version: 66.04
glider: 512
mission: 1
dive: 984
start: 3 17 111 0 34 13
data:
$ID,512
$MISSION,1
$DIVE,984
$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,-27140.693
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,002436,2249.585,-15807.175,39,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-69.2
$GPS2,003320,2249.634,-15807.255,16,1.2,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.065,0.248
$KALMAN_X,-375055.7,-576.6,-357.6,382481.0,1386.3
$KALMAN_Y,-648375.4,80.1,-154.4,776911.9,-1714.5
$MHEAD_RNG_PITCHd_Wd,335.3,7761,-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,-52.83,0.000,2,0.000,0.000,48,2654,2923
$GC,83,-0.85,-146.0,3.5,-5.5,7,115,11.65,2.05,-12.30,0.000,4,0.252,0.068,2583,3876,3556
$GC,272,-0.85,-146.0,51.6,-20.2,30,275,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2632,3558
$GC,543,-0.85,-146.0,118.7,-23.5,55,547,0.00,2.08,0.00,0.000,4,0.000,0.025,2600,1216,3559
$GC,607,-0.85,-146.0,132.2,-15.3,60,615,0.00,2.35,0.00,0.000,6,0.000,0.055,2591,2624,3559
$GC,873,-0.85,-146.0,183.3,-18.4,85,876,0.00,2.12,0.00,0.000,4,0.000,0.065,2581,3907,3561
$GC,934,-0.85,-146.0,193.3,-14.9,90,937,0.00,1.88,0.00,0.000,6,0.000,0.023,2588,2622,3561
$GC,1223,-0.85,-146.0,245.5,-18.3,100,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2615,3561
$GC,1468,-0.85,-146.0,284.3,-15.5,106,1471,0.00,2.17,0.00,0.000,4,0.000,0.066,2580,3907,3561
$GC,1526,-0.85,-146.0,292.3,-11.7,107,1529,0.00,1.85,0.00,0.000,6,0.000,0.022,2588,2640,3562
$GC,1806,-0.85,-146.0,324.9,-11.8,114,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2632,3561
$GC,2050,-0.85,-146.0,351.9,-11.2,120,2054,0.00,2.05,0.00,0.000,4,0.000,0.026,2598,1240,3561
$GC,2080,-0.85,-146.0,355.4,-10.7,120,2085,0.00,2.33,0.00,0.000,6,0.000,0.054,2589,2655,3561
$GC,2338,-0.85,-146.0,385.4,-12.3,127,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2655,3560
$GC,2584,-0.85,-146.0,412.2,-10.9,133,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2655,3559
$GC,2826,-0.85,-146.0,439.8,-11.4,139,2830,0.00,2.05,0.00,0.000,4,0.000,0.066,2579,3890,3556
$GC,2856,-0.85,-146.0,443.4,-11.6,139,2860,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2632,3556
$GC,3122,-0.85,-146.0,470.7,-10.3,146,3126,0.00,2.15,0.00,0.000,4,0.000,0.066,2578,3893,3554
$GC,3170,-0.85,-146.0,475.9,-9.0,147,3174,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2635,3553
$GC,3462,-0.85,-146.0,504.8,-10.4,154,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2630,3552
$GC,3705,-0.85,-146.0,530.6,-10.6,160,3709,0.00,2.15,0.00,0.000,4,0.000,0.064,2578,3899,3550
$GC,3735,-0.85,-146.0,534.1,-10.9,160,3739,0.00,1.85,0.00,0.000,6,0.000,0.025,2585,2644,3549
$GC,3999,-0.85,-146.0,560.2,-9.8,167,4002,0.00,2.10,0.00,0.000,4,0.000,0.028,2596,1231,3547
$GC,4041,-0.85,-146.0,564.1,-8.5,167,4047,0.00,2.33,0.00,0.000,6,0.000,0.052,2588,2647,3546
$GC,4293,-0.85,-146.0,586.9,-9.2,174,4297,0.00,2.08,0.00,0.000,4,0.000,0.064,2578,3894,3545
$GC,4346,-0.85,-146.0,591.8,-8.9,175,4349,0.00,1.88,0.00,0.000,6,0.000,0.026,2586,2632,3544
