version: 66.04
glider: 501
mission: 1
dive: 23
start: 5 20 109 16 34 32
data:
$ID,501
$MISSION,1
$DIVE,23
$D_SURF,4.5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,720
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51563.898
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,701.30127
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2830.2393
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,113
$PITCH_MAX,3940
$C_PITCH,2727
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3805
$ROLL_DEG,40
$C_ROLL_DIVE,2260
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,432
$VBD_MAX,3960
$C_VBD,3291
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$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,-77.782471
$PRESSURE_SLOPE,0.00011616675
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043285219
$SEABIRD_T_H,0.00062656443
$SEABIRD_T_I,2.463825e-05
$SEABIRD_T_J,2.7343538e-06
$SEABIRD_C_G,-9.9374466
$SEABIRD_C_H,1.125646
$SEABIRD_C_I,-0.0010839187
$SEABIRD_C_J,0.00017799769
$GPS1,152207,4807.158,-12223.335,11,2.0,17,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.4
$GPS2,163337,4807.244,-12223.473,58,1.5,58,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.228
$KALMAN_X,-2744.8,40.9,121.0,1415.6,69.7
$KALMAN_Y,-3109.8,-33.5,-193.8,154.3,-70.0
$MHEAD_RNG_PITCHd_Wd,313.1,1545,-17.5,-10.000
$D_GRID,102
$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,13,-0.76,-146.6,0.0,0.0,0,55,0.00,0.00,-39.10,0.000,2,0.000,0.000,112,2261,1586
$GC,57,-0.76,-146.6,3.1,-3.1,7,132,9.90,2.22,-58.55,0.000,4,0.254,0.062,2476,846,3894
$GC,142,-0.76,-146.6,8.5,-5.9,22,149,0.00,2.25,0.00,0.000,6,0.000,0.053,2476,2259,3895
$GC,216,-0.76,-146.6,17.2,-12.4,38,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2259,3896
$GC,289,-0.76,-146.6,28.2,-16.0,54,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2260,3896
$GC,360,-0.76,-146.6,41.2,-18.4,70,366,0.00,2.28,0.00,0.000,4,0.000,0.065,2476,3678,3896
$GC,421,-0.76,-146.6,53.4,-19.0,83,427,0.00,2.20,0.00,0.000,6,0.000,0.044,2476,2260,3896
$GC,566,-0.76,-146.6,81.2,-18.7,114,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2260,3896
$STATE,679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,679,begin apogee
$GC,682,-0.17,0.0,102.6,19.0,139,794,0.62,0.00,107.38,0.586,6,0.154,0.000,2667,2258,3290
$STATE,794,end apogee,CONTROL_FINISHED_OK
$STATE,794,begin climb
$GC,796,0.76,146.6,108.5,0.0,159,912,0.90,2.40,108.18,0.561,4,0.100,0.057,2964,835,2692
$GC,949,0.77,149.1,101.1,9.9,188,956,0.00,2.35,0.00,0.000,6,0.000,0.050,2964,2253,2691
$GC,1093,0.77,149.1,85.5,10.2,219,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2253,2690
$GC,1234,0.77,149.1,70.1,10.5,250,1241,0.00,2.28,0.00,0.000,4,0.000,0.057,2965,841,2690
$GC,1282,0.79,165.3,65.5,9.3,260,1305,0.00,2.28,14.75,0.535,6,0.000,0.051,2965,2261,2616
$GC,1442,0.79,165.3,48.5,10.9,294,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2261,2616
$GC,1583,0.79,165.3,33.8,10.0,325,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2261,2615
$GC,1655,0.80,178.6,26.9,9.4,341,1668,0.00,0.00,11.20,0.520,6,0.000,0.000,2965,2261,2563
$GC,1735,0.80,178.6,18.8,10.3,358,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2261,2562
$GC,1807,0.85,213.8,12.2,8.4,374,1843,0.10,2.35,26.67,0.531,4,0.090,0.058,3005,845,2418
$GC,2091,1.12,435.1,6.0,-0.2,437,2261,0.22,2.25,163.12,0.518,6,0.067,0.051,3089,2261,1517
$GC,2329,1.36,636.1,4.9,0.8,482,2399,0.20,0.00,66.80,0.502,2,0.074,0.000,3169,2261,1160
$STATE,2400,end climb,SURFACE_DEPTH_REACHED
$STATE,2400,begin surface coast
$FINISH,3.6,1.012980
$STATE,2618,end surface coast,CONTROL_FINISHED_OK
$STATE,2619,begin surface
$SM_CCo,2633,131.48,0.489,3,0,431,701.30
$SM_GC,1.88,0.00,0.00,131.48,0.000,0.000,0.489,107,2261,431,-8.19,0.06,701.30
$IRIDIUM_FIX,4751.72,-12223.57,140898,161659
$TT8_MAMPS,0.027612
$HUMID,1798
$INTERNAL_PRESSURE,10.5668
$TCM_TEMP,18.20
$XPDR_PINGS,1
$24V_AH,24.6,2.953
$10V_AH,10.6,1.766
$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,20.650,22.850,498.100,131.475,0.000,133.448,368.188,237.713,1.000,0.000,0.000,59.538,746.070,768.299,636.187,941.934,828.128,33.329,1157.665,0.000,870.164,0.000,6.238,0.000
$DEVICE_MAMPS,253.877,65.195,585.988,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.877,691.090,599.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34970,544
$CAP_FILE_SIZE,56007,0
$CFSIZE,260165632,257961984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,200509,172155,4807.341,-12223.629,12,1.5,29,18.3