version: 66.04
glider: 512
mission: 1
dive: 998
start: 3 18 111 14 40 16
data:
$ID,512
$MISSION,1
$DIVE,998
$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,380
$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,-27495.549
$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,50
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2940
$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
$GPS1,142806,2256.149,-15801.235,43,1.4,50,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.9
$GPS2,143924,2256.128,-15801.412,12,2.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.251,-0.049
$KALMAN_X,-394953.2,263.9,63.0,411146.8,-3385.1
$KALMAN_Y,-660507.3,252.9,131.1,800617.2,-2204.3
$MHEAD_RNG_PITCHd_Wd,91.0,11199,-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,12,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,80,0.00,0.00,-60.45,0.000,2,0.000,0.000,35,2634,2977
$GC,87,-0.85,-146.0,3.5,-5.3,8,119,11.20,2.12,-10.77,0.000,4,0.237,0.038,2603,1238,3539
$GC,172,-0.85,-146.0,29.1,-23.1,21,180,0.00,2.38,0.00,0.000,6,0.000,0.063,2594,2630,3539
$GC,437,-0.85,-146.0,90.7,-23.3,46,440,0.00,2.12,0.00,0.000,4,0.000,0.067,2584,3903,3540
$GC,463,-0.85,-146.0,96.8,-23.4,48,467,0.00,1.88,0.00,0.000,6,0.000,0.024,2584,2624,3540
$GC,735,-0.85,-146.0,150.4,-18.7,73,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2616,3541
$GC,999,-0.85,-146.0,196.3,-17.3,98,1003,0.00,2.05,0.00,0.000,4,0.000,0.028,2592,1242,3542
$GC,1027,-0.85,-146.0,200.6,-17.2,100,1031,0.00,2.33,0.00,0.000,6,0.000,0.061,2583,2646,3542
$GC,1292,-0.85,-146.0,243.9,-16.2,107,1295,0.00,2.10,0.00,0.000,4,0.000,0.070,2573,3894,3542
$GC,1366,-0.85,-146.0,255.9,-13.8,108,1370,0.00,1.85,0.00,0.000,6,0.000,0.025,2579,2651,3542
$GC,1631,-0.85,-146.0,294.0,-14.7,115,1634,0.00,2.12,0.00,0.000,4,0.000,0.031,2589,1228,3542
$GC,1655,-0.85,-146.0,297.4,-13.4,115,1659,0.00,2.35,0.00,0.000,6,0.000,0.060,2580,2645,3543
$GC,1918,-0.85,-146.0,332.8,-14.0,122,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2645,3542
$GC,2162,-0.85,-146.0,365.9,-13.3,128,2165,0.00,2.10,0.00,0.000,4,0.000,0.068,2572,3894,3541
$GC,2220,-0.85,-146.0,373.4,-12.1,129,2224,0.00,1.88,0.00,0.000,6,0.000,0.025,2578,2630,3541
$GC,2502,-0.85,-146.0,408.0,-12.4,136,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2621,3540
$GC,2744,-0.85,-146.0,436.2,-11.5,142,2748,0.00,2.17,0.00,0.000,4,0.000,0.065,2571,3902,3538
$GC,2808,-0.85,-146.0,443.7,-11.0,143,2812,0.00,1.90,0.00,0.000,6,0.000,0.026,2578,2633,3537
$GC,3083,-0.85,-146.0,475.5,-11.8,150,3087,0.00,2.17,0.00,0.000,4,0.000,0.067,2570,3906,3535
$GC,3124,-0.85,-146.0,481.1,-12.7,150,3131,0.00,1.92,0.00,0.000,6,0.000,0.027,2578,2647,3534
$GC,3377,-0.85,-146.0,510.8,-11.9,157,3380,0.00,2.17,0.00,0.000,4,0.000,0.074,2570,3897,3532
$GC,3418,-0.85,-146.0,515.7,-11.1,157,3424,0.00,1.90,0.00,0.000,6,0.000,0.027,2578,2635,3532
$GC,3671,-0.85,-146.0,542.8,-10.7,164,3674,0.00,2.17,0.00,0.000,4,0.000,0.067,2570,3902,3530
$GC,3718,-0.85,-146.0,548.2,-10.5,165,3722,0.00,1.90,0.00,0.000,6,0.000,0.028,2578,2645,3530
