version: 66.04
glider: 512
mission: 1
dive: 974
start: 3 15 111 22 48 12
data:
$ID,512
$MISSION,1
$DIVE,974
$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,-26915.281
$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,54
$R_STBD_OVSHOOT,29
$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
$GPS1,223507,2245.146,-15758.688,33,1.3,34,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.0
$GPS2,224714,2245.092,-15758.805,12,1.7,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY44
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.159,-0.201
$KALMAN_X,-382199.1,24.2,116.5,403085.4,756.7
$KALMAN_Y,-640964.0,-1098.5,-495.1,762623.2,3105.6
$MHEAD_RNG_PITCHd_Wd,208.3,7989,-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,12,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.80,0.000,2,0.000,0.000,51,2668,2940
$GC,78,-0.85,-146.0,3.2,-4.2,7,110,12.05,2.17,-12.75,0.000,4,0.260,0.038,2606,1225,3576
$GC,239,-0.85,-146.0,37.4,-16.4,29,243,0.00,2.33,0.00,0.000,6,0.000,0.061,2597,2628,3578
$GC,505,-0.85,-146.0,105.0,-22.7,53,509,0.00,2.12,0.00,0.000,4,0.000,0.067,2586,3905,3579
$GC,587,-0.85,-146.0,122.9,-18.2,60,591,0.00,1.90,0.00,0.000,6,0.000,0.030,2594,2631,3579
$GC,859,-0.85,-146.0,171.9,-17.5,85,862,0.00,2.03,0.00,0.000,4,0.000,0.025,2604,1228,3580
$GC,877,-0.85,-146.0,175.8,-17.5,86,884,0.00,2.35,0.00,0.000,6,0.000,0.056,2595,2636,3580
$GC,1145,-0.85,-146.0,221.6,-17.2,103,1149,0.00,2.10,0.00,0.000,4,0.000,0.064,2584,3909,3581
$GC,1175,-0.85,-146.0,226.7,-16.8,103,1179,0.00,1.88,0.00,0.000,6,0.000,0.023,2592,2627,3580
$GC,1439,-0.85,-146.0,262.8,-13.4,110,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2619,3581
$GC,1683,-0.85,-146.0,293.1,-12.4,116,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2619,3581
$GC,1926,-0.85,-146.0,323.6,-12.3,122,1930,0.00,2.15,0.00,0.000,4,0.000,0.067,2583,3902,3580
$GC,2035,-0.85,-146.0,336.5,-11.0,124,2039,0.00,1.88,0.00,0.000,6,0.000,0.024,2592,2639,3579
$GC,2311,-0.85,-146.0,370.3,-12.7,131,2315,0.00,2.12,0.00,0.000,4,0.000,0.064,2583,3903,3578
$GC,2346,-0.85,-146.0,375.2,-13.2,131,2350,0.00,1.85,0.00,0.000,6,0.000,0.024,2591,2640,3578
$GC,2606,-0.85,-146.0,405.2,-11.8,138,2610,0.00,2.08,0.00,0.000,4,0.000,0.027,2601,1231,3576
$GC,2631,-0.85,-146.0,408.6,-12.6,138,2635,0.00,2.33,0.00,0.000,6,0.000,0.054,2592,2654,3576
$GC,2900,-0.85,-146.0,437.9,-10.9,145,2904,0.00,2.10,0.00,0.000,4,0.000,0.067,2582,3893,3574
$GC,2949,-0.85,-146.0,442.7,-9.6,146,2953,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2635,3573
$GC,3241,-0.85,-146.0,471.8,-9.8,153,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2629,3571
$GC,3485,-0.85,-146.0,496.1,-10.1,159,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2629,3569
$GC,3728,-0.85,-146.0,522.0,-10.9,165,3732,0.00,2.15,0.00,0.000,4,0.000,0.067,2581,3891,3568
$GC,3763,-0.85,-146.0,526.2,-11.1,165,3767,0.00,1.85,0.00,0.000,6,0.000,0.026,2589,2641,3567
$GC,4021,-0.85,-146.0,553.1,-10.6,172,4025,0.00,2.15,0.00,0.000,4,0.000,0.067,2580,3898,3565
$GC,4057,-0.85,-146.0,557.0,-10.4,172,4061,0.00,1.90,0.00,0.000,6,0.000,0.032,2588,2643,3564
$GC,4315,-0.85,-146.0,582.5,-9.9,179,4319,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1229,3562
