version: 66.04
glider: 512
mission: 1
dive: 985
start: 3 17 111 3 16 55
data:
$ID,512
$MISSION,1
$DIVE,985
$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,-27177.217
$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,57
$R_STBD_OVSHOOT,15
$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
$GPS1,030216,2250.678,-15807.903,18,3.1,38,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.0
$GPS2,031558,2250.786,-15807.930,15,4.1,34,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.014,0.256
$KALMAN_X,-375458.2,-729.6,-301.6,381821.3,1112.6
$KALMAN_Y,-649807.8,324.2,136.8,779943.0,-2061.2
$MHEAD_RNG_PITCHd_Wd,346.8,6515,-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,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.75,0.000,2,0.000,0.000,42,2644,2923
$GC,79,-0.85,-146.0,3.4,-5.2,7,111,11.80,2.12,-12.43,0.000,4,0.253,0.073,2587,3897,3556
$GC,192,-0.85,-146.0,35.7,-23.7,23,196,0.00,1.85,0.00,0.000,6,0.000,0.024,2594,2655,3557
$GC,462,-0.85,-146.0,106.2,-23.3,48,465,0.00,2.10,0.00,0.000,4,0.000,0.025,2604,1213,3558
$GC,522,-0.85,-146.0,116.9,-13.7,53,527,0.00,2.38,0.00,0.000,6,0.000,0.059,2595,2649,3558
$GC,787,-0.85,-146.0,167.2,-18.0,77,791,0.00,2.05,0.00,0.000,4,0.000,0.063,2584,3896,3559
$GC,848,-0.85,-146.0,177.2,-14.0,82,851,0.00,1.85,0.00,0.000,6,0.000,0.022,2592,2618,3559
$GC,1110,-0.85,-146.0,222.9,-18.0,98,1114,0.00,2.15,0.00,0.000,4,0.000,0.062,2584,3897,3559
$GC,1141,-0.85,-146.0,228.3,-17.2,98,1144,0.00,1.83,0.00,0.000,6,0.000,0.022,2591,2642,3559
$GC,1404,-0.85,-146.0,268.8,-15.4,105,1408,0.00,2.05,0.00,0.000,4,0.000,0.025,2602,1237,3560
$GC,1458,-0.85,-146.0,275.4,-10.4,106,1462,0.00,2.30,0.00,0.000,6,0.000,0.054,2592,2643,3560
$GC,1738,-0.85,-146.0,314.0,-14.1,113,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2643,3560
$GC,1984,-0.85,-146.0,344.2,-12.5,119,1987,0.00,2.08,0.00,0.000,4,0.000,0.065,2583,3894,3559
$GC,2047,-0.85,-146.0,352.1,-10.2,120,2051,0.00,1.85,0.00,0.000,6,0.000,0.024,2590,2627,3559
$GC,2324,-0.85,-146.0,382.5,-11.1,127,2327,0.00,2.15,0.00,0.000,4,0.000,0.063,2582,3902,3557
$GC,2365,-0.85,-146.0,387.7,-11.0,127,2371,0.00,1.85,0.00,0.000,6,0.000,0.023,2590,2638,3557
$GC,2620,-0.85,-146.0,413.9,-10.7,134,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2631,3555
$GC,2861,-0.85,-146.0,440.1,-10.9,140,2865,0.00,2.12,0.00,0.000,4,0.000,0.064,2582,3893,3553
$GC,2925,-0.85,-146.0,447.1,-9.8,141,2928,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2631,3552
$GC,3200,-0.85,-146.0,474.4,-9.8,148,3204,0.00,2.15,0.00,0.000,4,0.000,0.064,2581,3898,3550
$GC,3253,-0.85,-146.0,479.6,-8.7,149,3256,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2642,3550
$GC,3540,-0.85,-146.0,507.9,-10.3,156,3544,0.00,2.12,0.00,0.000,4,0.000,0.062,2581,3903,3547
$GC,3581,-0.85,-146.0,512.4,-10.2,156,3587,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2635,3547
$GC,3835,-0.85,-146.0,537.5,-10.1,163,3839,0.00,2.12,0.00,0.000,4,0.000,0.061,2581,3894,3545
$GC,3877,-0.85,-146.0,542.1,-10.3,163,3883,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2635,3544
$GC,4129,-0.85,-146.0,566.7,-9.8,170,4133,0.00,2.05,0.00,0.000,4,0.000,0.027,2598,1251,3542
$GC,4158,-0.85,-146.0,569.7,-9.7,170,4162,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2644,3542
