version: 66.04
glider: 512
mission: 1
dive: 196
start: 1 1 111 17 18 52
data:
$ID,512
$MISSION,1
$DIVE,196
$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,-9300.5488
$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
$GPS1,171044,2250.746,-15754.471,10,1.3,10,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.6
$GPS2,171758,2250.715,-15754.511,12,2.7,31,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.095,0.221
$KALMAN_X,-83793.9,4531.9,385.6,107274.4,-7870.6
$KALMAN_Y,-207058.2,2310.0,397.5,334801.8,-9713.3
$MHEAD_RNG_PITCHd_Wd,13.1,4451,-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,-85.25,0.000,2,0.000,0.000,41,2546,3169
$GC,104,-0.74,-146.0,3.8,-5.5,11,122,11.52,2.28,-0.50,0.000,4,0.262,0.087,2591,3913,3199
$GC,243,-0.74,-146.0,46.2,-23.4,29,246,0.00,2.03,0.00,0.000,6,0.000,0.028,2598,2551,3200
$GC,509,-0.74,-146.0,108.5,-23.8,54,513,0.00,2.35,0.00,0.000,4,0.000,0.099,2590,3891,3202
$GC,560,-0.74,-146.0,119.2,-20.4,58,564,0.00,2.00,0.00,0.000,6,0.000,0.028,2598,2532,3202
$GC,827,-0.74,-146.0,165.8,-16.9,83,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2525,3203
$GC,1089,-0.74,-146.0,207.7,-15.4,105,1093,0.00,2.40,0.00,0.000,4,0.000,0.099,2588,3898,3204
$GC,1166,-0.74,-146.0,220.3,-15.4,106,1173,0.00,2.00,0.00,0.000,6,0.000,0.030,2597,2550,3204
$GC,1418,-0.74,-146.0,256.2,-14.2,113,1422,0.00,2.35,0.00,0.000,4,0.000,0.098,2587,3892,3204
$GC,1450,-0.74,-146.0,261.9,-16.4,113,1456,0.00,2.00,0.00,0.000,6,0.000,0.029,2595,2547,3204
$GC,1700,-0.74,-146.0,297.1,-13.8,120,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2540,3204
$GC,1944,-0.74,-146.0,329.8,-13.1,126,1948,0.00,2.38,0.00,0.000,4,0.000,0.100,2586,3897,3204
$GC,2010,-0.74,-146.0,339.9,-15.5,127,2015,0.00,2.00,0.00,0.000,6,0.000,0.031,2594,2553,3203
$GC,2271,-0.74,-146.0,375.1,-13.7,134,2276,0.00,2.35,0.00,0.000,4,0.000,0.100,2585,3897,3203
$GC,2292,-0.74,-146.0,378.2,-13.8,134,2297,0.00,2.00,0.00,0.000,6,0.000,0.031,2592,2551,3202
$GC,2555,-0.74,-146.0,412.4,-12.7,141,2559,0.00,2.35,0.00,0.000,4,0.000,0.100,2584,3891,3200
$GC,2684,-0.74,-146.0,429.2,-12.5,144,2688,0.00,1.98,0.00,0.000,6,0.000,0.031,2592,2552,3200
$GC,2973,-0.74,-146.0,462.4,-11.4,151,2976,0.00,2.08,0.00,0.000,4,0.000,0.031,2602,1136,3198
$GC,3018,-0.74,-146.0,467.5,-10.5,152,3022,0.00,2.33,0.00,0.000,6,0.000,0.069,2593,2552,3197
$GC,3300,-0.74,-146.0,500.0,-11.7,159,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2553,3196
$STATE,3339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3339,begin apogee
$GC,3344,-0.32,0.0,504.8,11.8,160,3467,0.52,0.00,120.45,0.969,6,0.179,0.000,2738,2553,2600
$STATE,3468,end apogee,CONTROL_FINISHED_OK
$STATE,3468,begin climb
$GC,3470,0.74,146.0,508.7,0.0,163,3599,1.10,0.00,124.53,0.956,6,0.130,0.000,3076,2553,2005
$GC,3836,0.74,146.0,418.1,28.9,172,3840,0.00,2.15,0.00,0.000,4,0.000,0.035,3086,1149,1994
$GC,3975,0.74,146.0,379.2,25.5,175,3980,0.00,2.30,0.00,0.000,6,0.000,0.053,3083,2554,1991
$GC,4259,0.74,146.0,295.4,29.6,182,4263,0.00,2.12,0.00,0.000,4,0.000,0.035,3092,1151,1989
$GC,4353,0.74,146.0,269.7,27.4,184,4358,0.00,2.25,0.00,0.000,6,0.000,0.057,3092,2549,1987
$GC,4638,0.74,146.0,192.2,27.3,191,4642,0.00,2.10,0.00,0.000,4,0.000,0.034,3103,1149,1986
$GC,4742,0.74,146.0,166.5,21.5,200,4750,0.00,2.22,0.00,0.000,6,0.000,0.049,3097,2546,1985
$GC,5006,0.74,146.0,99.4,23.4,225,5009,0.00,2.10,0.00,0.000,4,0.000,0.034,3106,1141,1984
$GC,5040,0.74,146.0,91.7,20.9,228,5044,0.00,2.25,0.00,0.000,6,0.000,0.050,3106,2568,1984
$GC,5302,0.74,146.0,33.2,23.4,252,5306,0.00,2.12,0.00,0.000,4,0.000,0.031,3117,1137,1984
$GC,5315,0.74,146.0,30.0,23.7,253,5319,0.00,2.22,0.00,0.000,6,0.000,0.049,3113,2559,1984
$STATE,5432,end climb,SURFACE_DEPTH_REACHED
$STATE,5432,begin surface coast
$FINISH,0.0,1.023639
$STATE,5446,end surface coast,CONTROL_FINISHED_OK
$STATE,5446,begin surface
$SM_CCo,5462,120.68,0.611,0,0,887,420.19
$SM_GC,1.05,0.00,0.00,120.68,0.000,0.000,0.611,47,2568,887,-8.76,0.51,420.19
$IRIDIUM_FIX,2244.02,-15754.11,270300,171744
$TT8_MAMPS,0.024544
$HUMID,1816
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,24.4,29.899
$10V_AH,10.8,16.856
$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,21.600,56.700,244.975,120.675,0.000,53.365,113.897,102.317,0.250,0.000,0.000,32.381,582.327,3586.483,427.893,1066.117,370.688,33.326,862.467,0.000,1048.478,0.000,0.542,0.000
$DEVICE_MAMPS,262.314,100.477,968.721,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,186.030,465.477,480.891,109.412,451.833,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22475,276
$CAP_FILE_SIZE,51348,0
$CFSIZE,260165632,252010496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,010111,185307,2251.173,-15753.912,37,1.1,37,10.1