version: 66.04
glider: 512
mission: 1
dive: 971
start: 3 15 111 14 50 55
data:
$ID,512
$MISSION,1
$DIVE,971
$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,-26861.949
$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,51
$R_STBD_OVSHOOT,39
$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
$GPS1,144126,2246.768,-15756.291,10,1.6,11,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.1
$GPS2,145002,2246.776,-15756.330,15,1.6,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.116,-0.229
$KALMAN_X,-385457.3,666.0,10.4,410054.9,-279.1
$KALMAN_Y,-644542.2,148.3,-177.6,767756.2,3129.6
$MHEAD_RNG_PITCHd_Wd,196.8,2545,-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,16,begin dive
$GC,22,-0.85,-146.0,0.0,0.0,0,77,0.00,0.00,-52.75,0.000,2,0.000,0.000,43,2667,2921
$GC,82,-0.85,-146.0,3.4,-4.8,7,115,11.80,2.20,-12.75,0.000,4,0.254,0.038,2606,1228,3576
$GC,242,-0.85,-146.0,40.5,-15.8,28,247,0.00,2.35,0.00,0.000,6,0.000,0.066,2596,2621,3577
$GC,507,-0.85,-146.0,105.1,-23.9,52,510,0.00,2.12,0.00,0.000,4,0.000,0.067,2586,3896,3578
$GC,577,-0.85,-146.0,119.7,-18.4,58,580,0.00,1.85,0.00,0.000,6,0.000,0.024,2593,2638,3579
$GC,847,-0.85,-146.0,167.0,-17.6,83,850,0.00,2.08,0.00,0.000,4,0.000,0.025,2603,1222,3580
$GC,884,-0.85,-146.0,173.1,-15.0,86,888,0.00,2.38,0.00,0.000,6,0.000,0.062,2594,2644,3580
$GC,1174,-0.85,-146.0,220.4,-16.5,104,1178,0.00,2.10,0.00,0.000,4,0.000,0.069,2584,3901,3581
$GC,1227,-0.85,-146.0,229.1,-14.2,105,1231,0.00,1.88,0.00,0.000,6,0.000,0.023,2591,2637,3581
$GC,1512,-0.85,-146.0,269.0,-13.7,112,1516,0.00,2.05,0.00,0.000,4,0.000,0.025,2602,1240,3581
$GC,1577,-0.85,-146.0,276.3,-8.4,113,1581,0.00,2.33,0.00,0.000,6,0.000,0.058,2592,2650,3582
$GC,1845,-0.85,-146.0,307.1,-11.3,120,1849,0.00,2.10,0.00,0.000,4,0.000,0.025,2601,1236,3582
$GC,1869,-0.85,-146.0,309.7,-10.3,120,1874,0.00,2.30,0.00,0.000,6,0.000,0.054,2591,2651,3582
$GC,2133,-0.85,-146.0,337.8,-11.2,127,2136,0.00,2.05,0.00,0.000,4,0.000,0.064,2581,3897,3580
$GC,2231,-0.85,-146.0,348.9,-10.7,129,2234,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2632,3580
$GC,2518,-0.85,-146.0,381.7,-11.7,136,2522,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1239,3578
$GC,2570,-0.85,-146.0,387.3,-9.1,137,2575,0.00,2.28,0.00,0.000,6,0.000,0.055,2590,2639,3578
$GC,2851,-0.85,-146.0,418.2,-11.3,144,2855,0.00,2.10,0.00,0.000,4,0.000,0.067,2580,3898,3576
$GC,2937,-0.85,-146.0,428.3,-11.2,145,2944,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2645,3576
$GC,3190,-0.85,-146.0,457.1,-11.8,152,3193,0.00,2.08,0.00,0.000,4,0.000,0.028,2598,1241,3575
$GC,3231,-0.85,-146.0,461.7,-9.8,152,3237,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2638,3574
$GC,3483,-0.85,-146.0,489.7,-11.3,159,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3572
$GC,3727,-0.85,-146.0,514.4,-9.9,165,3731,0.00,2.08,0.00,0.000,4,0.000,0.067,2579,3893,3569
$GC,3767,-0.85,-146.0,518.5,-10.0,165,3774,0.00,1.88,0.00,0.000,6,0.000,0.027,2586,2647,3569
$GC,4022,-0.85,-146.0,541.6,-9.2,172,4026,0.00,2.12,0.00,0.000,4,0.000,0.069,2579,3893,3568
$GC,4059,-0.85,-146.0,545.5,-10.5,172,4063,0.00,1.88,0.00,0.000,6,0.000,0.027,2586,2639,3568
$GC,4318,-0.85,-146.0,570.5,-9.9,179,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2632,3566
