version: 66.04
glider: 512
mission: 1
dive: 977
start: 3 16 111 6 48 55
data:
$ID,512
$MISSION,1
$DIVE,977
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,350
$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,-26985.51
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2640
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2960
$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
$GPS1,063007,2244.588,-15802.146,38,1.2,39,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.5
$GPS2,064802,2244.613,-15802.242,14,1.5,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.234,0.105
$KALMAN_X,-379451.4,-402.4,25.8,394944.0,1880.7
$KALMAN_Y,-640461.3,-622.3,-557.4,760817.9,2185.1
$MHEAD_RNG_PITCHd_Wd,284.0,4607,-16.9,-9.615
$D_GRID,600
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,77,0.00,0.00,-52.65,0.000,2,0.000,0.000,44,2676,2891
$GC,83,-0.85,-146.0,3.4,-4.3,7,116,12.30,1.95,-13.18,0.000,4,0.265,0.071,2587,3865,3557
$GC,366,-0.85,-146.0,66.6,-17.2,39,375,0.00,1.85,0.00,0.000,6,0.000,0.024,2594,2629,3559
$GC,631,-0.85,-146.0,125.0,-20.8,64,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2620,3559
$GC,896,-0.85,-146.0,176.0,-18.8,89,899,0.00,2.05,0.00,0.000,4,0.000,0.025,2605,1227,3561
$GC,924,-0.85,-146.0,181.0,-18.7,91,928,0.00,2.28,0.00,0.000,6,0.000,0.057,2596,2613,3561
$GC,1201,-0.85,-146.0,228.7,-17.0,105,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2614,3561
$GC,1446,-0.85,-146.0,262.3,-13.2,111,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2613,3561
$GC,1688,-0.85,-146.0,292.9,-12.6,117,1692,0.00,2.12,0.00,0.000,4,0.000,0.064,2585,3901,3561
$GC,1729,-0.85,-146.0,298.6,-13.2,117,1735,0.00,1.85,0.00,0.000,6,0.000,0.023,2593,2630,3561
$GC,1981,-0.85,-146.0,329.9,-12.5,124,1985,0.00,2.05,0.00,0.000,4,0.000,0.025,2603,1231,3561
$GC,2012,-0.85,-146.0,333.7,-11.8,124,2016,0.00,2.30,0.00,0.000,6,0.000,0.052,2594,2644,3561
$GC,2276,-0.85,-146.0,364.3,-12.0,131,2280,0.00,2.05,0.00,0.000,4,0.000,0.064,2583,3890,3559
$GC,2340,-0.85,-146.0,372.3,-11.5,132,2344,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2628,3558
$GC,2615,-0.85,-146.0,403.3,-11.1,139,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2621,3556
$GC,2859,-0.85,-146.0,429.8,-11.0,145,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2621,3555
$GC,3104,-0.85,-146.0,456.3,-10.9,151,3108,0.00,2.15,0.00,0.000,4,0.000,0.064,2582,3899,3552
$GC,3145,-0.85,-146.0,461.2,-11.0,151,3151,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2643,3552
$GC,3397,-0.85,-146.0,486.7,-10.0,158,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2636,3550
$GC,3642,-0.85,-146.0,510.3,-9.7,164,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2636,3548
$GC,3885,-0.85,-146.0,534.1,-9.8,170,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2635,3546
$GC,4130,-0.85,-146.0,558.3,-10.0,176,4133,0.00,2.12,0.00,0.000,4,0.000,0.066,2582,3891,3544
$GC,4182,-0.85,-146.0,563.6,-9.8,177,4186,0.00,1.88,0.00,0.000,6,0.000,0.027,2590,2633,3544
$GC,4469,-0.85,-146.0,590.3,-9.3,184,4473,0.00,2.08,0.00,0.000,4,0.000,0.028,2600,1235,3541
$GC,4493,-0.85,-146.0,592.6,-8.7,184,4498,0.00,2.28,0.00,0.000,6,0.000,0.051,2591,2643,3542
$STATE,4589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4589,begin apogee
$GC,4601,-0.32,0.0,600.9,8.5,187,4725,0.62,0.00,121.45,1.071,6,0.147,0.000,2769,2487,2960
$STATE,4726,end apogee,CONTROL_FINISHED_OK
$STATE,4726,begin climb
$GC,4732,0.85,146.0,606.2,0.0,190,4870,1.10,2.35,129.25,1.047,4,0.077,0.054,3150,3863,2364
$GC,5005,0.85,146.0,568.3,26.3,196,5009,0.00,2.17,0.00,0.000,6,0.000,0.027,3159,2437,2356
$GC,5286,0.85,146.0,498.2,24.9,203,5289,0.00,2.10,0.00,0.000,4,0.000,0.030,3170,1040,2352
$GC,5389,0.85,146.0,474.7,21.6,205,5393,0.00,2.28,0.00,0.000,6,0.000,0.046,3162,2462,2351
$GC,5663,0.85,146.0,414.8,21.5,212,5667,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1044,2348
$GC,5677,0.85,146.0,411.9,20.5,212,5681,0.00,2.25,0.00,0.000,6,0.000,0.042,3163,2469,2349
$GC,5951,0.85,146.0,358.5,19.0,219,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2470,2347
$GC,6194,0.85,146.0,314.3,17.5,225,6198,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1041,2346
$GC,6243,0.85,146.0,305.8,18.2,226,6248,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2458,2346
$GC,6531,0.85,146.0,257.0,16.9,233,6535,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1041,2344
$GC,6624,0.85,146.0,242.9,13.3,235,6628,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2466,2345
$GC,6916,0.85,146.0,203.2,13.6,242,6919,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3872,2344
$GC,6929,0.85,146.0,201.4,13.3,242,6933,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2450,2343
$GC,7202,0.85,146.0,168.3,11.2,265,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2443,2342
$GC,7467,0.85,146.0,136.8,11.5,290,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2443,2342
$GC,7733,0.95,221.7,110.6,6.2,315,7809,0.00,2.35,63.33,0.690,4,0.000,0.048,3163,3874,2055
$GC,7950,0.95,221.7,70.0,22.6,334,7954,0.00,2.15,0.00,0.000,6,0.000,0.025,3172,2454,2052
$GC,8222,0.95,221.7,17.4,20.7,364,8230,0.00,2.12,0.00,0.000,4,0.000,0.028,3183,1047,2049
$GC,8257,0.95,221.7,8.7,21.1,369,8265,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2451,2048
$STATE,8287,end climb,SURFACE_DEPTH_REACHED
$STATE,8287,begin surface coast
$FINISH,0.3,1.023692
$STATE,8305,end surface coast,CONTROL_FINISHED_OK
$STATE,8305,begin surface
$SM_CCo,8333,65.53,0.609,0,0,1532,350.04
$SM_GC,1.24,0.00,0.00,65.53,0.000,0.000,0.609,55,2662,1532,-8.83,0.62,350.04
$IRIDIUM_FIX,2258.07,-15759.74,090600,060644
$TT8_MAMPS,0.02301
$HUMID,1952
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.6,127.280
$10V_AH,10.6,76.481
$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,23.225,68.625,314.025,65.525,0.000,84.758,132.586,563.223,0.250,0.000,0.000,14.710,760.681,5789.897,427.673,1332.003,1167.108,33.378,992.924,0.000,1327.292,0.000,0.544,0.000
$DEVICE_MAMPS,265.382,70.564,1071.499,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,254.299,591.375,607.262,129.201,535.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32106,377
$CAP_FILE_SIZE,75475,0
$CFSIZE,260165632,222572544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,160311,091016,2245.141,-15803.252,13,2.2,33,10.1