version: 66.04
glider: 512
mission: 1
dive: 951
start: 3 13 111 10 45 36
data:
$ID,512
$MISSION,1
$DIVE,951
$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,-26456.812
$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,64
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,103825,2255.931,-15801.252,35,1.7,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.4
$GPS2,104443,2255.962,-15801.269,12,1.1,17,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.253,-0.043
$KALMAN_X,-376070.8,1483.2,144.7,391216.2,-3309.6
$KALMAN_Y,-665459.9,184.0,575.3,804879.0,-2317.6
$MHEAD_RNG_PITCHd_Wd,89.5,10847,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.72,0.000,2,0.000,0.000,47,2673,2945
$GC,78,-0.85,-146.0,3.4,-5.2,7,110,11.52,2.17,-12.60,0.000,4,0.245,0.039,2609,1247,3598
$GC,142,-0.85,-146.0,23.7,-32.2,16,151,0.00,2.33,0.00,0.000,6,0.000,0.067,2600,2611,3598
$GC,412,-0.85,-146.0,89.6,-24.3,43,415,0.00,2.15,0.00,0.000,4,0.000,0.071,2590,3894,3600
$GC,449,-0.85,-146.0,98.8,-23.0,46,452,0.00,1.83,0.00,0.000,6,0.000,0.024,2596,2652,3600
$GC,719,-0.85,-146.0,154.2,-18.6,71,723,0.00,2.08,0.00,0.000,4,0.000,0.026,2606,1234,3601
$GC,759,-0.85,-146.0,162.1,-16.2,74,767,0.00,2.38,0.00,0.000,6,0.000,0.066,2597,2634,3601
$GC,1031,-0.85,-146.0,208.0,-17.4,97,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2634,3603
$GC,1275,-0.85,-146.0,249.2,-17.0,103,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2634,3603
$GC,1519,-0.85,-146.0,285.9,-15.2,109,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2634,3603
$GC,1762,-0.85,-146.0,318.2,-12.4,115,1766,0.00,2.10,0.00,0.000,4,0.000,0.065,2586,3909,3604
$GC,1798,-0.85,-146.0,322.8,-12.6,115,1801,0.00,1.88,0.00,0.000,6,0.000,0.024,2594,2627,3603
$GC,2055,-0.85,-146.0,351.6,-11.6,122,2059,0.00,2.03,0.00,0.000,4,0.000,0.026,2604,1237,3603
$GC,2080,-0.85,-146.0,354.6,-11.7,122,2084,0.00,2.33,0.00,0.000,6,0.000,0.057,2594,2651,3603
$GC,2343,-0.85,-146.0,383.8,-11.2,129,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2651,3601
$GC,2586,-0.85,-146.0,409.6,-10.2,135,2590,0.00,2.08,0.00,0.000,4,0.000,0.070,2584,3895,3600
$GC,2628,-0.85,-146.0,414.1,-10.7,135,2635,0.00,1.88,0.00,0.000,6,0.000,0.025,2592,2635,3600
$GC,2880,-0.85,-146.0,440.7,-10.9,142,2884,0.00,2.17,0.00,0.000,4,0.000,0.073,2583,3902,3598
$GC,2910,-0.85,-146.0,444.2,-10.8,142,2914,0.00,1.85,0.00,0.000,6,0.000,0.025,2591,2642,3598
$GC,3174,-0.85,-146.0,469.3,-9.3,149,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2634,3596
$GC,3417,-0.85,-146.0,490.9,-9.0,155,3421,0.00,2.15,0.00,0.000,4,0.000,0.074,2583,3893,3594
$GC,3476,-0.85,-146.0,496.4,-8.9,156,3480,0.00,1.85,0.00,0.000,6,0.000,0.025,2591,2639,3593
$GC,3757,-0.85,-146.0,522.0,-9.1,163,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2631,3592
$GC,4000,-0.85,-146.0,542.8,-8.4,169,4004,0.00,2.17,0.00,0.000,4,0.000,0.072,2582,3897,3589
