version: 66.04
glider: 512
mission: 1
dive: 215
start: 1 3 111 0 44 5
data:
$ID,512
$MISSION,1
$DIVE,215
$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,-9658.6074
$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,50
$R_STBD_OVSHOOT,18
$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
$GPS1,003907,2248.170,-15757.304,9,1.4,14,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.5
$GPS2,004308,2248.155,-15757.377,11,1.6,11,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.210,0.117
$KALMAN_X,-91512.4,3292.9,115.2,111565.7,-12604.0
$KALMAN_Y,-207734.6,2938.8,-423.3,330953.2,-3957.5
$MHEAD_RNG_PITCHd_Wd,50.9,3478,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-76.95,0.000,2,0.000,0.000,43,2551,2893
$GC,96,-0.74,-146.0,3.1,-4.1,10,121,11.35,2.38,-6.65,0.000,4,0.258,0.112,2587,3898,3196
$GC,150,-0.74,-146.0,17.3,-26.8,18,158,0.00,2.05,0.00,0.000,6,0.000,0.028,2595,2561,3197
$GC,415,-0.74,-146.0,84.7,-26.2,47,420,0.00,2.40,0.00,0.000,4,0.000,0.104,2586,3897,3198
$GC,446,-0.74,-146.0,92.0,-23.6,49,449,0.00,2.03,0.00,0.000,6,0.000,0.028,2594,2537,3199
$GC,712,-0.74,-146.0,141.3,-18.0,74,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2530,3200
$GC,968,-0.74,-146.0,184.3,-16.6,98,972,0.00,2.42,0.00,0.000,4,0.000,0.105,2585,3897,3202
$GC,1040,-0.74,-146.0,197.5,-16.6,104,1044,0.00,2.00,0.00,0.000,6,0.000,0.028,2593,2533,3202
$GC,1305,-0.74,-146.0,238.7,-14.8,112,1309,0.00,2.42,0.00,0.000,4,0.000,0.106,2584,3895,3202
$GC,1354,-0.74,-146.0,245.9,-14.2,113,1358,0.00,2.00,0.00,0.000,6,0.000,0.028,2591,2552,3202
$GC,1632,-0.74,-146.0,284.2,-13.5,120,1636,0.00,2.40,0.00,0.000,4,0.000,0.107,2582,3893,3202
$GC,1675,-0.74,-146.0,290.4,-14.3,121,1680,0.00,2.00,0.00,0.000,6,0.000,0.028,2590,2548,3202
$GC,1958,-0.74,-146.0,327.7,-13.1,128,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2542,3202
$GC,2202,-0.74,-146.0,358.7,-12.7,134,2206,0.00,2.40,0.00,0.000,4,0.000,0.108,2581,3891,3201
$GC,2425,-0.74,-146.0,390.1,-14.2,139,2429,0.00,2.00,0.00,0.000,6,0.000,0.029,2587,2557,3200
$GC,2710,-0.74,-146.0,425.3,-12.5,146,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2549,3200
$GC,2952,-0.74,-146.0,455.0,-12.1,152,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2549,3198
$GC,3196,-0.74,-146.0,485.9,-12.7,158,3200,0.00,2.40,0.00,0.000,4,0.000,0.108,2579,3893,3197
$GC,3227,-0.74,-146.0,490.5,-13.8,158,3234,0.00,2.03,0.00,0.000,6,0.000,0.031,2583,2544,3196
$STATE,3314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3314,begin apogee
$GC,3319,-0.32,0.0,501.4,12.9,161,3443,0.57,0.00,120.45,0.956,6,0.184,0.000,2742,2536,2600
$STATE,3443,end apogee,CONTROL_FINISHED_OK
$STATE,3443,begin climb
$GC,3445,0.74,146.0,505.6,0.0,164,3586,1.12,2.25,127.15,0.926,4,0.130,0.034,3093,1150,2003
$GC,3625,0.74,146.0,468.6,28.3,168,3629,0.00,2.35,0.00,0.000,6,0.000,0.062,3092,2546,1998
$GC,3886,0.74,146.0,389.1,30.4,175,3890,0.00,2.12,0.00,0.000,4,0.000,0.034,3103,1147,1993
$GC,3946,0.74,146.0,370.8,28.0,176,3951,0.00,2.30,0.00,0.000,6,0.000,0.054,3097,2545,1992
$GC,4219,0.74,146.0,287.2,31.3,183,4223,0.00,2.12,0.00,0.000,4,0.000,0.035,3106,1145,1989
$GC,4268,0.74,146.0,272.0,30.0,184,4272,0.00,2.25,0.00,0.000,6,0.000,0.056,3106,2551,1989
$GC,4554,0.74,146.0,192.7,27.4,191,4558,0.00,2.12,0.00,0.000,4,0.000,0.034,3117,1136,1987
$GC,4591,0.74,146.0,181.7,28.6,194,4599,0.00,2.30,0.00,0.000,6,0.000,0.056,3110,2557,1986
$GC,4855,0.74,146.0,109.2,28.2,219,4859,0.00,2.12,0.00,0.000,4,0.000,0.033,3120,1140,1985
$GC,4879,0.74,146.0,102.4,27.1,221,4884,0.12,2.22,0.00,0.000,6,0.225,0.053,3095,2549,1985
$GC,5142,0.74,146.0,46.4,21.2,245,5145,0.00,2.15,0.00,0.000,4,0.000,0.062,3095,3897,1984
$GC,5177,0.74,146.0,38.2,24.4,248,5181,0.00,2.00,0.00,0.000,6,0.000,0.032,3104,2558,1983
$STATE,5315,end climb,SURFACE_DEPTH_REACHED
$STATE,5315,begin surface coast
$FINISH,0.0,1.023868
$STATE,5328,end surface coast,CONTROL_FINISHED_OK
$STATE,5328,begin surface
$SM_CCo,5344,118.40,0.594,0,0,886,420.19
$SM_GC,0.81,0.00,0.00,118.40,0.000,0.000,0.594,48,2549,886,-8.75,-0.03,420.19
$IRIDIUM_FIX,2241.69,-15751.94,280300,232350
$TT8_MAMPS,0.023777
$HUMID,1832
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,24.4,31.725
$10V_AH,10.8,18.081
$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,21.575,57.250,247.600,118.400,0.000,24.078,35.064,101.251,0.250,0.000,0.000,11.407,570.735,3451.988,449.724,989.837,261.387,33.325,852.881,0.000,993.678,0.000,0.542,0.000
$DEVICE_MAMPS,257.712,111.982,956.449,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,183.398,458.781,472.135,110.218,455.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22589,272
$CAP_FILE_SIZE,49220,0
$CFSIZE,260165632,251432960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,030111,021630,2248.130,-15756.900,41,1.1,46,10.1