version: 66.04
glider: 512
mission: 1
dive: 983
start: 3 16 111 21 59 23
data:
$ID,512
$MISSION,1
$DIVE,983
$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,-27123.674
$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,59
$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
$GPS1,215006,2248.664,-15806.493,38,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.8
$GPS2,215831,2248.676,-15806.575,13,1.5,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.083,0.242
$KALMAN_X,-375259.7,-332.9,-155.3,383408.6,1245.9
$KALMAN_Y,-647181.7,-83.3,9.7,773948.8,-2018.6
$MHEAD_RNG_PITCHd_Wd,330.9,9120,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.85,-146.0,0.0,0.0,0,76,0.00,0.00,-52.78,0.000,2,0.000,0.000,41,2684,2910
$GC,82,-0.85,-146.0,3.2,-4.8,7,115,12.55,1.95,-13.10,0.000,4,0.272,0.074,2588,3862,3556
$GC,282,-0.85,-146.0,50.5,-20.5,32,286,0.00,1.85,0.00,0.000,6,0.000,0.028,2593,2659,3558
$GC,553,-0.85,-146.0,119.5,-22.8,57,557,0.00,2.15,0.00,0.000,4,0.000,0.031,2603,1224,3559
$GC,604,-0.85,-146.0,129.2,-16.3,61,608,0.00,2.33,0.00,0.000,6,0.000,0.063,2594,2613,3559
$GC,869,-0.85,-146.0,176.9,-17.5,85,873,0.00,2.15,0.00,0.000,4,0.000,0.067,2584,3904,3561
$GC,917,-0.85,-146.0,185.2,-15.8,89,921,0.00,1.88,0.00,0.000,6,0.000,0.023,2591,2627,3561
$GC,1179,-0.85,-146.0,228.4,-17.0,102,1182,0.00,2.20,0.00,0.000,4,0.000,0.073,2583,3901,3561
$GC,1236,-0.85,-146.0,238.0,-14.2,103,1240,0.00,1.90,0.00,0.000,6,0.000,0.024,2591,2637,3561
$GC,1517,-0.85,-146.0,278.8,-14.8,110,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2630,3562
$GC,1761,-0.85,-146.0,310.4,-12.4,116,1765,0.00,2.15,0.00,0.000,4,0.000,0.067,2583,3900,3562
$GC,1792,-0.85,-146.0,314.2,-12.4,116,1796,0.00,1.88,0.00,0.000,6,0.000,0.024,2591,2627,3561
$GC,2055,-0.85,-146.0,344.7,-12.1,123,2059,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,1238,3561
$GC,2091,-0.85,-146.0,349.1,-10.8,123,2095,0.00,2.33,0.00,0.000,6,0.000,0.060,2592,2637,3561
$GC,2344,-0.85,-146.0,377.9,-11.6,129,2348,0.00,2.10,0.00,0.000,4,0.000,0.067,2581,3899,3559
$GC,2393,-0.85,-146.0,383.2,-9.8,130,2397,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2634,3559
$GC,2686,-0.85,-146.0,411.7,-9.9,137,2690,0.00,2.08,0.00,0.000,4,0.000,0.031,2599,1248,3557
$GC,2716,-0.85,-146.0,414.9,-9.5,137,2720,0.00,2.33,0.00,0.000,6,0.000,0.061,2590,2650,3557
$GC,2980,-0.85,-146.0,440.9,-10.2,144,2984,0.00,2.15,0.00,0.000,4,0.000,0.077,2580,3894,3554
$GC,3038,-0.85,-146.0,447.5,-10.4,145,3042,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2642,3553
$GC,3319,-0.85,-146.0,476.6,-10.4,152,3322,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,1247,3552
$GC,3349,-0.85,-146.0,479.8,-9.5,152,3353,0.00,2.35,0.00,0.000,6,0.000,0.065,2589,2639,3552
$GC,3607,-0.85,-146.0,504.6,-9.8,159,3610,0.00,2.15,0.00,0.000,4,0.000,0.076,2579,3894,3550
$GC,3693,-0.85,-146.0,513.1,-8.8,160,3700,0.00,1.90,0.00,0.000,6,0.000,0.026,2587,2638,3549
$GC,3946,-0.85,-146.0,537.2,-9.6,167,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3546
$GC,4192,-0.85,-146.0,559.7,-9.2,173,4196,0.00,2.22,0.00,0.000,4,0.000,0.077,2579,3899,3545
$GC,4255,-0.85,-146.0,566.1,-9.3,174,4259,0.00,1.88,0.00,0.000,6,0.000,0.027,2587,2646,3544
