version: 66.04
glider: 512
mission: 1
dive: 237
start: 1 4 111 18 29 28
data:
$ID,512
$MISSION,1
$DIVE,237
$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,-10094.534
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,182401,2254.150,-15756.977,12,1.6,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.4
$GPS2,182832,2254.182,-15756.987,18,1.2,18,10.1
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.238,0.116
$KALMAN_X,-95935.2,416.0,-50.2,119723.5,-2991.3
$KALMAN_Y,-231961.8,1958.1,784.8,366077.9,-7907.9
$MHEAD_RNG_PITCHd_Wd,54.0,7745,-12.2,-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,-0.63,-116.8,0.0,0.0,0,101,0.00,0.00,-83.50,0.000,6,0.000,0.000,40,2553,2877
$GC,104,-0.63,-116.8,3.0,-3.8,11,121,11.52,2.25,0.00,0.000,4,0.256,0.076,2627,3894,2879
$GC,364,-0.63,-116.8,53.5,-19.1,47,368,0.00,2.03,0.00,0.000,6,0.000,0.028,2635,2522,2881
$GC,631,-0.63,-116.8,98.9,-15.9,72,634,0.00,2.03,0.00,0.000,4,0.000,0.028,2641,1132,2883
$GC,888,-0.63,-116.8,131.4,-11.1,95,893,0.00,2.35,0.00,0.000,6,0.000,0.071,2632,2553,2884
$GC,1150,-0.63,-116.8,163.3,-12.0,119,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2553,2885
$GC,1405,-0.63,-116.8,189.2,-9.9,143,1409,0.00,2.22,0.00,0.000,4,0.000,0.076,2621,3898,2885
$GC,1660,-0.63,-116.8,221.3,-12.6,154,1664,0.00,2.00,0.00,0.000,6,0.000,0.028,2629,2542,2885
$GC,1916,-0.63,-116.8,246.2,-9.4,161,1920,0.00,2.42,0.00,0.000,4,0.000,0.104,2619,3899,2885
$GC,2033,-0.63,-116.8,258.2,-9.4,163,2037,0.00,1.98,0.00,0.000,6,0.000,0.028,2628,2555,2885
$GC,2289,-0.63,-116.8,276.4,-6.4,170,2293,0.00,2.40,0.00,0.000,4,0.000,0.103,2619,3901,2885
$GC,2479,-0.63,-116.8,292.7,-10.0,174,2483,0.00,1.98,0.00,0.000,6,0.000,0.028,2628,2544,2885
$GC,2753,-0.63,-116.8,313.6,-7.8,181,2756,0.00,2.03,0.00,0.000,4,0.000,0.028,2637,1149,2885
$GC,2798,-0.63,-116.8,316.8,-6.5,182,2802,0.00,2.33,0.00,0.000,6,0.000,0.072,2627,2561,2885
$GC,3081,-0.63,-116.8,336.2,-7.1,189,3084,0.00,2.08,0.00,0.000,4,0.000,0.028,2633,1147,2884
$GC,3158,-0.63,-116.8,341.6,-6.2,190,3162,0.00,2.33,0.00,0.000,6,0.000,0.075,2623,2543,2884
$GC,3414,-0.63,-116.8,359.0,-7.2,197,3417,0.00,2.05,0.00,0.000,4,0.000,0.029,2631,1149,2883
$GC,3459,-0.63,-116.8,362.2,-7.0,198,3463,0.00,2.35,0.00,0.000,6,0.000,0.074,2622,2567,2883
$GC,3742,-0.63,-116.8,382.2,-7.0,205,3745,0.00,2.10,0.00,0.000,4,0.000,0.029,2630,1144,2881
$GC,3775,-0.63,-116.8,384.6,-6.6,205,3779,0.00,2.33,0.00,0.000,6,0.000,0.071,2621,2554,2881
$GC,4030,-0.63,-116.8,401.0,-6.4,212,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2553,2881
$GC,4274,-0.63,-116.8,417.4,-6.6,218,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2554,2879
$GC,4518,-0.63,-116.8,433.4,-6.7,224,4522,0.00,2.25,0.00,0.000,4,0.000,0.084,2610,3897,2878
