version: 66.04
glider: 512
mission: 1
dive: 969
start: 3 15 111 9 46 50
data:
$ID,512
$MISSION,1
$DIVE,969
$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,-26830.805
$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,44
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2980
$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
$GPS1,093206,2247.941,-15755.990,11,1.7,28,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.3
$GPS2,094557,2247.984,-15756.032,15,1.7,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.063,-0.248
$KALMAN_X,-385520.7,266.6,108.4,410938.0,-19.7
$KALMAN_Y,-647530.0,-149.4,-288.3,773393.9,3563.5
$MHEAD_RNG_PITCHd_Wd,155.7,3526,-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,-52.78,0.000,2,0.000,0.000,49,2674,2937
$GC,83,-0.85,-146.0,3.5,-5.4,7,115,12.15,2.22,-12.35,0.000,4,0.262,0.038,2608,1224,3576
$GC,174,-0.85,-146.0,29.4,-20.9,21,182,0.00,2.35,0.00,0.000,6,0.000,0.064,2598,2611,3577
$GC,438,-0.85,-146.0,98.3,-26.2,46,442,0.00,2.12,0.00,0.000,4,0.000,0.066,2587,3895,3577
$GC,486,-0.85,-146.0,110.1,-22.4,50,490,0.00,1.85,0.00,0.000,6,0.000,0.022,2594,2627,3578
$GC,756,-0.85,-146.0,165.5,-19.0,75,760,0.00,2.03,0.00,0.000,4,0.000,0.025,2605,1236,3579
$GC,786,-0.85,-146.0,171.1,-17.0,77,793,0.00,2.33,0.00,0.000,6,0.000,0.054,2595,2642,3579
$GC,1046,-0.85,-146.0,214.8,-17.0,96,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2642,3580
$GC,1289,-0.85,-146.0,256.7,-17.2,102,1293,0.00,2.08,0.00,0.000,4,0.000,0.064,2585,3901,3580
$GC,1325,-0.85,-146.0,262.6,-15.4,102,1329,0.00,1.85,0.00,0.000,6,0.000,0.022,2593,2629,3580
$GC,1583,-0.85,-146.0,298.0,-14.2,109,1587,0.00,2.03,0.00,0.000,4,0.000,0.025,2603,1242,3580
$GC,1636,-0.85,-146.0,305.1,-11.0,110,1640,0.00,2.28,0.00,0.000,6,0.000,0.051,2594,2643,3580
$GC,1918,-0.85,-146.0,339.6,-12.5,117,1922,0.00,2.08,0.00,0.000,4,0.000,0.065,2584,3902,3580
$GC,1937,-0.85,-146.0,342.3,-12.1,117,1940,0.00,1.85,0.00,0.000,6,0.000,0.023,2592,2632,3579
$GC,2211,-0.85,-146.0,372.2,-10.8,124,2215,0.00,2.10,0.00,0.000,4,0.000,0.063,2583,3891,3578
$GC,2252,-0.85,-146.0,376.5,-10.2,124,2259,0.00,1.85,0.00,0.000,6,0.000,0.023,2591,2643,3578
$GC,2508,-0.85,-146.0,401.8,-10.5,131,2511,0.00,2.05,0.00,0.000,4,0.000,0.026,2601,1241,3576
$GC,2543,-0.85,-146.0,405.7,-8.8,131,2547,0.00,2.28,0.00,0.000,6,0.000,0.051,2592,2651,3576
$GC,2801,-0.85,-146.0,430.3,-9.9,138,2805,0.00,2.05,0.00,0.000,4,0.000,0.064,2582,3898,3574
$GC,2876,-0.85,-146.0,437.9,-9.8,139,2880,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2633,3573
$GC,3140,-0.85,-146.0,465.8,-10.7,146,3144,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1237,3571
$GC,3193,-0.85,-146.0,471.2,-8.8,147,3197,0.00,2.28,0.00,0.000,6,0.000,0.051,2591,2646,3571
$GC,3473,-0.85,-146.0,502.0,-11.4,154,3477,0.00,2.05,0.00,0.000,4,0.000,0.063,2581,3895,3569
$GC,3559,-0.85,-146.0,512.3,-11.8,155,3566,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2644,3568
$GC,3811,-0.85,-146.0,541.0,-11.4,162,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2640,3566
$GC,4055,-0.85,-146.0,567.9,-10.9,168,4058,0.00,2.12,0.00,0.000,4,0.000,0.066,2580,3890,3564
$GC,4085,-0.85,-146.0,571.3,-10.9,168,4088,0.00,1.85,0.00,0.000,6,0.000,0.026,2588,2640,3563