$GC,4416,-0.85,-146.0,593.3,-9.2,177,4420,0.00,2.10,0.00,0.000,4,0.000,0.067,2580,3894,3540
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4494,-0.32,0.0,600.3,9.4,178,4618,0.60,0.00,120.72,1.068,6,0.153,0.000,2764,2463,2960
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4619,begin climb
$GC,4624,0.85,146.0,605.5,0.0,181,4767,1.15,2.20,130.50,1.035,4,0.082,0.026,3162,1054,2365
$GC,4954,0.85,146.0,562.3,23.3,188,4959,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2463,2356
$GC,5213,0.85,146.0,501.2,23.5,195,5217,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1046,2353
$GC,5253,0.85,146.0,492.3,20.5,195,5261,0.00,2.33,0.00,0.000,6,0.000,0.048,3163,2461,2352
$GC,5506,0.85,146.0,437.5,21.8,202,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2461,2350
$GC,5749,0.85,146.0,387.2,20.8,208,5753,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1044,2349
$GC,5785,0.85,146.0,380.2,18.9,208,5789,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2461,2349
$GC,6039,0.85,146.0,329.2,19.9,214,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2462,2348
$GC,6281,0.85,146.0,287.6,16.9,220,6285,0.00,2.33,0.00,0.000,4,0.000,0.055,3162,3881,2347
$GC,6407,0.85,146.0,267.9,16.4,222,6413,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2463,2345
$GC,6661,0.85,146.0,237.1,11.7,229,6665,0.00,2.12,0.00,0.000,4,0.000,0.028,3182,1040,2344
$GC,6764,0.85,146.0,224.2,11.7,231,6768,0.00,2.30,0.00,0.000,6,0.000,0.046,3175,2472,2344
$GC,7020,0.85,146.0,193.2,12.0,239,7023,0.00,2.30,0.00,0.000,4,0.000,0.054,3176,3875,2343
$GC,7090,0.85,146.0,183.3,14.7,245,7094,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2452,2343
$GC,7362,0.85,146.0,146.8,12.9,270,7366,0.00,2.30,0.00,0.000,4,0.000,0.048,3176,3874,2343
$GC,7496,0.85,146.0,130.5,11.0,281,7499,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2452,2343
$GC,7766,0.85,146.0,105.8,10.3,306,7769,0.00,2.08,0.00,0.000,4,0.000,0.027,3195,1043,2343
$GC,8028,0.94,216.7,83.9,6.5,329,8091,0.00,2.25,57.03,0.670,6,0.000,0.041,3191,2469,2075
$GC,8348,0.94,216.7,27.1,19.6,359,8356,0.00,2.15,0.00,0.000,4,0.000,0.025,3200,1045,2071
$GC,8441,0.94,216.7,8.2,20.4,375,8450,0.00,2.30,0.00,0.000,6,0.000,0.044,3200,2460,2069
$STATE,8461,end climb,SURFACE_DEPTH_REACHED
$STATE,8461,begin surface coast
$FINISH,0.6,1.023722
$STATE,8473,end surface coast,CONTROL_FINISHED_OK
$STATE,8474,begin surface
$SM_CCo,8501,70.68,0.601,0,0,1533,350.04
$SM_GC,1.36,0.00,0.00,70.68,0.000,0.000,0.601,46,2665,1533,-8.86,0.71,350.04
$IRIDIUM_FIX,2241.69,-15809.75,100600,030343
$TT8_MAMPS,0.02301
$HUMID,1905
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,128.256
$10V_AH,10.6,77.189
$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,22.800,93.300,308.250,70.675,0.000,55.787,82.980,424.062,0.500,0.000,0.000,35.895,810.026,5731.164,424.989,1460.373,972.272,33.374,1044.717,0.000,1431.774,0.000,0.544,0.000
$DEVICE_MAMPS,253.110,72.865,1067.664,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.524,600.409,619.254,130.014,531.853,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32068,380
$CAP_FILE_SIZE,77710,0
$CFSIZE,260165632,222244864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,170311,054106,2252.008,-15808.164,30,1.3,31,10.1