$GC,4010,-0.85,-146.0,579.9,-10.8,172,4014,0.00,2.17,0.00,0.000,4,0.000,0.071,2570,3895,3527
$GC,4059,-0.85,-146.0,585.1,-10.1,173,4062,0.00,1.92,0.00,0.000,6,0.000,0.028,2578,2630,3526
$STATE,4223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4223,begin apogee
$GC,4235,-0.32,0.0,602.7,10.3,177,4361,0.75,0.00,122.45,1.064,6,0.191,0.000,2768,2443,2940
$STATE,4361,end apogee,CONTROL_FINISHED_OK
$STATE,4362,begin climb
$GC,4367,0.85,146.0,607.0,0.0,180,4511,1.33,2.28,131.62,1.028,4,0.139,0.049,3159,1080,2344
$GC,4525,0.85,146.0,598.5,20.9,184,4530,0.00,2.35,0.00,0.000,6,0.000,0.058,3152,2469,2340
$GC,4796,0.85,146.0,529.2,25.6,191,4799,0.00,2.22,0.00,0.000,4,0.000,0.046,3160,1071,2333
$GC,4921,0.85,146.0,499.1,22.1,193,4925,0.00,2.28,0.00,0.000,6,0.000,0.058,3152,2457,2331
$GC,5179,0.85,146.0,441.0,22.7,200,5183,0.00,2.20,0.00,0.000,4,0.000,0.044,3160,1063,2329
$GC,5355,0.85,146.0,405.0,18.0,203,5361,0.00,2.33,0.00,0.000,6,0.000,0.056,3152,2473,2328
$GC,5607,0.85,146.0,354.7,19.7,210,5611,0.00,2.20,0.00,0.000,4,0.000,0.039,3160,1063,2326
$GC,5733,0.85,146.0,332.2,16.3,212,5737,0.00,2.30,0.00,0.000,6,0.000,0.054,3152,2459,2325
$GC,5985,0.85,146.0,288.9,16.5,218,5989,0.00,2.17,0.00,0.000,4,0.000,0.038,3160,1062,2324
$GC,6247,0.85,146.0,251.0,13.2,223,6251,0.00,2.30,0.00,0.000,6,0.000,0.054,3152,2467,2323
$GC,6504,0.85,146.0,214.8,14.2,230,6508,0.00,2.33,0.00,0.000,4,0.000,0.058,3141,3875,2322
$GC,6534,0.85,146.0,210.6,14.6,230,6538,0.00,2.15,0.00,0.000,6,0.000,0.029,3150,2465,2321
$GC,6796,0.85,146.0,176.3,13.1,248,6800,0.00,2.17,0.00,0.000,4,0.000,0.035,3160,1049,2321
$GC,7061,0.85,146.0,141.3,12.8,271,7065,0.00,2.30,0.00,0.000,6,0.000,0.050,3152,2460,2322
$GC,7328,0.85,146.0,110.1,10.9,295,7332,0.00,2.15,0.00,0.000,4,0.000,0.032,3161,1052,2321
$GC,7589,0.91,191.0,83.6,7.6,318,7629,0.00,2.28,35.03,0.670,6,0.000,0.046,3152,2469,2160
$GC,7896,0.91,191.0,44.4,14.8,346,7900,0.00,2.15,0.00,0.000,4,0.000,0.029,3161,1043,2156
$GC,8150,0.91,191.0,6.0,15.2,384,8158,0.00,2.33,0.00,0.000,6,0.000,0.051,3161,2456,2155
$STATE,8164,end climb,SURFACE_DEPTH_REACHED
$STATE,8164,begin surface coast
$FINISH,0.4,1.023862
$STATE,8182,end surface coast,CONTROL_FINISHED_OK
$STATE,8182,begin surface
$SM_CCo,8209,95.15,0.593,0,0,1390,380.21
$SM_GC,1.32,0.00,0.00,95.15,0.000,0.000,0.593,35,2683,1390,-8.89,1.22,380.21
$IRIDIUM_FIX,2246.36,-15758.45,110600,121252
$TT8_MAMPS,0.023777
$HUMID,1900
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.9,130.273
$10V_AH,10.6,78.430
$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,21.875,86.675,289.100,95.150,0.000,28.089,34.138,440.238,0.000,0.000,0.000,16.864,814.947,5289.573,454.998,1522.589,901.486,33.374,1068.749,0.000,1510.620,0.000,0.543,0.000
$DEVICE_MAMPS,237.003,73.632,1063.829,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,262.838,636.357,655.565,147.055,601.301,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31911,389
$CAP_FILE_SIZE,74005,0
$CFSIZE,260165632,221716480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,180311,170004,2255.768,-15800.786,13,2.3,33,10.1