version: 66.04
glider: 512
mission: 1
dive: 189
start: 1 1 111 5 49 11
data:
$ID,512
$MISSION,1
$DIVE,189
$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,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,420
$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,-9140.7432
$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,53
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,054345,2248.096,-15756.547,12,2.3,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.6
$GPS2,054816,2248.073,-15756.513,14,2.3,33,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.240,-0.008
$KALMAN_X,-78452.1,871.2,468.3,102066.9,-7313.8
$KALMAN_Y,-189939.7,-4373.9,-262.6,320162.9,3764.4
$MHEAD_RNG_PITCHd_Wd,81.7,3663,-14.1,-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,14,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-85.20,0.000,2,0.000,0.000,37,2555,3144
$GC,104,-0.74,-146.0,3.3,-4.3,11,121,11.38,0.00,-1.02,0.000,6,0.258,0.000,2600,2554,3198
$GC,379,-0.74,-146.0,79.3,-23.1,42,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2554,3201
$GC,632,-0.74,-146.0,129.1,-16.8,66,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2554,3203
$GC,888,-0.74,-146.0,172.4,-17.9,90,892,0.00,2.08,0.00,0.000,4,0.000,0.028,2607,1147,3204
$GC,922,-0.74,-146.0,178.1,-15.5,93,926,0.00,2.30,0.00,0.000,6,0.000,0.070,2598,2551,3204
$GC,1188,-0.74,-146.0,218.8,-14.9,109,1192,0.00,2.25,0.00,0.000,4,0.000,0.080,2587,3907,3205
$GC,1270,-0.74,-146.0,231.7,-14.8,110,1278,0.00,2.03,0.00,0.000,6,0.000,0.028,2595,2548,3205
$GC,1522,-0.74,-146.0,265.0,-13.0,117,1526,0.00,2.35,0.00,0.000,4,0.000,0.096,2585,3900,3205
$GC,1627,-0.74,-146.0,280.4,-13.9,119,1631,0.00,2.00,0.00,0.000,6,0.000,0.030,2594,2552,3205
$GC,1895,-0.74,-146.0,317.6,-13.9,126,1899,0.00,2.35,0.00,0.000,4,0.000,0.097,2585,3897,3204
$GC,2045,-0.74,-146.0,342.0,-15.9,129,2049,0.00,2.00,0.00,0.000,6,0.000,0.031,2593,2554,3204
$GC,2313,-0.74,-146.0,378.6,-13.6,136,2316,0.00,2.05,0.00,0.000,4,0.000,0.030,2603,1147,3203
$GC,2424,-0.74,-146.0,393.0,-11.6,138,2428,0.00,2.35,0.00,0.000,6,0.000,0.072,2593,2554,3203
$GC,2690,-0.74,-146.0,427.2,-12.7,145,2694,0.00,2.25,0.00,0.000,4,0.000,0.086,2583,3900,3200
$GC,2762,-0.74,-146.0,437.0,-13.5,146,2766,0.00,2.03,0.00,0.000,6,0.000,0.033,2591,2547,3200
$GC,3023,-0.74,-146.0,469.3,-12.6,153,3027,0.00,2.38,0.00,0.000,4,0.000,0.101,2581,3900,3198
$GC,3100,-0.74,-146.0,480.0,-13.7,154,3106,0.00,2.03,0.00,0.000,6,0.000,0.032,2589,2547,3198
$STATE,3268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3268,begin apogee
$GC,3273,-0.32,0.0,501.4,12.8,159,3396,0.55,0.00,119.97,0.976,6,0.181,0.000,2743,2540,2600
$STATE,3397,end apogee,CONTROL_FINISHED_OK
$STATE,3397,begin climb
$GC,3399,0.74,146.0,505.7,0.0,162,3539,1.12,2.25,126.15,0.943,4,0.129,0.033,3095,1150,2003
$GC,3572,0.74,146.0,470.6,28.6,166,3576,0.00,2.35,0.00,0.000,6,0.000,0.055,3094,2549,1997
$GC,3840,0.74,146.0,384.3,33.2,173,3844,0.00,2.12,0.00,0.000,4,0.000,0.035,3105,1150,1992
$GC,3886,0.74,146.0,370.9,28.1,174,3890,0.00,2.25,0.00,0.000,6,0.000,0.052,3105,2561,1991
$GC,4169,0.74,146.0,283.5,30.9,181,4173,0.00,2.12,0.00,0.000,4,0.000,0.033,3116,1146,1989
$GC,4268,0.74,146.0,253.8,28.8,183,4273,0.00,2.28,0.00,0.000,6,0.000,0.053,3110,2549,1988
$GC,4530,0.74,146.0,179.5,27.7,194,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2549,1987
$GC,4785,0.74,146.0,109.0,27.5,218,4788,0.00,2.10,0.00,0.000,4,0.000,0.033,3119,1143,1986
$GC,4876,0.74,146.0,88.2,19.9,226,4884,0.00,2.28,0.00,0.000,6,0.000,0.056,3119,2544,1984
$GC,5140,0.74,146.0,29.2,21.9,251,5147,0.00,2.10,0.00,0.000,4,0.000,0.033,3130,1151,1983
$GC,5166,0.74,146.0,24.2,20.0,255,5175,0.10,2.22,0.00,0.000,6,0.213,0.051,3097,2545,1983
$STATE,5275,end climb,SURFACE_DEPTH_REACHED
$STATE,5275,begin surface coast
$FINISH,0.2,1.023580
$STATE,5289,end surface coast,CONTROL_FINISHED_OK
$STATE,5289,begin surface
$SM_CCo,5304,121.53,0.582,0,0,886,420.19
$SM_GC,0.95,0.00,0.00,121.53,0.000,0.000,0.582,50,2552,886,-8.75,0.06,420.19
$IRIDIUM_FIX,2239.35,-15757.16,270300,040410
$TT8_MAMPS,0.023777
$HUMID,1818
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.80
$XPDR_PINGS,1
$24V_AH,24.4,29.209
$10V_AH,10.8,16.410
$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,21.500,52.500,246.125,121.525,0.000,29.790,43.765,97.293,0.250,0.000,0.000,34.409,584.519,3332.828,443.349,1086.337,267.892,33.350,877.722,0.000,1065.287,0.000,0.543,0.000
$DEVICE_MAMPS,258.479,101.244,975.624,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,186.453,473.162,486.407,113.039,467.822,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22519,277
$CAP_FILE_SIZE,49479,0
$CFSIZE,260165632,252215296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,010111,072036,2247.334,-15755.907,15,1.5,24,10.1