version: 66.04
glider: 512
mission: 1
dive: 972
start: 3 15 111 17 25 18
data:
$ID,512
$MISSION,1
$DIVE,972
$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,-26880.207
$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,44
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2980
$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
$GPS1,171600,2246.102,-15756.886,37,1.4,43,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.3
$GPS2,172425,2246.111,-15756.926,12,1.4,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.253,-0.040
$KALMAN_X,-384837.8,454.1,85.5,408553.6,134.9
$KALMAN_Y,-642683.6,-143.5,-243.5,765023.4,3307.7
$MHEAD_RNG_PITCHd_Wd,250.9,10502,-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,-52.72,0.000,2,0.000,0.000,44,2676,2932
$GC,83,-0.85,-146.0,3.1,-4.7,7,115,11.62,2.00,-13.00,0.000,4,0.249,0.068,2585,3867,3577
$GC,362,-0.85,-146.0,66.9,-20.3,39,370,0.00,1.85,0.00,0.000,6,0.000,0.025,2593,2638,3579
$GC,627,-0.85,-146.0,130.1,-24.2,64,631,0.00,2.08,0.00,0.000,4,0.000,0.028,2603,1231,3580
$GC,675,-0.85,-146.0,139.7,-17.6,68,679,0.00,2.33,0.00,0.000,6,0.000,0.063,2593,2618,3580
$GC,939,-0.85,-146.0,187.2,-18.8,92,943,0.00,2.12,0.00,0.000,4,0.000,0.067,2583,3897,3582
$GC,969,-0.85,-146.0,193.1,-19.2,94,976,0.00,1.90,0.00,0.000,6,0.000,0.024,2591,2621,3581
$GC,1223,-0.85,-146.0,236.6,-17.2,104,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2615,3583
$GC,1466,-0.85,-146.0,271.2,-13.9,110,1470,0.00,2.03,0.00,0.000,4,0.000,0.025,2601,1233,3582
$GC,1520,-0.85,-146.0,278.0,-10.6,111,1525,0.00,2.30,0.00,0.000,6,0.000,0.054,2592,2648,3583
$GC,1801,-0.85,-146.0,316.7,-14.0,118,1805,0.00,2.08,0.00,0.000,4,0.000,0.066,2582,3898,3583
$GC,1853,-0.85,-146.0,324.2,-12.4,119,1857,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2636,3582
$GC,2141,-0.85,-146.0,358.1,-11.6,126,2144,0.00,2.15,0.00,0.000,4,0.000,0.071,2581,3883,3582
$GC,2176,-0.85,-146.0,362.6,-11.7,126,2180,0.00,1.83,0.00,0.000,6,0.000,0.025,2588,2642,3582
$GC,2437,-0.85,-146.0,390.5,-11.2,133,2440,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,1241,3580
$GC,2489,-0.85,-146.0,396.2,-8.6,134,2493,0.00,2.30,0.00,0.000,6,0.000,0.056,2590,2646,3580
$GC,2770,-0.85,-146.0,426.1,-10.9,141,2774,0.00,2.08,0.00,0.000,4,0.000,0.066,2580,3901,3578
$GC,2829,-0.85,-146.0,432.4,-9.3,142,2833,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2628,3577
$GC,3109,-0.85,-146.0,462.6,-11.0,149,3113,0.00,2.05,0.00,0.000,4,0.000,0.028,2598,1241,3576
$GC,3151,-0.85,-146.0,466.8,-9.4,149,3157,0.00,2.33,0.00,0.000,6,0.000,0.060,2589,2642,3575
$GC,3404,-0.85,-146.0,493.7,-10.9,156,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3573
$GC,3647,-0.85,-146.0,519.9,-10.9,162,3651,0.00,2.15,0.00,0.000,4,0.000,0.074,2579,3898,3571
$GC,3688,-0.85,-146.0,524.4,-10.4,162,3694,0.00,1.88,0.00,0.000,6,0.000,0.026,2586,2635,3570
$GC,3942,-0.85,-146.0,550.2,-10.4,169,3946,0.00,2.17,0.00,0.000,4,0.000,0.072,2578,3891,3569
$GC,3983,-0.85,-146.0,554.8,-10.2,169,3989,0.00,1.88,0.00,0.000,6,0.000,0.026,2586,2630,3569
$GC,4238,-0.85,-146.0,578.3,-9.5,176,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2622,3567
$STATE,4474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4474,begin apogee
