version: 66.04
glider: 512
mission: 1
dive: 973
start: 3 15 111 20 0 33
data:
$ID,512
$MISSION,1
$DIVE,973
$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,-26901.783
$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,38
$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
$GPS1,194937,2245.903,-15757.870,32,1.2,33,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.7
$GPS2,195937,2245.857,-15757.929,15,1.2,20,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.177,-0.185
$KALMAN_X,-383264.9,185.5,313.2,405290.9,825.1
$KALMAN_Y,-642265.9,-596.9,-432.8,764787.8,2641.3
$MHEAD_RNG_PITCHd_Wd,213.7,8914,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.78,0.000,2,0.000,0.000,39,2674,2933
$GC,79,-0.85,-146.0,3.3,-4.8,7,112,11.95,2.22,-12.30,0.000,4,0.258,0.041,2607,1227,3575
$GC,240,-0.85,-146.0,41.4,-16.6,28,248,0.00,2.35,0.00,0.000,6,0.000,0.064,2597,2610,3577
$GC,507,-0.85,-146.0,108.6,-23.7,53,510,0.00,2.15,0.00,0.000,4,0.000,0.065,2587,3906,3578
$GC,570,-0.85,-146.0,122.6,-18.1,58,578,0.00,1.90,0.00,0.000,6,0.000,0.025,2595,2636,3578
$GC,834,-0.85,-146.0,169.7,-17.0,83,838,0.00,2.08,0.00,0.000,4,0.000,0.025,2605,1218,3579
$GC,862,-0.85,-146.0,174.2,-17.1,85,867,0.00,2.33,0.00,0.000,6,0.000,0.055,2595,2638,3579
$GC,1141,-0.85,-146.0,221.4,-17.3,102,1145,0.00,2.08,0.00,0.000,4,0.000,0.062,2585,3906,3581
$GC,1199,-0.85,-146.0,230.9,-15.3,103,1203,0.00,1.88,0.00,0.000,6,0.000,0.023,2593,2623,3580
$GC,1480,-0.85,-146.0,273.1,-15.2,110,1483,0.00,2.03,0.00,0.000,4,0.000,0.025,2603,1222,3581
$GC,1505,-0.85,-146.0,276.7,-14.4,110,1510,0.00,2.33,0.00,0.000,6,0.000,0.053,2593,2642,3581
$GC,1769,-0.85,-146.0,310.5,-13.1,117,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2642,3581
$GC,2014,-0.85,-146.0,340.3,-12.1,123,2018,0.00,2.10,0.00,0.000,4,0.000,0.068,2583,3898,3580
$GC,2107,-0.85,-146.0,350.5,-9.6,125,2111,0.00,1.88,0.00,0.000,6,0.000,0.024,2591,2638,3580
$GC,2399,-0.85,-146.0,382.9,-11.3,132,2403,0.00,2.05,0.00,0.000,4,0.000,0.027,2601,1237,3579
$GC,2434,-0.85,-146.0,386.8,-10.0,132,2439,0.00,2.30,0.00,0.000,6,0.000,0.054,2592,2647,3579
$GC,2687,-0.85,-146.0,415.6,-12.0,138,2690,0.00,2.08,0.00,0.000,4,0.000,0.066,2582,3896,3577
$GC,2745,-0.85,-146.0,422.3,-10.2,139,2749,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2636,3576
$GC,3028,-0.85,-146.0,451.9,-10.6,146,3032,0.00,2.15,0.00,0.000,4,0.000,0.067,2581,3896,3574
$GC,3058,-0.85,-146.0,455.5,-10.5,146,3062,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2644,3574
$GC,3322,-0.85,-146.0,482.7,-10.6,153,3326,0.00,2.08,0.00,0.000,4,0.000,0.028,2600,1234,3572
$GC,3346,-0.85,-146.0,485.4,-10.7,153,3350,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2638,3572
$GC,3609,-0.85,-146.0,510.9,-9.7,160,3612,0.00,2.10,0.00,0.000,4,0.000,0.065,2580,3898,3569
$GC,3663,-0.85,-146.0,515.8,-7.6,161,3667,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2634,3569
$GC,3950,-0.85,-146.0,541.3,-8.8,168,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2626,3567
$GC,4194,-0.85,-146.0,560.4,-7.6,174,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2626,3566
$GC,4436,-0.85,-146.0,579.8,-8.1,180,4440,0.00,2.15,0.00,0.000,4,0.000,0.065,2580,3895,3563