$GC,4674,-0.63,-116.8,445.0,-7.1,227,4678,0.00,1.98,0.00,0.000,6,0.000,0.031,2616,2551,2878
$GC,4935,-0.63,-116.8,462.1,-6.6,234,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2543,2877
$GC,5179,-0.63,-116.8,479.4,-7.2,240,5183,0.00,2.38,0.00,0.000,4,0.000,0.101,2606,3893,2874
$GC,5335,-0.63,-116.8,492.3,-7.9,243,5339,0.12,1.98,0.00,0.000,6,0.193,0.031,2643,2539,2874
$STATE,5512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5512,begin apogee
$GC,5517,-0.32,0.0,502.1,5.4,248,5618,0.38,0.00,98.72,0.957,6,0.183,0.000,2744,2537,2400
$STATE,5619,end apogee,CONTROL_FINISHED_OK
$STATE,5619,begin climb
$GC,5621,0.63,116.8,502.8,0.0,250,5726,0.98,0.00,101.45,0.923,6,0.127,0.000,3048,2537,1923
$GC,5946,0.63,116.8,418.7,28.8,258,5950,0.00,2.10,0.00,0.000,4,0.000,0.035,3059,1166,1914
$GC,6018,0.63,116.8,399.0,26.0,259,6022,0.00,2.30,0.00,0.000,6,0.000,0.058,3054,2546,1911
$GC,6282,0.63,116.8,327.9,27.0,266,6285,0.00,2.10,0.00,0.000,4,0.000,0.035,3063,1158,1910
$GC,6410,0.63,116.8,293.8,24.8,268,6416,0.00,2.28,0.00,0.000,6,0.000,0.059,3063,2552,1908
$GC,6660,0.63,116.8,230.2,25.6,275,6663,0.00,2.10,0.00,0.000,4,0.000,0.034,3073,1156,1907
$GC,6720,0.63,116.8,215.9,22.5,276,6724,0.00,2.30,0.00,0.000,6,0.000,0.059,3067,2547,1906
$GC,6982,0.63,116.8,150.5,25.8,296,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2547,1905
$GC,7236,0.63,116.8,89.4,21.4,320,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2548,1904
$GC,7493,0.63,116.8,37.9,21.3,344,7496,0.00,2.05,0.00,0.000,4,0.000,0.031,3076,1165,1904
$GC,7539,0.63,116.8,28.2,21.0,348,7547,0.00,2.28,0.00,0.000,6,0.000,0.057,3067,2562,1904
$STATE,7653,end climb,SURFACE_DEPTH_REACHED
$STATE,7653,begin surface coast
$FINISH,0.3,1.023979
$STATE,7665,end surface coast,CONTROL_FINISHED_OK
$STATE,7667,begin surface
$SM_CCo,7683,136.80,0.584,0,0,687,420.19
$SM_GC,0.97,0.00,0.00,136.80,0.000,0.000,0.584,43,2570,687,-8.77,0.57,420.19
$IRIDIUM_FIX,2244.02,-15759.32,300300,161603
$TT8_MAMPS,0.023777
$HUMID,1807
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,21.10
$XPDR_PINGS,1
$24V_AH,24.4,33.785
$10V_AH,10.8,19.635
$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,21.325,65.300,200.175,136.800,0.000,31.372,43.768,106.395,0.250,0.000,0.000,18.475,790.007,5119.002,422.967,1455.246,321.879,33.358,977.950,0.000,1451.371,0.000,0.542,0.000
$DEVICE_MAMPS,256.178,104.312,957.216,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,251.285,604.876,623.421,139.623,573.487,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28839,371
$CAP_FILE_SIZE,65786,0
$CFSIZE,260165632,250630144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,040111,204032,2254.323,-15756.582,8,1.9,8,10.1