version: 66.04
glider: 512
mission: 1
dive: 953
start: 3 13 111 16 4 44
data:
$ID,512
$MISSION,1
$DIVE,953
$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,-26510.877
$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,51
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,155706,2256.593,-15759.174,40,1.4,47,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.2
$GPS2,160352,2256.610,-15759.159,14,2.2,33,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.235,-0.101
$KALMAN_X,-376996.5,540.5,738.2,396109.9,-3689.4
$KALMAN_Y,-665816.4,963.3,-166.7,806407.6,-1451.7
$MHEAD_RNG_PITCHd_Wd,103.2,8495,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.80,0.000,2,0.000,0.000,50,2675,2943
$GC,78,-0.85,-146.0,3.3,-4.9,7,109,11.68,0.00,-12.85,0.000,6,0.251,0.000,2591,2675,3598
$GC,373,-0.85,-146.0,87.7,-25.8,40,376,0.00,2.15,0.00,0.000,4,0.000,0.028,2598,1238,3600
$GC,423,-0.85,-146.0,100.1,-16.9,44,432,0.00,2.33,0.00,0.000,6,0.000,0.064,2589,2613,3600
$GC,689,-0.85,-146.0,156.8,-20.1,69,693,0.00,2.15,0.00,0.000,4,0.000,0.067,2579,3909,3601
$GC,739,-0.85,-146.0,165.8,-16.7,73,743,0.00,1.88,0.00,0.000,6,0.000,0.023,2586,2624,3601
$GC,1014,-0.85,-146.0,216.0,-18.4,93,1018,0.00,2.03,0.00,0.000,4,0.000,0.025,2597,1224,3602
$GC,1038,-0.85,-146.0,220.7,-18.7,93,1043,0.00,2.35,0.00,0.000,6,0.000,0.057,2587,2661,3603
$GC,1302,-0.85,-146.0,266.1,-17.4,100,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2661,3603
$GC,1547,-0.85,-146.0,299.9,-13.7,106,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2661,3603
$GC,1789,-0.85,-146.0,330.9,-12.8,112,1793,0.00,2.10,0.00,0.000,4,0.000,0.026,2595,1235,3603
$GC,1853,-0.85,-146.0,338.3,-9.3,113,1857,0.00,2.33,0.00,0.000,6,0.000,0.059,2587,2641,3603
$GC,2122,-0.85,-146.0,369.5,-11.9,120,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2642,3602
$GC,2366,-0.85,-146.0,398.3,-11.5,126,2370,0.00,2.08,0.00,0.000,4,0.000,0.068,2576,3894,3600
$GC,2401,-0.85,-146.0,402.8,-12.3,126,2405,0.00,1.85,0.00,0.000,6,0.000,0.025,2584,2630,3600
$GC,2659,-0.85,-146.0,431.1,-11.0,133,2662,0.00,2.05,0.00,0.000,4,0.000,0.027,2594,1234,3598
$GC,2712,-0.85,-146.0,436.1,-7.8,134,2716,0.00,2.30,0.00,0.000,6,0.000,0.054,2586,2643,3599
$GC,2993,-0.85,-146.0,466.4,-11.3,141,2997,0.00,2.08,0.00,0.000,4,0.000,0.066,2576,3894,3596
$GC,3051,-0.85,-146.0,473.5,-11.1,142,3054,0.00,1.85,0.00,0.000,6,0.000,0.025,2584,2637,3595
$GC,3331,-0.85,-146.0,504.4,-10.9,149,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2630,3593
$GC,3575,-0.85,-146.0,529.1,-10.0,155,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2631,3592
$GC,3820,-0.85,-146.0,551.8,-9.2,161,3824,0.00,2.15,0.00,0.000,4,0.000,0.069,2576,3894,3590
$GC,3872,-0.85,-146.0,556.8,-8.7,162,3876,0.00,1.85,0.00,0.000,6,0.000,0.026,2579,2642,3589
$GC,4158,-0.85,-146.0,584.3,-9.9,169,4162,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,1231,3587
$GC,4200,-0.85,-146.0,588.4,-8.5,169,4206,0.00,2.33,0.00,0.000,6,0.000,0.053,2578,2650,3587
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4326,begin apogee
