version: 66.04
glider: 512
mission: 1
dive: 970
start: 3 15 111 12 16 54
data:
$ID,512
$MISSION,1
$DIVE,970
$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,-26845.557
$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,53
$R_STBD_OVSHOOT,35
$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
$GPS1,120737,2247.345,-15755.856,41,1.2,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.3
$GPS2,121601,2247.343,-15755.870,14,1.3,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.125,-0.224
$KALMAN_X,-386383.6,487.4,215.8,411760.0,-1047.3
$KALMAN_Y,-646107.7,139.3,-210.5,770414.4,3416.1
$MHEAD_RNG_PITCHd_Wd,199.2,3356,-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,17,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,84,0.00,0.00,-60.30,0.000,2,0.000,0.000,48,2664,3145
$GC,90,-0.85,-146.0,3.2,-2.9,8,116,12.00,2.22,-7.85,0.000,4,0.259,0.041,2608,1227,3578
$GC,193,-0.85,-146.0,36.8,-19.9,22,201,0.00,2.38,0.00,0.000,6,0.000,0.067,2598,2609,3580
$GC,459,-0.85,-146.0,102.6,-23.8,47,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2609,3581
$GC,724,-0.85,-146.0,158.6,-18.0,72,727,0.00,2.15,0.00,0.000,4,0.000,0.067,2588,3902,3582
$GC,740,-0.85,-146.0,161.7,-18.6,73,744,0.00,1.88,0.00,0.000,6,0.000,0.023,2592,2641,3582
$GC,1009,-0.85,-146.0,207.7,-16.6,95,1012,0.00,2.08,0.00,0.000,4,0.000,0.031,2602,1249,3583
$GC,1026,-0.85,-146.0,211.3,-16.7,95,1031,0.00,2.30,0.00,0.000,6,0.000,0.058,2593,2642,3583
$GC,1298,-0.85,-146.0,253.2,-15.6,102,1301,0.00,2.12,0.00,0.000,4,0.000,0.074,2583,3900,3584
$GC,1316,-0.85,-146.0,256.4,-14.2,102,1320,0.00,1.88,0.00,0.000,6,0.000,0.024,2591,2643,3584
$GC,1593,-0.85,-146.0,293.0,-13.6,109,1596,0.00,2.10,0.00,0.000,4,0.000,0.030,2601,1241,3584
$GC,1662,-0.85,-146.0,300.7,-9.0,110,1666,0.00,2.35,0.00,0.000,6,0.000,0.063,2592,2655,3584
$GC,1926,-0.85,-146.0,331.1,-11.8,117,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2655,3583
$GC,2168,-0.85,-146.0,359.8,-11.8,123,2172,0.00,2.08,0.00,0.000,4,0.000,0.069,2582,3895,3582
$GC,2238,-0.85,-146.0,368.1,-11.1,124,2241,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2642,3582
$GC,2508,-0.85,-146.0,399.0,-11.6,131,2512,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,1238,3581
$GC,2572,-0.85,-146.0,405.6,-8.7,132,2576,0.00,2.33,0.00,0.000,6,0.000,0.058,2591,2650,3580
$GC,2848,-0.85,-146.0,432.9,-10.1,139,2851,0.00,2.08,0.00,0.000,4,0.000,0.067,2581,3895,3578
$GC,2901,-0.85,-146.0,438.7,-10.1,140,2904,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2622,3577
$GC,3188,-0.85,-146.0,468.7,-10.6,147,3192,0.00,2.08,0.00,0.000,4,0.000,0.031,2599,1236,3576
$GC,3231,-0.85,-146.0,473.3,-9.7,147,3237,0.00,2.33,0.00,0.000,6,0.000,0.057,2590,2647,3575
$GC,3483,-0.85,-146.0,498.7,-10.1,154,3487,0.00,2.08,0.00,0.000,4,0.000,0.067,2579,3893,3574
$GC,3553,-0.85,-146.0,505.8,-9.8,155,3556,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2642,3573
$GC,3823,-0.85,-146.0,532.1,-10.1,162,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3571
$GC,4065,-0.85,-146.0,556.7,-10.1,168,4069,0.00,2.15,0.00,0.000,4,0.000,0.073,2578,3891,3569
$GC,4117,-0.85,-146.0,562.2,-9.8,169,4121,0.00,1.90,0.00,0.000,6,0.000,0.026,2587,2639,3569
$GC,4405,-0.85,-146.0,590.5,-10.0,176,4408,0.00,2.12,0.00,0.000,4,0.000,0.033,2597,1234,3567
$GC,4429,-0.85,-146.0,593.2,-9.9,176,4433,0.00,2.35,0.00,0.000,6,0.000,0.061,2589,2638,3567
