version: 66.04
glider: 512
mission: 1
dive: 202
start: 1 2 111 3 15 23
data:
$ID,512
$MISSION,1
$DIVE,202
$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,-9440.7686
$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,51
$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
$GPS1,031002,2253.147,-15755.644,9,2.0,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.9
$GPS2,031428,2253.177,-15755.648,15,3.1,34,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.238,0.032
$KALMAN_X,-73283.7,-1419.8,-38.5,101202.0,4200.9
$KALMAN_Y,-208818.4,-397.3,552.8,343667.5,-6734.5
$MHEAD_RNG_PITCHd_Wd,267.5,6319,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-77.50,0.000,2,0.000,0.000,48,2558,2908
$GC,97,-0.74,-146.0,3.1,-4.3,10,121,11.50,2.10,-6.32,0.000,4,0.262,0.041,2609,1142,3196
$GC,302,-0.74,-146.0,48.9,-19.4,38,306,0.00,2.40,0.00,0.000,6,0.000,0.081,2600,2552,3198
$GC,563,-0.74,-146.0,108.5,-21.3,62,567,0.00,2.25,0.00,0.000,4,0.000,0.081,2589,3900,3199
$GC,573,-0.74,-146.0,111.0,-20.7,62,581,0.00,2.08,0.00,0.000,6,0.000,0.034,2595,2528,3199
$GC,836,-0.74,-146.0,159.6,-17.4,87,840,0.00,2.00,0.00,0.000,4,0.000,0.028,2605,1153,3201
$GC,863,-0.74,-146.0,165.1,-18.1,89,871,0.00,2.35,0.00,0.000,6,0.000,0.074,2596,2547,3201
$GC,1153,-0.74,-146.0,213.8,-16.9,111,1157,0.00,2.28,0.00,0.000,4,0.000,0.084,2584,3906,3201
$GC,1275,-0.74,-146.0,234.8,-16.3,113,1281,0.00,2.00,0.00,0.000,6,0.000,0.028,2593,2558,3201
$GC,1525,-0.74,-146.0,269.8,-13.8,120,1529,0.00,2.38,0.00,0.000,4,0.000,0.106,2584,3895,3202
$GC,1551,-0.74,-146.0,273.6,-14.7,120,1556,0.00,2.00,0.00,0.000,6,0.000,0.029,2592,2545,3202
$GC,1807,-0.74,-146.0,308.0,-13.3,127,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2538,3202
$GC,2051,-0.74,-146.0,341.6,-13.9,133,2055,0.00,2.40,0.00,0.000,4,0.000,0.109,2583,3894,3202
$GC,2072,-0.74,-146.0,344.9,-14.4,133,2076,0.00,2.00,0.00,0.000,6,0.000,0.030,2591,2551,3201
$GC,2338,-0.74,-146.0,381.2,-13.4,140,2342,0.00,2.05,0.00,0.000,4,0.000,0.030,2601,1144,3201
$GC,2376,-0.74,-146.0,386.1,-12.0,140,2384,0.00,2.40,0.00,0.000,6,0.000,0.080,2592,2556,3201
$GC,2627,-0.74,-146.0,415.8,-11.9,147,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2556,3199
$GC,2872,-0.74,-146.0,445.0,-11.9,153,2876,0.00,2.28,0.00,0.000,4,0.000,0.093,2581,3894,3198
$GC,3051,-0.74,-146.0,468.8,-13.3,157,3055,0.00,2.00,0.00,0.000,6,0.000,0.031,2589,2537,3197
$STATE,3332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3332,begin apogee
$GC,3337,-0.32,0.0,503.1,12.3,164,3460,0.55,0.00,120.18,0.957,6,0.181,0.000,2742,2529,2600
$STATE,3461,end apogee,CONTROL_FINISHED_OK
$STATE,3461,begin climb
$GC,3463,0.74,146.0,508.1,0.0,167,3594,1.10,2.17,124.05,0.914,4,0.131,0.033,3090,1151,2004
$GC,3662,0.74,146.0,467.8,27.0,171,3667,0.00,2.38,0.00,0.000,6,0.000,0.060,3083,2547,1996
$GC,3918,0.74,146.0,392.2,30.3,178,3921,0.00,2.12,0.00,0.000,4,0.000,0.035,3092,1152,1992
$GC,4023,0.74,146.0,362.5,27.1,180,4028,0.00,2.33,0.00,0.000,6,0.000,0.061,3092,2546,1991
$GC,4296,0.74,146.0,283.3,29.1,187,4299,0.00,2.10,0.00,0.000,4,0.000,0.035,3103,1156,1989
$GC,4385,0.74,146.0,259.5,25.9,189,4389,0.00,2.25,0.00,0.000,6,0.000,0.058,3097,2565,1987
$GC,4645,0.74,146.0,189.2,26.3,196,4649,0.00,2.12,0.00,0.000,4,0.000,0.034,3106,1151,1986
$GC,4714,0.74,146.0,171.2,25.3,202,4718,0.00,2.28,0.00,0.000,6,0.000,0.061,3106,2557,1985
$GC,4982,0.74,146.0,102.7,28.1,227,4986,0.00,2.10,0.00,0.000,4,0.000,0.032,3117,1148,1985
$GC,5007,0.74,146.0,97.7,20.1,229,5011,0.00,2.25,0.00,0.000,6,0.000,0.057,3110,2550,1985
$GC,5270,0.74,146.0,40.2,22.3,253,5273,0.00,2.08,0.00,0.000,4,0.000,0.031,3120,1152,1984
$GC,5374,0.74,146.0,17.0,22.5,268,5383,0.08,2.28,0.00,0.000,6,0.193,0.061,3099,2544,1984
$STATE,5436,end climb,SURFACE_DEPTH_REACHED
$STATE,5436,begin surface coast
$FINISH,0.4,1.023633
$STATE,5448,end surface coast,CONTROL_FINISHED_OK
$STATE,5449,begin surface
$SM_CCo,5465,128.30,0.579,0,0,885,420.19
$SM_GC,0.98,0.00,0.00,128.30,0.000,0.000,0.579,43,2552,885,-8.76,0.06,420.19
$IRIDIUM_FIX,2244.02,-15756.28,280300,010130
$TT8_MAMPS,0.024544
$HUMID,1807
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,24.4,30.477
$10V_AH,10.8,17.239
$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,21.675,61.400,244.225,128.300,0.000,25.829,34.500,100.545,0.000,0.000,0.000,35.059,591.592,3482.829,438.433,1096.038,268.220,33.352,884.898,0.000,1075.766,0.000,0.542,0.000
$DEVICE_MAMPS,262.314,108.914,957.216,579.085,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,189.172,476.716,489.645,116.093,479.646,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22495,281
$CAP_FILE_SIZE,51955,0
$CFSIZE,260165632,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,1
$GPS,020111,044955,2253.307,-15756.688,43,1.0,43,10.1