$GC,4349,-0.85,-146.0,597.3,-9.8,175,4352,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1238,3562
$GC,4373,-0.85,-146.0,599.6,-9.6,175,4377,0.00,2.28,0.00,0.000,6,0.000,0.053,2589,2641,3562
$STATE,4381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4381,begin apogee
$GC,4392,-0.32,0.0,600.7,8.4,175,4517,0.60,0.00,121.53,1.072,6,0.146,0.000,2766,2482,2980
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4523,0.85,146.0,604.9,0.0,178,4661,1.12,2.30,129.15,1.045,4,0.073,0.029,3165,1034,2383
$GC,4893,0.85,146.0,549.8,23.0,186,4897,0.00,2.28,0.00,0.000,6,0.000,0.047,3162,2458,2375
$GC,5169,0.85,146.0,485.8,22.6,193,5173,0.00,2.33,0.00,0.000,4,0.000,0.057,3162,3878,2371
$GC,5187,0.85,146.0,481.1,22.2,193,5191,0.00,2.17,0.00,0.000,6,0.000,0.028,3171,2448,2370
$GC,5456,0.85,146.0,422.4,21.7,200,5460,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1036,2369
$GC,5531,0.85,146.0,407.3,18.9,201,5536,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2463,2369
$GC,5789,0.85,146.0,359.0,18.6,208,5793,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1043,2367
$GC,5928,0.85,146.0,333.9,18.2,211,5932,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2466,2367
$GC,6214,0.85,146.0,284.9,16.3,218,6218,0.00,2.15,0.00,0.000,4,0.000,0.028,3184,1026,2364
$GC,6475,0.85,146.0,249.5,13.1,223,6479,0.00,2.30,0.00,0.000,6,0.000,0.042,3176,2472,2364
$GC,6728,0.85,146.0,222.8,10.0,229,6731,0.00,2.15,0.00,0.000,4,0.000,0.028,3185,1041,2363
$GC,6865,0.85,146.0,206.8,12.8,232,6869,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2460,2363
$GC,7129,0.85,146.0,174.1,12.4,251,7133,0.00,2.30,0.00,0.000,4,0.000,0.053,3176,3872,2362
$GC,7178,0.85,146.0,168.1,12.3,255,7182,0.00,2.12,0.00,0.000,6,0.000,0.025,3184,2443,2361
$GC,7448,0.85,146.0,137.9,11.4,280,7451,0.00,2.05,0.00,0.000,4,0.000,0.026,3195,1046,2362
$GC,7644,0.95,220.1,123.0,6.3,297,7710,0.00,2.25,59.95,0.713,6,0.000,0.041,3192,2470,2082
$GC,7970,0.95,220.1,60.8,22.0,326,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2470,2075
$GC,8240,0.95,220.1,7.7,22.8,361,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2470,2074
$STATE,8253,end climb,SURFACE_DEPTH_REACHED
$STATE,8253,begin surface coast
$FINISH,0.4,1.023690
$STATE,8266,end surface coast,CONTROL_FINISHED_OK
$STATE,8266,begin surface
$SM_CCo,8293,63.15,0.609,0,0,1552,350.04
$SM_GC,1.23,0.00,0.00,63.15,0.000,0.000,0.609,49,2663,1552,-8.85,0.65,350.04
$IRIDIUM_FIX,2239.35,-15757.16,080600,090934
$TT8_MAMPS,0.023777
$HUMID,1945
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.6,126.251
$10V_AH,10.6,75.768
$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,22.975,89.700,310.625,63.150,0.000,59.724,69.914,465.710,0.250,0.000,0.000,16.650,789.616,5535.704,413.908,1449.438,1001.770,33.374,1044.630,0.000,1436.319,0.000,0.546,0.000
$DEVICE_MAMPS,261.547,65.962,1072.266,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,246.458,568.921,587.313,125.003,507.458,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28768,365
$CAP_FILE_SIZE,78241,0
$CFSIZE,260165632,222900224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,150311,120737,2247.345,-15755.856,41,1.2,42,10.1