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4476,-0.32,0.0,602.3,8.5,178,4601,0.65,0.00,121.55,1.072,6,0.151,0.000,2771,2481,2960
$STATE,4602,end apogee,CONTROL_FINISHED_OK
$STATE,4602,begin climb
$GC,4607,0.85,146.0,606.8,0.0,181,4744,1.10,2.35,128.77,1.048,4,0.075,0.054,3150,3877,2363
$GC,4846,0.85,146.0,576.1,27.6,186,4850,0.00,2.17,0.00,0.000,6,0.000,0.026,3159,2454,2357
$GC,5115,0.85,146.0,508.9,24.7,193,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2448,2352
$GC,5358,0.85,146.0,453.9,22.8,199,5362,0.00,2.33,0.00,0.000,4,0.000,0.054,3150,3874,2350
$GC,5434,0.85,146.0,437.0,21.8,200,5438,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2458,2349
$GC,5693,0.85,146.0,383.5,20.5,207,5697,0.00,2.12,0.00,0.000,4,0.000,0.029,3170,1038,2348
$GC,5798,0.85,146.0,364.6,18.8,209,5802,0.00,2.28,0.00,0.000,6,0.000,0.043,3162,2468,2348
$GC,6073,0.85,146.0,313.4,18.0,216,6077,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1040,2345
$GC,6318,0.85,146.0,276.1,13.7,221,6322,0.00,2.28,0.00,0.000,6,0.000,0.043,3163,2463,2345
$GC,6587,0.85,146.0,242.2,11.2,228,6590,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1027,2344
$GC,6606,0.85,146.0,240.1,11.1,228,6610,0.00,2.28,0.00,0.000,6,0.000,0.042,3163,2459,2344
$GC,6880,0.85,146.0,208.9,10.7,235,6884,0.00,2.33,0.00,0.000,4,0.000,0.054,3162,3879,2343
$GC,6978,0.85,146.0,196.4,13.9,237,6987,0.00,2.20,0.00,0.000,6,0.000,0.028,3171,2448,2342
$GC,7244,0.85,146.0,162.2,12.4,262,7249,0.00,2.33,0.00,0.000,4,0.000,0.052,3163,3873,2342
$GC,7368,0.85,146.0,147.5,11.0,272,7377,0.00,2.15,0.00,0.000,6,0.000,0.025,3172,2454,2342
$GC,7635,0.85,146.0,123.1,9.6,297,7639,0.00,2.08,0.00,0.000,4,0.000,0.026,3182,1057,2342
$GC,7813,0.88,162.8,108.4,8.9,312,7837,0.00,2.25,13.93,0.573,6,0.000,0.041,3176,2457,2296
$GC,8105,0.88,162.8,77.5,10.3,338,8108,0.00,2.08,0.00,0.000,4,0.000,0.027,3184,1059,2294
$GC,8364,0.94,215.9,59.0,7.3,361,8416,0.00,2.20,45.88,0.628,6,0.000,0.038,3175,2467,2080
$GC,8676,0.94,215.9,7.1,22.3,399,8684,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1061,2074
$STATE,8690,end climb,SURFACE_DEPTH_REACHED
$STATE,8690,begin surface coast
$FINISH,0.5,1.023709
$STATE,8702,end surface coast,CONTROL_FINISHED_OK
$STATE,8702,begin surface
$SM_CCo,8732,62.22,0.585,0,0,1532,350.04
$SM_GC,1.42,0.00,0.00,62.22,0.000,0.000,0.585,48,2645,1532,-8.85,0.14,350.04
$IRIDIUM_FIX,2241.69,-15809.75,090600,222233
$TT8_MAMPS,0.023777
$HUMID,1875
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.6,128.126
$10V_AH,10.6,77.100
$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,22.625,85.925,310.125,62.225,0.000,24.150,36.121,294.244,0.000,0.000,0.000,16.390,842.815,5758.450,413.680,1537.422,768.325,33.374,1048.680,0.000,1530.194,0.000,0.545,0.000
$DEVICE_MAMPS,251.576,75.933,1072.266,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,272.265,649.893,669.300,146.184,604.849,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31914,403
$CAP_FILE_SIZE,74684,0
$CFSIZE,260165632,222285824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,170311,030216,2250.678,-15807.903,18,3.1,38,10.1