$GC,4560,-0.85,-146.0,595.3,-10.3,185,4564,0.00,2.15,0.00,0.000,4,0.000,0.068,2579,3891,3564
$GC,4585,-0.85,-146.0,598.0,-10.3,185,4588,0.00,1.88,0.00,0.000,6,0.000,0.028,2586,2632,3563
$STATE,4606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4606,begin apogee
$GC,4618,-0.32,0.0,600.4,10.3,186,4743,0.65,0.00,122.07,1.068,6,0.146,0.000,2774,2482,2980
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4744,begin climb
$GC,4749,0.85,146.0,607.0,0.0,189,4887,1.08,2.30,128.98,1.047,4,0.072,0.030,3160,1036,2384
$GC,4995,0.85,146.0,586.1,22.6,194,4999,0.00,2.33,0.00,0.000,6,0.000,0.051,3160,2459,2377
$GC,5253,0.85,146.0,526.4,22.6,201,5257,0.00,2.30,0.00,0.000,4,0.000,0.056,3151,3877,2373
$GC,5294,0.85,146.0,516.0,25.3,201,5301,0.00,2.15,0.00,0.000,6,0.000,0.028,3159,2454,2371
$GC,5547,0.85,146.0,461.3,21.4,208,5551,0.00,2.12,0.00,0.000,4,0.000,0.031,3170,1043,2370
$GC,5723,0.85,146.0,424.4,21.4,211,5730,0.00,2.30,0.00,0.000,6,0.000,0.050,3163,2463,2369
$GC,5977,0.85,146.0,374.6,19.3,218,5981,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1036,2367
$GC,6103,0.85,146.0,350.6,19.1,220,6107,0.00,2.30,0.00,0.000,6,0.000,0.045,3163,2462,2367
$GC,6357,0.85,146.0,307.4,17.1,226,6361,0.00,2.33,0.00,0.000,4,0.000,0.057,3162,3877,2366
$GC,6522,0.85,146.0,276.2,16.8,229,6526,0.00,2.17,0.00,0.000,6,0.000,0.028,3172,2446,2365
$GC,6781,0.85,146.0,237.9,14.3,236,6784,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1033,2363
$GC,7042,0.85,146.0,209.2,9.8,241,7046,0.00,2.28,0.00,0.000,6,0.000,0.043,3176,2464,2363
$GC,7304,0.85,146.0,179.8,11.5,259,7308,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1047,2363
$GC,7364,0.85,146.0,172.9,10.9,264,7368,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2466,2363
$GC,7629,0.85,146.0,144.0,10.5,288,7633,0.00,2.12,0.00,0.000,4,0.000,0.027,3184,1038,2363
$GC,7894,0.96,230.2,121.1,5.9,311,7969,0.00,2.25,68.50,0.707,6,0.000,0.042,3176,2458,2040
$GC,8224,0.96,230.2,60.4,20.5,341,8228,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1046,2034
$GC,8425,0.96,230.2,22.7,18.9,362,8433,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2461,2032
$STATE,8513,end climb,SURFACE_DEPTH_REACHED
$STATE,8513,begin surface coast
$FINISH,0.5,1.023707
$STATE,8525,end surface coast,CONTROL_FINISHED_OK
$STATE,8526,begin surface
$SM_CCo,8553,60.67,0.601,0,0,1553,350.04
$SM_GC,1.19,0.00,0.00,60.67,0.000,0.000,0.601,48,2676,1553,-8.85,1.02,350.04
$IRIDIUM_FIX,2237.01,-15828.40,080600,121205
$TT8_MAMPS,0.024544
$HUMID,1929
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.6,126.489
$10V_AH,10.6,75.939
$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,22.525,94.675,319.550,60.675,0.000,25.573,34.790,290.549,0.250,0.000,0.000,15.763,826.223,5592.432,421.659,1538.419,753.101,33.376,1076.521,0.000,1524.950,0.000,0.543,0.000
$DEVICE_MAMPS,253.877,69.030,1067.664,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.737,597.691,616.367,129.705,531.784,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31910,380
$CAP_FILE_SIZE,77507,0
$CFSIZE,260165632,222822400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,150311,171600,2246.102,-15756.886,37,1.4,43,10.1