version: 66.04
glider: 512
mission: 1
dive: 968
start: 3 15 111 7 8 19
data:
$ID,512
$MISSION,1
$DIVE,968
$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,-26813.525
$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,32
$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
$GPS1,065831,2248.447,-15755.434,42,2.0,43,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.2
$GPS2,070726,2248.472,-15755.482,14,1.6,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.122,-0.225
$KALMAN_X,-385658.3,-97.6,-32.1,412524.7,-254.1
$KALMAN_Y,-648607.4,-681.9,-404.2,776026.1,4158.1
$MHEAD_RNG_PITCHd_Wd,198.3,4805,-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,-52.83,0.000,2,0.000,0.000,41,2668,2932
$GC,83,-0.85,-146.0,3.7,-5.8,7,116,11.73,2.20,-12.02,0.000,4,0.252,0.038,2605,1219,3575
$GC,206,-0.85,-146.0,35.1,-17.6,25,210,0.00,2.35,0.00,0.000,6,0.000,0.061,2595,2628,3577
$GC,476,-0.85,-146.0,106.1,-27.5,50,480,0.00,2.10,0.00,0.000,4,0.000,0.065,2585,3899,3577
$GC,506,-0.85,-146.0,114.8,-27.6,52,515,0.00,1.88,0.00,0.000,6,0.000,0.023,2593,2636,3578
$GC,770,-0.85,-146.0,172.0,-20.3,77,774,0.00,2.05,0.00,0.000,4,0.000,0.025,2603,1235,3579
$GC,811,-0.85,-146.0,180.2,-18.4,80,818,0.00,2.35,0.00,0.000,6,0.000,0.056,2594,2639,3579
$GC,1100,-0.85,-146.0,229.8,-17.9,96,1104,0.00,2.08,0.00,0.000,4,0.000,0.064,2584,3906,3579
$GC,1158,-0.85,-146.0,240.3,-16.1,97,1162,0.00,1.90,0.00,0.000,6,0.000,0.023,2591,2628,3580
$GC,1440,-0.85,-146.0,278.2,-13.6,104,1444,0.00,2.05,0.00,0.000,4,0.000,0.025,2601,1219,3580
$GC,1488,-0.85,-146.0,283.8,-9.8,105,1493,0.00,2.35,0.00,0.000,6,0.000,0.054,2592,2657,3580
$GC,1776,-0.85,-146.0,321.3,-13.5,112,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2657,3580
$GC,2018,-0.85,-146.0,353.0,-13.1,118,2022,0.00,2.12,0.00,0.000,4,0.000,0.025,2600,1230,3579
$GC,2047,-0.85,-146.0,356.8,-12.1,118,2051,0.00,2.30,0.00,0.000,6,0.000,0.053,2591,2638,3579
$GC,2306,-0.85,-146.0,386.3,-11.8,125,2309,0.00,2.10,0.00,0.000,4,0.000,0.026,2599,1227,3577
$GC,2358,-0.85,-146.0,392.3,-9.3,126,2362,0.00,2.30,0.00,0.000,6,0.000,0.053,2590,2639,3577
$GC,2644,-0.85,-146.0,422.0,-10.6,133,2648,0.00,2.08,0.00,0.000,4,0.000,0.064,2580,3899,3575
$GC,2697,-0.85,-146.0,427.5,-9.2,134,2700,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2621,3574
$GC,2986,-0.85,-146.0,454.2,-9.6,141,2990,0.00,2.20,0.00,0.000,4,0.000,0.071,2580,3899,3572
$GC,3016,-0.85,-146.0,457.8,-10.8,141,3020,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2647,3571
$GC,3280,-0.85,-146.0,484.1,-10.4,148,3284,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1226,3570
$GC,3316,-0.85,-146.0,487.8,-9.6,148,3320,0.00,2.38,0.00,0.000,6,0.000,0.060,2589,2652,3570
$GC,3568,-0.85,-146.0,513.9,-10.6,154,3571,0.00,2.10,0.00,0.000,4,0.000,0.071,2579,3895,3568
$GC,3603,-0.85,-146.0,517.8,-10.7,154,3607,0.00,1.88,0.00,0.000,6,0.000,0.025,2587,2626,3567
$GC,3862,-0.85,-146.0,544.3,-10.4,161,3866,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1226,3565
$GC,3892,-0.85,-146.0,547.4,-9.8,161,3896,0.00,2.35,0.00,0.000,6,0.000,0.057,2589,2645,3565
$GC,4150,-0.85,-146.0,571.7,-9.3,168,4154,0.00,2.10,0.00,0.000,4,0.000,0.070,2580,3895,3563
$GC,4186,-0.85,-146.0,575.3,-9.9,168,4190,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2628,3563