$GC,4486,-0.85,-146.0,583.9,-7.7,181,4489,0.00,1.90,0.00,0.000,6,0.000,0.026,2587,2640,3562
$STATE,4692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4692,begin apogee
$GC,4704,-0.32,0.0,601.9,8.6,186,4829,0.65,0.00,121.70,1.075,6,0.149,0.000,2774,2479,2981
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4835,0.85,146.0,606.6,0.0,189,4972,1.08,2.30,129.32,1.048,4,0.071,0.030,3161,1030,2384
$GC,5237,0.85,146.0,547.2,24.1,198,5242,0.00,2.28,0.00,0.000,6,0.000,0.045,3161,2460,2375
$GC,5523,0.85,146.0,482.1,22.1,205,5527,0.00,2.15,0.00,0.000,4,0.000,0.030,3171,1025,2371
$GC,5621,0.85,146.0,462.0,20.6,207,5625,0.00,2.30,0.00,0.000,6,0.000,0.049,3163,2456,2371
$GC,5906,0.85,146.0,402.8,20.7,214,5910,0.00,2.15,0.00,0.000,4,0.000,0.029,3172,1018,2369
$GC,6083,0.85,146.0,368.7,19.9,217,6089,0.00,2.33,0.00,0.000,6,0.000,0.046,3162,2462,2368
$GC,6335,0.85,146.0,322.1,18.2,224,6339,0.00,2.33,0.00,0.000,4,0.000,0.056,3162,3878,2366
$GC,6437,0.85,146.0,303.8,16.8,226,6440,0.00,2.17,0.00,0.000,6,0.000,0.028,3172,2447,2365
$GC,6712,0.85,146.0,263.5,13.6,233,6716,0.00,2.10,0.00,0.000,4,0.000,0.029,3182,1037,2364
$GC,6972,0.85,146.0,234.2,9.7,238,6977,0.00,2.28,0.00,0.000,6,0.000,0.043,3176,2465,2364
$GC,7225,0.85,146.0,207.1,11.2,244,7229,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1034,2362
$GC,7366,0.85,146.0,190.9,11.3,250,7370,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2468,2362
$GC,7631,0.85,146.0,160.3,11.4,274,7635,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1031,2362
$GC,7659,0.85,146.0,157.2,11.6,276,7663,0.00,2.25,0.00,0.000,6,0.000,0.040,3176,2464,2363
$GC,7923,0.88,163.7,129.1,8.8,300,7940,0.00,2.17,12.68,0.674,4,0.000,0.027,3185,1028,2313
$GC,8158,0.88,163.7,103.1,11.4,320,8166,0.00,2.30,0.00,0.000,6,0.000,0.041,3176,2457,2311
$GC,8424,0.90,179.9,74.4,8.9,345,8451,0.00,2.33,15.77,0.630,4,0.000,0.051,3176,3874,2245
$GC,8535,0.90,179.9,62.1,13.5,354,8539,0.00,2.12,0.00,0.000,6,0.000,0.024,3185,2442,2245
$GC,8806,0.90,179.9,30.9,11.0,379,8810,0.00,2.05,0.00,0.000,4,0.000,0.026,3195,1038,2244
$GC,8881,0.90,179.9,22.5,11.7,391,8889,0.00,2.25,0.00,0.000,6,0.000,0.040,3191,2453,2244
$STATE,9037,end climb,SURFACE_DEPTH_REACHED
$STATE,9037,begin surface coast
$FINISH,0.5,1.010686
$STATE,9065,end surface coast,CONTROL_FINISHED_OK
$STATE,9065,begin surface
$SM_CCo,9092,97.93,0.595,0,0,1552,350.04
$SM_GC,1.97,0.00,0.00,97.93,0.000,0.000,0.595,51,2668,1552,-8.84,0.79,350.04
$IRIDIUM_FIX,2237.01,-15800.20,080600,171724
$TT8_MAMPS,0.023777
$HUMID,1865
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,57
$24V_AH,23.6,126.732
$10V_AH,10.6,76.123
$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,22.800,94.900,279.475,97.925,0.000,28.161,34.577,365.652,14.250,0.000,0.000,20.947,909.915,5903.751,433.200,1711.137,838.886,33.377,1122.299,0.000,1695.517,0.000,0.544,0.000
$DEVICE_MAMPS,257.712,68.263,1074.567,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,287.060,690.308,710.718,161.662,663.842,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34915,424
$CAP_FILE_SIZE,82223,0
$CFSIZE,260165632,222728192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,150311,223507,2245.146,-15758.688,33,1.3,34,10.1