version: 66.04
glider: 512
mission: 1
dive: 231
start: 1 4 111 7 10 7
data:
$ID,512
$MISSION,1
$DIVE,231
$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,120
$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,-9985.8877
$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,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2400
$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
$GPS1,070449,2252.156,-15755.527,11,2.0,22,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.7
$GPS2,070913,2252.171,-15755.570,12,1.9,17,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039,0.184
$KALMAN_X,-95107.7,339.5,226.9,121120.5,-1959.5
$KALMAN_Y,-224741.0,-228.3,450.5,357666.1,-6294.8
$MHEAD_RNG_PITCHd_Wd,337.9,4703,-19.4,-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,13,begin dive
$GC,15,-0.88,-84.0,0.0,0.0,0,100,0.00,0.00,-78.95,0.000,6,0.000,0.000,49,2562,2743
$GC,103,-0.92,-116.8,3.1,-4.0,11,128,11.02,2.33,-3.35,0.000,4,0.255,0.099,2535,3897,2880
$GC,373,-0.92,-116.8,67.3,-24.7,46,377,0.00,2.00,0.00,0.000,6,0.000,0.028,2543,2545,2880
$GC,641,-0.92,-116.8,126.5,-16.9,71,645,0.00,2.38,0.00,0.000,4,0.000,0.097,2535,3896,2882
$GC,894,-0.92,-116.8,169.8,-15.9,93,903,0.00,2.00,0.00,0.000,6,0.000,0.027,2543,2538,2884
$GC,1153,-0.92,-116.8,206.6,-13.6,115,1157,0.00,2.38,0.00,0.000,4,0.000,0.095,2534,3898,2885
$GC,1410,-0.92,-116.8,244.7,-13.9,120,1418,0.00,1.98,0.00,0.000,6,0.000,0.027,2542,2551,2885
$GC,1660,-0.92,-116.8,274.0,-11.4,127,1664,0.00,2.35,0.00,0.000,4,0.000,0.097,2534,3896,2886
$GC,1917,-0.92,-116.8,304.2,-11.6,132,1924,0.00,1.98,0.00,0.000,6,0.000,0.028,2542,2559,2885
$GC,2169,-0.92,-116.8,330.3,-10.2,139,2173,0.00,2.35,0.00,0.000,4,0.000,0.097,2533,3896,2885
$GC,2425,-0.92,-116.8,362.2,-13.3,144,2432,0.00,2.00,0.00,0.000,6,0.000,0.028,2541,2545,2884
$GC,2678,-0.92,-116.8,386.6,-9.5,151,2682,0.00,2.35,0.00,0.000,4,0.000,0.096,2533,3897,2884
$GC,2934,-0.92,-116.8,417.7,-10.8,156,2941,0.00,2.00,0.00,0.000,6,0.000,0.029,2541,2549,2883
$GC,3184,-0.92,-116.8,441.2,-9.2,163,3188,0.00,2.35,0.00,0.000,4,0.000,0.097,2532,3897,2881
$GC,3441,-0.92,-116.8,465.0,-8.8,168,3447,0.00,1.98,0.00,0.000,6,0.000,0.030,2540,2546,2880
$GC,3690,-0.92,-116.8,485.5,-8.3,175,3694,0.00,2.05,0.00,0.000,4,0.000,0.030,2551,1147,2879
$GC,3757,-0.92,-116.8,491.1,-8.2,176,3761,0.00,2.38,0.00,0.000,6,0.000,0.078,2542,2566,2879
$STATE,3899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3900,begin apogee
$GC,3905,-0.32,0.0,503.1,8.5,180,4006,0.80,0.00,98.72,0.956,6,0.222,0.000,2739,2566,2400
$STATE,4007,end apogee,CONTROL_FINISHED_OK
$STATE,4007,begin climb
$GC,4009,0.92,116.8,504.6,0.0,182,4116,1.27,2.25,99.82,0.927,4,0.127,0.033,3145,1153,1924
$GC,4205,0.92,116.8,446.7,35.4,186,4210,0.00,2.35,0.00,0.000,6,0.000,0.058,3146,2546,1917
$GC,4461,0.92,116.8,354.6,35.9,193,4465,0.00,2.10,0.00,0.000,4,0.000,0.034,3155,1157,1913
$GC,4544,0.92,116.8,326.7,31.7,194,4551,0.00,2.30,0.00,0.000,6,0.000,0.056,3150,2549,1911
$GC,4795,0.92,116.8,240.0,34.6,201,4799,0.00,2.10,0.00,0.000,4,0.000,0.032,3159,1152,1909
$GC,4840,0.92,116.8,225.4,32.7,202,4844,0.00,2.28,0.00,0.000,6,0.000,0.055,3159,2562,1909
$GC,5104,0.92,116.8,135.5,34.5,221,5108,0.00,2.10,0.00,0.000,4,0.000,0.031,3169,1155,1907
$GC,5119,0.92,116.8,129.4,31.2,222,5128,0.00,2.25,0.00,0.000,6,0.000,0.049,3162,2554,1906
$GC,5383,0.92,116.8,57.4,24.6,247,5387,0.00,2.12,0.00,0.000,4,0.000,0.056,3162,3895,1906
$GC,5421,0.92,116.8,46.4,27.8,250,5430,0.00,2.03,0.00,0.000,6,0.000,0.031,3171,2558,1905
$STATE,5565,end climb,SURFACE_DEPTH_REACHED
$STATE,5565,begin surface coast
$FINISH,0.2,1.023938
$STATE,5573,end surface coast,CONTROL_FINISHED_OK
$STATE,5573,begin surface
$SM_CCo,5590,140.12,0.600,0,0,686,420.19
$SM_GC,1.02,0.00,0.00,140.12,0.000,0.000,0.600,51,2547,686,-8.74,-0.08,420.19
$IRIDIUM_FIX,2241.69,-15754.11,300300,050549
$TT8_MAMPS,0.023777
$HUMID,1834
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,24.4,33.245
$10V_AH,10.8,19.205
$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,21.750,56.700,198.550,140.125,0.000,27.569,32.966,111.075,0.250,0.000,0.000,18.839,617.692,3425.861,423.981,1256.115,285.048,33.331,942.147,0.000,1242.596,0.000,0.542,0.000
$DEVICE_MAMPS,254.644,98.943,955.682,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,183.479,451.971,464.571,106.228,441.386,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22459,273
$CAP_FILE_SIZE,54950,0
$CFSIZE,260165632,250863616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,040111,084655,2252.372,-15755.634,42,2.0,42,10.1