$GC,4444,-0.85,-146.0,597.5,-8.6,175,4448,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1238,3561
$STATE,4468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4482,-0.32,0.0,600.1,8.6,175,4607,0.60,0.00,121.68,1.072,6,0.141,0.000,2769,2456,2980
$STATE,4608,end apogee,CONTROL_FINISHED_OK
$STATE,4608,begin climb
$GC,4613,0.85,146.0,604.7,0.0,178,4751,1.10,2.42,129.20,1.049,4,0.072,0.058,3150,3869,2382
$GC,4837,0.85,146.0,584.1,26.7,183,4840,0.00,2.12,0.00,0.000,6,0.000,0.027,3159,2474,2378
$GC,5122,0.85,146.0,517.1,22.7,190,5126,0.00,2.12,0.00,0.000,4,0.000,0.028,3169,1047,2372
$GC,5215,0.85,146.0,496.6,21.7,192,5219,0.00,2.30,0.00,0.000,6,0.000,0.050,3163,2460,2372
$GC,5503,0.85,146.0,436.4,20.8,199,5506,0.00,2.12,0.00,0.000,4,0.000,0.029,3171,1041,2369
$GC,5515,0.85,146.0,433.1,19.9,199,5520,0.00,2.30,0.00,0.000,6,0.000,0.048,3163,2474,2370
$GC,5791,0.85,146.0,379.4,19.1,206,5795,0.00,2.15,0.00,0.000,4,0.000,0.029,3172,1047,2367
$GC,5895,0.85,146.0,360.6,18.6,208,5899,0.00,2.30,0.00,0.000,6,0.000,0.048,3163,2464,2367
$GC,6169,0.85,146.0,312.4,17.9,215,6173,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1046,2365
$GC,6311,0.85,146.0,291.4,13.1,218,6316,0.00,2.28,0.00,0.000,6,0.000,0.046,3164,2461,2365
$GC,6592,0.85,146.0,252.6,13.5,225,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2462,2364
$GC,6836,0.85,146.0,223.6,11.5,231,6840,0.00,2.33,0.00,0.000,4,0.000,0.056,3162,3878,2363
$GC,6889,0.85,146.0,217.3,12.5,232,6892,0.00,2.15,0.00,0.000,6,0.000,0.028,3171,2458,2362
$GC,7155,0.85,146.0,186.0,12.4,246,7159,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1049,2362
$GC,7225,0.85,146.0,178.4,10.6,252,7229,0.00,2.28,0.00,0.000,6,0.000,0.045,3176,2469,2362
$GC,7490,0.86,146.8,151.3,9.6,276,7493,0.00,2.12,0.00,0.000,4,0.000,0.026,3184,1042,2362
$GC,7754,0.94,215.8,129.0,6.5,299,7816,0.00,2.25,56.53,0.721,6,0.000,0.042,3176,2461,2100
$GC,8073,0.94,215.8,73.6,20.1,328,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2461,2094
$GC,8338,0.94,215.8,24.2,19.1,355,8346,0.00,2.12,0.00,0.000,4,0.000,0.027,3184,1052,2093
$GC,8383,0.94,215.8,15.2,19.8,362,8392,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2464,2092
$STATE,8441,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$FINISH,0.3,1.023677
$STATE,8453,end surface coast,CONTROL_FINISHED_OK
$STATE,8453,begin surface
$SM_CCo,8481,70.15,0.611,0,0,1553,350.04
$SM_GC,1.30,0.00,0.00,70.15,0.000,0.000,0.611,49,2674,1553,-8.85,0.96,350.04
$IRIDIUM_FIX,2241.69,-15757.16,080600,040406
$TT8_MAMPS,0.023777
$HUMID,1914
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,126.119
$10V_AH,10.6,75.681
$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,22.525,99.250,307.400,70.150,0.000,25.905,34.053,312.135,0.250,0.000,0.000,14.752,800.661,5682.451,420.220,1420.251,765.339,33.372,1042.078,0.000,1408.212,0.000,0.544,0.000
$DEVICE_MAMPS,251.576,71.331,1072.266,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,252.767,582.399,601.520,126.419,517.866,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32042,374
$CAP_FILE_SIZE,76313,0
$CFSIZE,260165632,222945280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,150311,093206,2247.941,-15755.990,11,1.7,28,10.1