3271,2470,2447
$GC,4522,1.20,139.9,259.3,8.2,157,4537,0.00,2.25,10.18,0.757,4,0.000,0.049,3270,3868,2408
$GC,4635,1.20,139.9,246.6,11.8,159,4639,0.00,2.10,0.00,0.000,6,0.000,0.025,3280,2452,2407
$GC,4901,1.20,139.9,217.3,10.9,166,4905,0.00,2.05,0.00,0.000,4,0.000,0.026,3291,1062,2406
$GC,5130,1.20,139.9,192.2,10.4,174,5134,0.00,2.17,0.00,0.000,6,0.000,0.041,3287,2454,2405
$GC,5401,1.20,139.9,161.8,10.6,199,5405,0.00,2.28,0.00,0.000,4,0.000,0.048,3285,3881,2404
$GC,5499,1.20,142.0,151.6,9.4,207,5508,0.00,2.15,0.00,0.000,6,0.000,0.024,3293,2448,2404
$GC,5764,1.23,166.1,132.6,7.3,232,5792,0.00,2.08,23.58,0.686,4,0.000,0.027,3304,1060,2302
$GC,6053,1.23,166.1,95.4,13.7,257,6057,0.00,2.17,0.00,0.000,6,0.000,0.037,3300,2465,2299
$GC,6318,1.23,166.1,60.7,10.2,281,6322,0.00,2.22,0.00,0.000,4,0.000,0.047,3300,3875,2298
$GC,6413,1.23,166.1,51.0,10.5,289,6417,0.15,2.08,0.00,0.000,6,0.272,0.022,3283,2454,2298
$GC,6682,1.23,166.1,20.4,12.1,320,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2448,2298
$STATE,6827,end climb,SURFACE_DEPTH_REACHED
$STATE,6828,begin surface coast
$FINISH,0.7,1.023699
$STATE,6855,end surface coast,CONTROL_FINISHED_OK
$STATE,6855,begin surface
$SM_CCo,6883,100.20,0.596,0,0,1552,350.04
$SM_GC,1.88,0.00,0.00,100.20,0.000,0.000,0.596,42,2657,1552,-8.87,0.48,350.04
$IRIDIUM_FIX,2244.02,-15751.06,070600,070731
$TT8_MAMPS,0.023777
$HUMID,1865
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.8,125.069
$10V_AH,10.7,74.954
$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,23.900,64.425,250.300,100.200,0.000,23.807,45.480,409.977,0.000,0.000,0.000,16.339,732.809,4319.414,392.027,1364.937,823.857,33.377,926.783,0.000,1359.814,0.000,0.544,0.000
$DEVICE_MAMPS,272.285,65.195,1027.013,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,237.247,598.104,615.354,146.460,597.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28861,351
$CAP_FILE_SIZE,64611,0
$CFSIZE,260165632,223285248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,140311,121625,2253.587,-15754.120,15,1.8,32,10.1