version: 66.04
glider: 512
mission: 1
dive: 194
start: 1 1 111 14 0 37
data:
$ID,512
$MISSION,1
$DIVE,194
$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,-9251.6279
$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,47
$R_STBD_OVSHOOT,19
$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
$GPS1,135456,2249.108,-15755.298,11,1.8,11,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-77.7
$GPS2,135943,2249.113,-15755.321,16,1.6,33,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.051,0.235
$KALMAN_X,-81310.1,1538.6,-153.9,106938.6,-4661.0
$KALMAN_Y,-203018.3,-324.3,143.8,330688.3,-6461.0
$MHEAD_RNG_PITCHd_Wd,2.3,3302,-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,-85.25,0.000,2,0.000,0.000,50,2551,3170
$GC,104,-0.74,-146.0,3.7,-5.4,11,122,11.52,2.30,-0.47,0.000,4,0.264,0.087,2590,3899,3197
$GC,287,-0.74,-146.0,54.5,-22.2,33,291,0.00,2.03,0.00,0.000,6,0.000,0.028,2595,2533,3200
$GC,554,-0.74,-146.0,113.5,-19.8,58,558,0.00,2.35,0.00,0.000,4,0.000,0.091,2586,3894,3201
$GC,717,-0.74,-146.0,143.1,-17.0,72,726,0.00,2.00,0.00,0.000,6,0.000,0.028,2594,2548,3202
$GC,981,-0.74,-146.0,186.8,-17.7,97,985,0.00,2.33,0.00,0.000,4,0.000,0.093,2585,3898,3203
$GC,1085,-0.74,-146.0,205.8,-17.8,104,1089,0.00,2.00,0.00,0.000,6,0.000,0.028,2593,2554,3203
$GC,1355,-0.74,-146.0,247.2,-14.6,111,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2547,3204
$GC,1595,-0.74,-146.0,281.3,-13.7,117,1599,0.00,2.35,0.00,0.000,4,0.000,0.096,2584,3900,3204
$GC,1644,-0.74,-146.0,288.9,-14.8,118,1649,0.00,2.03,0.00,0.000,6,0.000,0.029,2592,2543,3204
$GC,1923,-0.74,-146.0,328.3,-14.3,125,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2536,3204
$GC,2167,-0.74,-146.0,361.5,-13.8,131,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2535,3203
$GC,2410,-0.74,-146.0,393.3,-13.1,137,2414,0.00,2.35,0.00,0.000,4,0.000,0.096,2583,3896,3203
$GC,2594,-0.74,-146.0,419.4,-13.9,141,2598,0.00,2.00,0.00,0.000,6,0.000,0.030,2591,2539,3201
$GC,2872,-0.74,-146.0,453.7,-12.3,148,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2532,3199
$GC,3115,-0.74,-146.0,481.1,-11.1,154,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2532,3198
$STATE,3316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3316,begin apogee
$GC,3321,-0.32,0.0,503.0,10.7,159,3444,0.55,0.00,120.43,0.960,6,0.181,0.000,2744,2531,2601
$STATE,3445,end apogee,CONTROL_FINISHED_OK
$STATE,3445,begin climb
$GC,3447,0.74,146.0,505.5,0.0,162,3579,1.08,2.20,124.38,0.953,4,0.126,0.032,3088,1145,2003
$GC,3634,0.74,146.0,464.8,27.9,166,3638,0.00,2.35,0.00,0.000,6,0.000,0.054,3083,2544,1997
$GC,3901,0.74,146.0,384.5,31.0,173,3904,0.00,2.12,0.00,0.000,4,0.000,0.035,3092,1149,1992
$GC,4006,0.74,146.0,354.8,27.2,175,4010,0.00,2.28,0.00,0.000,6,0.000,0.055,3092,2557,1991
$GC,4278,0.74,146.0,278.9,26.8,182,4282,0.00,2.12,0.00,0.000,4,0.000,0.034,3103,1147,1988
$GC,4368,0.74,146.0,255.9,24.7,184,4372,0.00,2.25,0.00,0.000,6,0.000,0.051,3097,2562,1987
$GC,4621,0.74,146.0,188.5,26.4,191,4625,0.00,2.10,0.00,0.000,4,0.000,0.034,3107,1149,1986
$GC,4691,0.74,146.0,170.1,24.0,197,4699,0.00,2.28,0.00,0.000,6,0.000,0.052,3107,2556,1986
$GC,4953,0.74,146.0,101.3,23.6,222,4957,0.00,2.10,0.00,0.000,4,0.000,0.031,3117,1140,1984
$GC,4968,0.74,146.0,97.9,21.6,223,4976,0.00,2.25,0.00,0.000,6,0.000,0.049,3110,2555,1984
$GC,5231,0.74,146.0,39.3,23.9,248,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2556,1984
$STATE,5383,end climb,SURFACE_DEPTH_REACHED
$STATE,5383,begin surface coast
$FINISH,0.5,1.023588
$STATE,5395,end surface coast,CONTROL_FINISHED_OK
$STATE,5397,begin surface
$SM_CCo,5413,122.45,0.612,0,0,886,420.19
$SM_GC,1.03,0.00,0.00,122.45,0.000,0.000,0.612,47,2565,886,-8.76,0.42,420.19
$IRIDIUM_FIX,2241.69,-15757.16,270300,121250
$TT8_MAMPS,0.023777
$HUMID,1813
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,24.4,29.701
$10V_AH,10.8,16.729
$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,21.600,43.775,244.800,122.450,0.000,31.473,34.781,118.216,0.000,0.000,0.000,34.400,570.139,3503.460,423.389,1060.087,281.891,33.321,847.067,0.000,1042.958,0.000,0.542,0.000
$DEVICE_MAMPS,263.848,95.875,959.517,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,185.248,463.224,476.422,110.025,455.313,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22471,275
$CAP_FILE_SIZE,47345,0
$CFSIZE,260165632,252071936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,010111,153407,2250.048,-15754.997,39,1.3,39,10.1