$GC,4527,-0.85,-146.0,592.0,-9.9,181,4531,0.00,2.15,0.00,0.000,4,0.000,0.034,2597,1234,3542
$GC,4557,-0.85,-146.0,595.4,-9.9,181,4561,0.00,2.38,0.00,0.000,6,0.000,0.061,2589,2649,3542
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4624,-0.32,0.0,600.7,9.1,183,4749,0.65,0.00,121.65,1.071,6,0.147,0.000,2773,2474,2960
$STATE,4750,end apogee,CONTROL_FINISHED_OK
$STATE,4750,begin climb
$GC,4755,0.85,146.0,606.2,0.0,186,4898,1.12,2.47,130.90,1.039,4,0.074,0.063,3150,3879,2363
$GC,5014,0.85,146.0,575.4,27.4,192,5019,0.00,2.20,0.00,0.000,6,0.000,0.028,3159,2446,2357
$GC,5278,0.85,146.0,508.9,24.8,199,5282,0.00,2.10,0.00,0.000,4,0.000,0.028,3169,1032,2352
$GC,5302,0.85,146.0,502.8,24.2,199,5306,0.00,2.30,0.00,0.000,6,0.000,0.044,3162,2472,2352
$GC,5572,0.85,146.0,443.1,22.4,206,5576,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1043,2350
$GC,5591,0.85,146.0,438.3,22.4,206,5595,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2463,2349
$GC,5867,0.85,146.0,381.9,20.0,213,5870,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1031,2348
$GC,6026,0.85,146.0,352.3,18.2,216,6031,0.00,2.30,0.00,0.000,6,0.000,0.045,3163,2465,2347
$GC,6290,0.85,146.0,303.0,18.2,223,6293,0.00,2.15,0.00,0.000,4,0.000,0.029,3172,1036,2345
$GC,6505,0.85,146.0,271.3,13.9,227,6509,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2471,2345
$GC,6758,0.85,146.0,238.5,12.6,233,6762,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1036,2344
$GC,6777,0.85,146.0,236.5,11.4,233,6781,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2462,2344
$GC,7051,0.85,146.0,204.9,11.5,240,7055,0.00,2.30,0.00,0.000,4,0.000,0.054,3162,3870,2343
$GC,7311,0.85,146.0,169.1,13.4,260,7315,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2448,2341
$GC,7583,0.91,189.9,142.3,7.7,285,7623,0.00,2.33,34.88,0.731,4,0.000,0.049,3163,3872,2185
$GC,7795,0.91,189.9,108.0,18.2,303,7799,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2461,2183
$GC,8067,0.91,189.9,67.1,12.1,328,8070,0.00,2.10,0.00,0.000,4,0.000,0.026,3182,1037,2180
$GC,8116,0.91,189.9,61.1,11.6,332,8120,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2468,2180
$GC,8387,0.91,189.9,22.0,16.7,360,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2468,2179
$STATE,8496,end climb,SURFACE_DEPTH_REACHED
$STATE,8496,begin surface coast
$FINISH,0.4,1.023708
$STATE,8513,end surface coast,CONTROL_FINISHED_OK
$STATE,8513,begin surface
$SM_CCo,8541,83.53,0.604,0,0,1533,350.04
$SM_GC,1.64,0.00,0.00,83.53,0.000,0.000,0.604,51,2651,1533,-8.84,0.31,350.04
$IRIDIUM_FIX,2237.01,-15805.41,090600,191929
$TT8_MAMPS,0.023777
$HUMID,1892
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.7,128.010
$10V_AH,10.6,77.008
$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,23.250,94.875,287.425,83.525,0.000,24.146,39.901,269.149,0.500,0.000,0.000,18.954,829.899,5639.805,422.924,1496.586,740.805,33.378,1044.215,0.000,1479.819,0.000,0.544,0.000
$DEVICE_MAMPS,271.518,77.467,1070.732,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,259.338,604.869,623.656,137.673,563.081,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31969,383
$CAP_FILE_SIZE,76217,0
$CFSIZE,260165632,222326784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,170311,002436,2249.585,-15807.175,39,1.2,40,10.1