version: 66.04
glider: 512
mission: 1
dive: 967
start: 3 15 111 4 31 43
data:
$ID,512
$MISSION,1
$DIVE,967
$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,-26798.145
$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,47
$R_STBD_OVSHOOT,45
$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
$GPS1,041501,2249.008,-15754.694,43,1.8,44,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.7
$GPS2,043050,2249.081,-15754.729,13,1.5,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.122,-0.226
$KALMAN_X,-385731.0,-378.9,38.7,414118.9,-816.2
$KALMAN_Y,-649507.8,-1241.4,-429.5,778635.3,4435.2
$MHEAD_RNG_PITCHd_Wd,198.2,6508,-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,-52.75,0.000,2,0.000,0.000,50,2669,2928
$GC,84,-0.85,-146.0,3.4,-5.2,7,116,11.48,2.20,-12.55,0.000,4,0.245,0.038,2603,1221,3576
$GC,185,-0.85,-146.0,30.9,-18.8,23,189,0.00,2.30,0.00,0.000,6,0.000,0.057,2594,2615,3577
$GC,454,-0.85,-146.0,102.9,-27.4,48,458,0.00,2.12,0.00,0.000,4,0.000,0.062,2583,3907,3577
$GC,495,-0.85,-146.0,114.5,-27.5,51,502,0.00,1.90,0.00,0.000,6,0.000,0.023,2591,2638,3577
$GC,761,-0.85,-146.0,170.6,-21.1,76,765,0.00,2.08,0.00,0.000,4,0.000,0.025,2601,1216,3578
$GC,780,-0.85,-146.0,174.9,-19.1,77,787,0.00,2.33,0.00,0.000,6,0.000,0.052,2592,2635,3579
$GC,1059,-0.85,-146.0,222.5,-17.0,95,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2635,3579
$GC,1303,-0.85,-146.0,262.2,-16.1,101,1307,0.00,2.08,0.00,0.000,4,0.000,0.025,2600,1228,3579
$GC,1333,-0.85,-146.0,267.0,-14.9,101,1337,0.00,2.30,0.00,0.000,6,0.000,0.053,2591,2640,3579
$GC,1591,-0.85,-146.0,300.0,-12.8,108,1595,0.00,2.05,0.00,0.000,4,0.000,0.061,2581,3901,3579
$GC,1621,-0.85,-146.0,304.0,-12.7,108,1625,0.00,1.88,0.00,0.000,6,0.000,0.022,2589,2628,3579
$GC,1885,-0.85,-146.0,336.5,-12.9,115,1888,0.00,2.03,0.00,0.000,4,0.000,0.025,2598,1233,3579
$GC,1925,-0.85,-146.0,341.7,-11.1,115,1933,0.00,2.33,0.00,0.000,6,0.000,0.054,2589,2635,3579
$GC,2178,-0.85,-146.0,371.6,-12.1,122,2182,0.00,2.05,0.00,0.000,4,0.000,0.062,2580,3897,3577
$GC,2197,-0.85,-146.0,374.0,-12.4,122,2201,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2627,3576
$GC,2471,-0.85,-146.0,407.9,-12.3,129,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2621,3575
$GC,2715,-0.85,-146.0,437.6,-12.3,135,2719,0.00,2.15,0.00,0.000,4,0.000,0.066,2579,3898,3573
$GC,2745,-0.85,-146.0,441.1,-11.3,135,2749,0.00,1.88,0.00,0.000,6,0.000,0.024,2586,2638,3572
$GC,3009,-0.85,-146.0,468.6,-10.6,142,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2632,3570
$GC,3252,-0.85,-146.0,493.7,-10.2,148,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2631,3569
$GC,3496,-0.85,-146.0,517.6,-9.8,154,3499,0.00,2.15,0.00,0.000,4,0.000,0.067,2578,3897,3567
$GC,3544,-0.85,-146.0,522.3,-9.5,155,3547,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2643,3566
$GC,3836,-0.85,-146.0,551.6,-10.1,162,3839,0.00,2.10,0.00,0.000,4,0.000,0.028,2596,1227,3563
$GC,3854,-0.85,-146.0,553.8,-10.3,162,3858,0.00,2.33,0.00,0.000,6,0.000,0.056,2589,2642,3563
$GC,4123,-0.85,-146.0,580.3,-10.1,169,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2642,3561
$STATE,4321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4321,begin apogee
