version: 66.04
glider: 512
mission: 1
dive: 976
start: 3 16 111 4 8 18
data:
$ID,512
$MISSION,1
$DIVE,976
$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,-26970.172
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,035436,2244.517,-15800.924,38,1.0,44,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.4
$GPS2,040725,2244.552,-15801.051,11,1.6,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.254,-0.032
$KALMAN_X,-380214.7,-321.3,-338.4,398039.7,2123.5
$KALMAN_Y,-640761.1,-1119.3,-161.3,761121.2,1811.2
$MHEAD_RNG_PITCHd_Wd,252.6,5624,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.85,-146.0,0.0,0.0,0,78,0.00,0.00,-52.85,0.000,2,0.000,0.000,51,2668,2950
$GC,84,-0.85,-146.0,3.6,-4.8,7,117,11.73,1.98,-11.50,0.000,4,0.252,0.064,2586,3868,3559
$GC,362,-0.85,-146.0,69.2,-19.1,38,370,0.00,1.83,0.00,0.000,6,0.000,0.024,2594,2644,3561
$GC,628,-0.85,-146.0,129.4,-20.5,63,632,0.00,2.08,0.00,0.000,4,0.000,0.062,2585,3878,3562
$GC,688,-0.85,-146.0,142.2,-21.3,68,692,0.00,1.83,0.00,0.000,6,0.000,0.023,2593,2641,3562
$GC,959,-0.85,-146.0,192.2,-17.4,93,963,0.00,2.08,0.00,0.000,4,0.000,0.026,2603,1221,3563
$GC,1011,-0.85,-146.0,200.1,-13.9,97,1015,0.00,2.28,0.00,0.000,6,0.000,0.053,2593,2621,3563
$GC,1297,-0.85,-146.0,242.3,-14.2,104,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2621,3563
$GC,1540,-0.85,-146.0,275.2,-13.3,110,1544,0.00,2.10,0.00,0.000,4,0.000,0.063,2583,3898,3564
$GC,1577,-0.85,-146.0,280.4,-14.6,110,1581,0.00,1.88,0.00,0.000,6,0.000,0.024,2591,2612,3564
$GC,1835,-0.85,-146.0,312.9,-12.6,117,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2605,3564
$GC,2081,-0.85,-146.0,342.3,-12.0,123,2084,0.00,2.03,0.00,0.000,4,0.000,0.026,2601,1232,3563
$GC,2099,-0.85,-146.0,345.0,-11.9,123,2103,0.00,2.28,0.00,0.000,6,0.000,0.051,2592,2642,3563
$GC,2368,-0.85,-146.0,376.7,-12.0,130,2372,0.00,2.08,0.00,0.000,4,0.000,0.065,2582,3898,3561
$GC,2437,-0.85,-146.0,384.7,-10.7,131,2441,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2636,3560
$GC,2707,-0.85,-146.0,414.3,-11.0,138,2711,0.00,2.05,0.00,0.000,4,0.000,0.027,2600,1244,3558
$GC,2765,-0.85,-146.0,420.1,-8.3,139,2770,0.00,2.30,0.00,0.000,6,0.000,0.051,2591,2659,3558
$GC,3041,-0.85,-146.0,448.2,-10.4,146,3045,0.00,2.03,0.00,0.000,4,0.000,0.063,2581,3893,3555
$GC,3094,-0.85,-146.0,454.2,-10.3,147,3098,0.00,1.85,0.00,0.000,6,0.000,0.026,2588,2637,3555
$GC,3379,-0.85,-146.0,482.2,-9.9,154,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2630,3553
$GC,3624,-0.85,-146.0,505.2,-9.4,160,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2631,3551
$GC,3869,-0.85,-146.0,527.0,-9.0,166,3872,0.00,2.12,0.00,0.000,4,0.000,0.064,2580,3889,3549
$GC,3917,-0.85,-146.0,531.4,-8.4,167,3921,0.00,1.85,0.00,0.000,6,0.000,0.027,2588,2643,3549
$GC,4209,-0.85,-146.0,558.8,-9.6,174,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2638,3546
$GC,4453,-0.85,-146.0,581.8,-9.4,180,4457,0.00,2.15,0.00,0.000,4,0.000,0.067,2580,3896,3544