$GC,4486,-0.32,0.0,601.5,9.5,182,4611,0.65,0.00,122.28,1.061,6,0.146,0.000,2774,2478,2981
$STATE,4612,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4617,0.85,146.0,606.6,0.0,185,4751,1.08,0.00,129.25,1.047,6,0.067,0.000,3154,2478,2383
$GC,4992,0.85,146.0,550.9,24.7,194,4995,0.00,2.17,0.00,0.000,4,0.000,0.030,3164,1040,2375
$GC,5011,0.85,146.0,544.9,24.6,194,5015,0.00,2.30,0.00,0.000,6,0.000,0.049,3163,2466,2374
$GC,5281,0.85,146.0,483.6,22.8,201,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2466,2370
$GC,5524,0.85,146.0,432.2,20.9,207,5528,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1036,2369
$GC,5672,0.85,146.0,404.0,17.5,210,5676,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2466,2369
$GC,5952,0.85,146.0,350.7,19.1,217,5956,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1025,2367
$GC,6045,0.85,146.0,333.3,19.7,219,6049,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2462,2366
$GC,6335,0.85,146.0,284.4,16.4,226,6339,0.00,2.33,0.00,0.000,4,0.000,0.056,3162,3872,2365
$GC,6415,0.85,146.0,272.2,14.4,227,6421,0.00,2.15,0.00,0.000,6,0.000,0.027,3171,2446,2364
$GC,6668,0.85,146.0,239.7,12.1,234,6671,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1043,2363
$GC,6816,0.85,146.0,223.8,10.5,237,6820,0.00,2.28,0.00,0.000,6,0.000,0.043,3176,2469,2363
$GC,7072,0.85,146.0,194.8,11.3,245,7076,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1051,2362
$GC,7135,0.85,146.0,187.4,13.0,250,7139,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2470,2363
$GC,7400,0.85,146.0,156.9,10.3,274,7404,0.00,2.10,0.00,0.000,4,0.000,0.027,3184,1051,2362
$GC,7550,0.85,146.0,141.1,10.5,287,7554,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2458,2363
$GC,7816,0.94,213.7,121.5,6.6,311,7877,0.00,2.33,54.65,0.712,4,0.000,0.051,3176,3880,2108
$GC,7885,0.94,213.7,114.5,13.4,316,7893,0.00,2.20,0.00,0.000,6,0.000,0.025,3185,2457,2107
$GC,8151,0.94,213.7,60.7,18.7,341,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2450,2102
$GC,8416,0.94,213.7,11.6,20.9,374,8425,0.00,2.10,0.00,0.000,4,0.000,0.027,3196,1053,2102
$GC,8438,0.94,213.7,7.8,19.3,376,8447,0.00,2.22,0.00,0.000,6,0.000,0.038,3192,2462,2102
$STATE,8458,end climb,SURFACE_DEPTH_REACHED
$STATE,8458,begin surface coast
$FINISH,0.5,1.023682
$STATE,8475,end surface coast,CONTROL_FINISHED_OK
$STATE,8476,begin surface
$SM_CCo,8503,74.12,0.605,0,0,1552,350.04
$SM_GC,1.82,0.00,0.00,74.12,0.000,0.000,0.605,43,2674,1552,-8.86,0.96,350.04
$IRIDIUM_FIX,2239.35,-15754.99,080600,141446
$TT8_MAMPS,0.023777
$HUMID,1903
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,126.608
$10V_AH,10.6,76.024
$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,22.575,85.450,306.175,74.125,0.000,28.882,32.994,274.928,0.500,0.000,0.000,17.628,799.338,5717.820,437.198,1410.881,718.656,33.373,1037.018,0.000,1400.364,0.000,0.542,0.000
$DEVICE_MAMPS,249.275,74.399,1060.761,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.615,599.901,615.341,130.905,542.213,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31865,382
$CAP_FILE_SIZE,73098,0
$CFSIZE,260165632,222785536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,150311,194937,2245.903,-15757.870,32,1.2,33,10.1