$GC,4333,-0.32,0.0,601.7,10.5,174,4457,0.62,0.00,121.05,1.066,6,0.144,0.000,2770,2489,2981
$STATE,4458,end apogee,CONTROL_FINISHED_OK
$STATE,4458,begin climb
$GC,4463,0.85,146.0,608.2,0.0,177,4599,1.10,2.35,129.12,1.047,4,0.071,0.058,3150,3875,2384
$GC,4668,0.85,146.0,593.8,25.5,181,4672,0.00,2.20,0.00,0.000,6,0.000,0.027,3159,2440,2378
$GC,4922,0.85,146.0,531.0,24.5,187,4926,0.00,2.10,0.00,0.000,4,0.000,0.028,3170,1038,2373
$GC,4991,0.85,146.0,514.4,22.6,188,4995,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2473,2372
$GC,5254,0.85,146.0,454.8,22.1,195,5258,0.00,2.15,0.00,0.000,4,0.000,0.028,3171,1038,2370
$GC,5279,0.85,146.0,449.4,22.1,195,5283,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2470,2369
$GC,5542,0.85,146.0,395.9,19.6,202,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2470,2368
$GC,5787,0.85,146.0,353.4,17.3,208,5791,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1034,2367
$GC,5856,0.85,146.0,341.3,16.9,209,5861,0.00,2.28,0.00,0.000,6,0.000,0.043,3163,2465,2366
$GC,6122,0.85,146.0,299.5,15.2,216,6126,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1048,2364
$GC,6326,0.85,146.0,270.7,13.2,220,6330,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2466,2364
$GC,6591,0.85,146.0,236.9,12.7,227,6595,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1043,2363
$GC,6852,0.85,146.0,204.5,10.5,232,6856,0.00,2.28,0.00,0.000,6,0.000,0.042,3163,2465,2363
$GC,7120,0.85,146.0,174.6,10.4,254,7124,0.00,2.12,0.00,0.000,4,0.000,0.027,3172,1036,2362
$GC,7191,0.89,176.9,168.0,8.2,260,7221,0.00,2.25,24.02,0.752,6,0.000,0.042,3163,2461,2258
$GC,7494,0.89,176.9,129.3,12.0,287,7497,0.00,2.28,0.00,0.000,4,0.000,0.052,3163,3871,2254
$GC,7620,0.89,176.9,110.0,14.0,298,7624,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2452,2253
$GC,7891,0.89,176.9,79.1,12.4,323,7895,0.00,2.08,0.00,0.000,4,0.000,0.026,3182,1045,2253
$GC,7997,0.89,176.9,67.4,10.2,332,8002,0.00,2.22,0.00,0.000,6,0.000,0.041,3176,2455,2253
$GC,8263,0.89,176.9,39.6,10.7,356,8267,0.00,2.10,0.00,0.000,4,0.000,0.026,3184,1039,2253
$GC,8345,0.89,176.9,30.5,10.4,363,8349,0.00,2.22,0.00,0.000,6,0.000,0.039,3176,2466,2253
$STATE,8565,end climb,SURFACE_DEPTH_REACHED
$STATE,8565,begin surface coast
$FINISH,0.6,1.023854
$STATE,8589,end surface coast,CONTROL_FINISHED_OK
$STATE,8589,begin surface
$SM_CCo,8616,99.72,0.596,0,0,1552,350.04
$SM_GC,1.85,0.00,0.00,99.72,0.000,0.000,0.596,42,2668,1552,-8.87,0.79,350.04
$IRIDIUM_FIX,2241.69,-15751.94,080600,040412
$TT8_MAMPS,0.025311
$HUMID,1870
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.6,125.998
$10V_AH,10.6,75.597
$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,22.425,86.400,274.200,99.725,0.000,86.187,110.813,447.620,0.000,0.000,0.000,13.142,841.799,5847.703,421.571,1490.879,1065.592,33.378,1017.503,0.000,1490.336,0.000,0.543,0.000
$DEVICE_MAMPS,244.673,66.729,1066.130,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.808,658.839,678.151,156.054,639.455,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35105,407
$CAP_FILE_SIZE,78875,0
$CFSIZE,260165632,222978048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,150311,065831,2248.447,-15755.434,42,2.0,43,10.1