$GC,4488,-0.85,-146.0,585.5,-9.9,180,4492,0.00,1.88,0.00,0.000,6,0.000,0.027,2588,2641,3544
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4672,-0.32,0.0,600.5,8.6,185,4797,0.62,0.00,121.88,1.071,6,0.146,0.000,2768,2479,2960
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4803,0.85,146.0,604.9,0.0,188,4941,1.10,2.28,129.18,1.046,4,0.070,0.029,3164,1036,2363
$GC,5055,0.85,146.0,574.4,23.8,193,5059,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2459,2357
$GC,5307,0.85,146.0,512.7,24.2,199,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2459,2352
$GC,5551,0.85,146.0,457.0,22.5,205,5555,0.00,2.15,0.00,0.000,4,0.000,0.030,3171,1024,2350
$GC,5755,0.85,146.0,413.0,20.3,209,5759,0.00,2.30,0.00,0.000,6,0.000,0.046,3163,2457,2349
$GC,6026,0.85,146.0,359.1,20.0,216,6029,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1027,2347
$GC,6044,0.85,146.0,355.3,18.8,216,6048,0.00,2.30,0.00,0.000,6,0.000,0.046,3163,2466,2347
$GC,6321,0.85,146.0,307.2,16.9,223,6324,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1028,2346
$GC,6350,0.85,146.0,302.1,15.4,223,6354,0.00,2.28,0.00,0.000,6,0.000,0.041,3163,2474,2345
$GC,6614,0.85,146.0,258.7,16.9,230,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2474,2344
$GC,6858,0.85,146.0,222.5,14.1,236,6862,0.00,2.28,0.00,0.000,4,0.000,0.055,3163,3865,2343
$GC,6997,0.85,146.0,202.6,14.4,239,7001,0.00,2.15,0.00,0.000,6,0.000,0.026,3171,2438,2342
$GC,7269,0.85,146.0,171.1,10.4,261,7272,0.00,2.08,0.00,0.000,4,0.000,0.029,3182,1051,2342
$GC,7374,0.85,146.0,159.1,11.0,270,7378,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2465,2342
$GC,7645,0.94,216.5,134.9,6.5,295,7705,0.00,0.00,57.22,0.733,6,0.000,0.000,3176,2466,2077
$GC,7967,0.94,216.5,76.5,19.6,324,7971,0.00,2.28,0.00,0.000,4,0.000,0.050,3175,3880,2071
$GC,8098,0.94,216.5,46.7,20.6,335,8102,0.00,2.12,0.00,0.000,6,0.000,0.025,3184,2468,2070
$STATE,8315,end climb,SURFACE_DEPTH_REACHED
$STATE,8315,begin surface coast
$FINISH,0.3,1.012286
$STATE,8330,end surface coast,CONTROL_FINISHED_OK
$STATE,8330,begin surface
$SM_CCo,8357,64.15,0.611,0,0,1532,350.04
$SM_GC,1.15,0.00,0.00,64.15,0.000,0.000,0.611,46,2669,1532,-8.86,0.82,350.04
$IRIDIUM_FIX,2237.01,-15810.61,090600,040407
$TT8_MAMPS,0.023777
$HUMID,1939
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.20
$XPDR_PINGS,10
$24V_AH,23.6,127.138
$10V_AH,10.6,76.392
$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,22.450,72.025,308.275,64.150,0.000,60.555,80.723,390.130,2.500,0.000,0.000,16.917,781.870,5712.952,398.447,1377.601,921.689,33.376,975.152,0.000,1368.508,0.000,0.544,0.000
$DEVICE_MAMPS,251.576,67.496,1070.732,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,249.798,571.142,587.233,125.343,517.983,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31848,369
$CAP_FILE_SIZE,72609,0
$CFSIZE,260165632,222617600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,160311,063007,2244.588,-15802.146,38,1.2,39,10.1