$GC,4337,-0.32,0.0,600.8,9.6,173,4462,0.70,0.00,122.53,1.071,6,0.156,0.000,2773,2485,3000
$STATE,4463,end apogee,CONTROL_FINISHED_OK
$STATE,4463,begin climb
$GC,4468,0.85,146.0,606.4,0.0,176,4605,1.12,2.38,129.10,1.046,4,0.087,0.064,3151,3872,2404
$GC,4866,0.85,146.0,543.3,24.9,185,4869,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2449,2394
$GC,5158,0.85,146.0,478.2,21.9,192,5162,0.00,2.33,0.00,0.000,4,0.000,0.053,3159,3878,2390
$GC,5260,0.85,146.0,455.1,22.2,194,5264,0.00,2.15,0.00,0.000,6,0.000,0.028,3168,2453,2390
$GC,5536,0.85,146.0,400.9,19.5,201,5540,0.00,2.10,0.00,0.000,4,0.000,0.029,3179,1040,2388
$GC,5712,0.85,146.0,368.4,18.0,204,5719,0.00,2.28,0.00,0.000,6,0.000,0.046,3176,2469,2387
$GC,5965,0.85,146.0,326.6,16.1,211,5969,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1037,2385
$GC,5989,0.85,146.0,322.5,15.7,211,5994,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2466,2385
$GC,6253,0.85,146.0,280.1,16.5,218,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2466,2384
$GC,6498,0.85,146.0,250.2,11.9,224,6502,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1045,2384
$GC,6758,0.85,146.0,226.8,10.0,229,6763,0.00,2.22,0.00,0.000,6,0.000,0.044,3176,2456,2382
$GC,7019,0.85,146.0,199.8,10.6,236,7023,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1047,2382
$GC,7080,0.85,146.0,193.0,10.0,241,7084,0.00,2.28,0.00,0.000,6,0.000,0.046,3176,2469,2382
$GC,7346,0.85,146.0,166.4,11.3,265,7350,0.00,2.28,0.00,0.000,4,0.000,0.052,3176,3872,2382
$GC,7533,0.91,194.2,148.4,7.5,281,7584,0.00,2.10,38.80,0.726,6,0.000,0.024,3185,2441,2206
$GC,7840,0.91,194.2,100.2,17.5,309,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2441,2201
$GC,8105,0.91,194.2,56.3,14.9,334,8109,0.00,2.30,0.00,0.000,4,0.000,0.046,3176,3880,2201
$GC,8136,0.91,194.2,51.5,16.2,336,8144,0.00,2.12,0.00,0.000,6,0.000,0.024,3185,2466,2201
$GC,8406,0.91,194.2,9.5,16.3,372,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2465,2201
$STATE,8445,end climb,SURFACE_DEPTH_REACHED
$STATE,8445,begin surface coast
$FINISH,0.4,1.023798
$STATE,8463,end surface coast,CONTROL_FINISHED_OK
$STATE,8463,begin surface
$SM_CCo,8490,78.43,0.604,0,0,1573,350.04
$SM_GC,1.87,0.00,0.00,78.43,0.000,0.000,0.604,50,2670,1573,-8.85,0.85,350.04
$IRIDIUM_FIX,2246.36,-15801.49,060600,131348
$TT8_MAMPS,0.023777
$HUMID,1893
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,124.268
$10V_AH,10.6,74.334
$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,22.550,73.700,290.425,78.425,0.000,24.545,35.157,160.904,0.250,0.000,0.000,34.367,798.172,5686.574,419.331,1470.161,603.013,33.373,1021.532,0.000,1444.456,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,69.030,1070.732,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,258.145,598.146,616.205,133.965,549.153,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31780,382
$CAP_FILE_SIZE,70215,0
$CFSIZE,260165632,223563776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,130311,182901,2255.939,-15758.459,38,1.5,39,10.1