$GC,4339,-0.85,-146.0,585.1,-10.0,179,4343,0.00,2.35,0.00,0.000,6,0.000,0.056,2589,2642,3562
$STATE,4521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4521,begin apogee
$GC,4533,-0.32,0.0,603.2,10.0,184,4657,0.62,0.00,121.32,1.070,6,0.145,0.000,2769,2484,2980
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4664,0.85,146.0,609.2,0.0,187,4801,1.12,2.30,128.82,1.048,4,0.084,0.029,3159,1038,2383
$GC,5067,0.85,146.0,549.1,23.8,196,5071,0.00,2.30,0.00,0.000,6,0.000,0.046,3151,2467,2375
$GC,5358,0.85,146.0,481.2,22.0,203,5362,0.00,2.15,0.00,0.000,4,0.000,0.029,3159,1034,2370
$GC,5569,0.85,146.0,438.4,20.4,207,5573,0.00,2.30,0.00,0.000,6,0.000,0.045,3151,2472,2369
$GC,5826,0.85,146.0,388.0,19.0,214,5830,0.00,2.17,0.00,0.000,4,0.000,0.029,3159,1028,2368
$GC,5920,0.85,146.0,370.5,18.6,216,5924,0.00,2.30,0.00,0.000,6,0.000,0.044,3152,2463,2368
$GC,6206,0.85,146.0,319.0,18.1,223,6210,0.00,2.33,0.00,0.000,4,0.000,0.054,3150,3884,2366
$GC,6224,0.85,146.0,315.7,16.8,223,6228,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2445,2365
$GC,6493,0.85,146.0,273.4,15.0,230,6497,0.00,2.33,0.00,0.000,4,0.000,0.049,3150,3878,2364
$GC,6505,0.85,146.0,271.4,15.2,230,6509,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2456,2363
$GC,6780,0.85,146.0,233.8,13.4,237,6784,0.00,2.10,0.00,0.000,4,0.000,0.029,3170,1052,2363
$GC,7041,0.85,146.0,206.7,10.1,242,7045,0.00,2.28,0.00,0.000,6,0.000,0.041,3162,2468,2363
$GC,7307,0.85,146.0,177.5,11.6,261,7311,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1048,2362
$GC,7494,0.85,146.0,157.8,10.1,277,7498,0.00,2.30,0.00,0.000,6,0.000,0.047,3163,2455,2362
$GC,7764,0.91,193.9,133.0,7.5,302,7808,0.00,2.38,38.33,0.723,4,0.000,0.058,3162,3872,2189
$GC,7830,0.91,193.9,125.8,15.0,308,7833,0.00,2.15,0.00,0.000,6,0.000,0.025,3171,2449,2188
$GC,8102,0.91,193.9,81.7,14.6,333,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2442,2184
$GC,8367,0.91,193.9,44.3,12.5,358,8371,0.00,2.08,0.00,0.000,4,0.000,0.027,3182,1039,2184
$GC,8491,0.91,193.9,27.2,13.9,370,8500,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2460,2183
$STATE,8658,end climb,SURFACE_DEPTH_REACHED
$STATE,8663,begin surface coast
$FINISH,0.4,1.012250
$STATE,8688,end surface coast,CONTROL_FINISHED_OK
$STATE,8688,begin surface
$SM_CCo,8715,85.12,0.603,0,0,1552,350.04
$SM_GC,1.97,0.00,0.00,85.12,0.000,0.000,0.603,48,2670,1552,-8.85,0.82,350.04
$IRIDIUM_FIX,2237.01,-15754.99,080600,202059
$TT8_MAMPS,0.023777
$HUMID,1902
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.30
$XPDR_PINGS,438
$24V_AH,23.6,126.875
$10V_AH,10.6,76.218
$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,22.975,86.400,288.475,85.125,0.000,30.071,38.642,492.650,109.500,0.000,0.000,12.868,851.201,5736.116,415.782,1567.131,964.037,33.377,1050.248,0.000,1556.424,0.000,0.543,0.000
$DEVICE_MAMPS,260.013,67.496,1069.965,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,274.241,649.098,668.973,149.058,614.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35059,405
$CAP_FILE_SIZE,77598,0
$CFSIZE,260165632,222691328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,160311,011616,2244.394,-15759.535,13,2.1,33,10.1