$STATE,4524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4524,begin apogee
$GC,4536,-0.32,0.0,602.6,9.6,179,4662,0.62,0.00,122.75,1.070,6,0.144,0.000,2768,2481,2980
$STATE,4662,end apogee,CONTROL_FINISHED_OK
$STATE,4662,begin climb
$GC,4668,0.85,146.0,609.0,0.0,182,4805,1.10,2.28,129.18,1.048,4,0.070,0.031,3163,1031,2384
$GC,4885,0.85,146.0,592.9,24.0,187,4889,0.00,2.35,0.00,0.000,6,0.000,0.051,3162,2467,2377
$GC,5171,0.85,146.0,522.1,24.4,194,5175,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1035,2372
$GC,5200,0.85,146.0,515.1,22.1,194,5204,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2461,2372
$GC,5458,0.85,146.0,459.4,21.2,201,5462,0.00,2.15,0.00,0.000,4,0.000,0.029,3172,1034,2370
$GC,5556,0.85,146.0,439.9,19.4,203,5560,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2464,2370
$GC,5836,0.85,146.0,385.0,19.2,210,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2465,2368
$GC,6080,0.85,146.0,337.9,19.8,216,6084,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1030,2367
$GC,6128,0.85,146.0,328.3,19.0,217,6132,0.00,2.30,0.00,0.000,6,0.000,0.044,3163,2470,2367
$GC,6416,0.85,146.0,284.5,13.5,224,6420,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1035,2365
$GC,6676,0.85,146.0,251.0,12.2,229,6681,0.00,2.28,0.00,0.000,6,0.000,0.041,3163,2471,2365
$GC,6938,0.85,146.0,219.2,12.7,236,6941,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1027,2363
$GC,6950,0.85,146.0,217.3,12.1,236,6955,0.00,2.28,0.00,0.000,6,0.000,0.041,3163,2460,2363
$GC,7212,0.85,146.0,184.5,12.5,250,7216,0.00,2.30,0.00,0.000,4,0.000,0.054,3162,3872,2363
$GC,7238,0.85,146.0,181.2,12.1,252,7242,0.00,2.15,0.00,0.000,6,0.000,0.026,3172,2434,2362
$GC,7510,0.85,146.0,150.4,10.8,277,7514,0.00,2.35,0.00,0.000,4,0.000,0.052,3163,3871,2363
$GC,7552,0.85,146.0,144.7,13.7,280,7556,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2452,2362
$GC,7825,0.94,211.3,117.7,6.7,305,7883,0.00,0.00,52.12,0.707,6,0.000,0.000,3172,2445,2120
$GC,8145,0.94,211.3,65.0,17.5,334,8149,0.00,2.08,0.00,0.000,4,0.000,0.026,3182,1034,2115
$GC,8183,0.94,211.3,58.0,15.9,337,8187,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2458,2115
$GC,8453,0.94,211.3,10.8,19.8,370,8461,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1054,2114
$GC,8473,0.94,211.3,7.0,18.8,372,8481,0.00,2.22,0.00,0.000,6,0.000,0.038,3176,2459,2114
$STATE,8492,end climb,SURFACE_DEPTH_REACHED
$STATE,8492,begin surface coast
$FINISH,0.4,1.023704
$STATE,8510,end surface coast,CONTROL_FINISHED_OK
$STATE,8510,begin surface
$SM_CCo,8537,76.07,0.607,0,0,1552,350.04
$SM_GC,1.60,0.00,0.00,76.07,0.000,0.000,0.607,45,2666,1552,-8.86,0.74,350.04
$IRIDIUM_FIX,2241.69,-15759.32,080600,090939
$TT8_MAMPS,0.023777
$HUMID,1917
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.6,126.370
$10V_AH,10.6,75.852
$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,22.825,95.475,304.050,76.075,0.000,29.489,39.541,272.580,0.000,0.000,0.000,14.123,811.740,5732.777,427.497,1403.770,744.663,33.373,1036.612,0.000,1394.713,0.000,0.542,0.000
$DEVICE_MAMPS,259.246,74.399,1069.965,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,255.518,586.868,603.656,129.280,524.835,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31892,378
$CAP_FILE_SIZE,75463,0
$CFSIZE,260165632,222863360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,150311,144126,2246.768,-15756.291,10,1.6,11,10.1