$GC,4030,-0.85,-146.0,545.7,-9.0,169,4034,0.00,1.90,0.00,0.000,6,0.000,0.027,2590,2640,3589
$GC,4296,-0.85,-146.0,567.9,-8.5,176,4300,0.00,2.10,0.00,0.000,4,0.000,0.029,2600,1231,3588
$GC,4332,-0.85,-146.0,571.2,-7.8,176,4336,0.00,2.33,0.00,0.000,6,0.000,0.055,2591,2644,3587
$GC,4586,-0.85,-146.0,592.5,-8.5,182,4590,0.00,2.10,0.00,0.000,4,0.000,0.068,2581,3894,3585
$GC,4624,-0.85,-146.0,595.9,-9.3,182,4628,0.00,1.88,0.00,0.000,6,0.000,0.028,2589,2636,3584
$STATE,4674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4674,begin apogee
$GC,4685,-0.32,0.0,600.5,8.2,184,4810,0.62,0.00,122.40,1.072,6,0.149,0.000,2769,2477,3000
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4816,0.85,146.0,606.1,0.0,187,4954,1.12,2.42,129.73,1.047,4,0.085,0.067,3149,3869,2403
$GC,5084,0.85,146.0,578.8,26.3,193,5088,0.00,2.17,0.00,0.000,6,0.000,0.027,3159,2442,2396
$GC,5358,0.85,146.0,515.5,22.7,200,5362,0.00,2.10,0.00,0.000,4,0.000,0.028,3170,1030,2392
$GC,5372,0.85,146.0,512.5,22.7,200,5377,0.00,2.30,0.00,0.000,6,0.000,0.047,3163,2470,2392
$GC,5648,0.85,146.0,451.2,22.1,207,5651,0.00,2.15,0.00,0.000,4,0.000,0.028,3172,1036,2389
$GC,5672,0.85,146.0,445.8,21.2,207,5676,0.00,2.28,0.00,0.000,6,0.000,0.047,3172,2456,2389
$GC,5934,0.85,146.0,392.7,20.0,214,5938,0.00,2.12,0.00,0.000,4,0.000,0.029,3181,1034,2387
$GC,5998,0.85,146.0,379.7,19.2,215,6003,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2463,2387
$GC,6269,0.85,146.0,330.3,18.4,222,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2463,2385
$GC,6512,0.85,146.0,293.4,14.5,228,6516,0.00,2.12,0.00,0.000,4,0.000,0.029,3184,1040,2385
$GC,6772,0.85,146.0,262.5,12.2,233,6777,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2465,2384
$GC,7025,0.85,146.0,234.2,11.1,239,7029,0.00,2.30,0.00,0.000,4,0.000,0.053,3176,3881,2383
$GC,7156,0.85,146.0,217.9,13.4,242,7160,0.00,2.15,0.00,0.000,6,0.000,0.028,3185,2451,2382
$GC,7425,0.85,146.0,186.8,12.6,255,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2445,2382
$GC,7690,0.85,146.0,152.7,14.7,280,7694,0.00,2.33,0.00,0.000,4,0.000,0.054,3176,3871,2382
$GC,7895,0.89,173.1,131.7,8.4,297,7920,0.00,2.15,20.65,0.702,6,0.000,0.025,3185,2449,2295
$GC,8181,0.89,173.1,97.9,10.9,323,8185,0.00,2.05,0.00,0.000,4,0.000,0.027,3195,1053,2291
$GC,8275,0.89,173.1,86.6,11.9,331,8279,0.00,2.22,0.00,0.000,6,0.000,0.042,3192,2465,2291
$GC,8541,0.89,173.1,55.7,10.3,355,8544,0.00,2.10,0.00,0.000,4,0.000,0.026,3200,1050,2291
$GC,8571,0.89,173.1,52.7,10.0,357,8580,0.10,2.28,0.00,0.000,6,0.216,0.047,3177,2454,2291
$GC,8841,0.90,183.5,30.1,9.2,382,8862,0.00,2.35,10.60,0.563,4,0.000,0.054,3176,3874,2250
$STATE,9031,end climb,SURFACE_DEPTH_REACHED
$STATE,9031,begin surface coast
$FINISH,0.5,1.023931
$STATE,9048,end surface coast,CONTROL_FINISHED_OK
$STATE,9048,begin surface
$SM_CCo,9076,86.93,0.591,0,0,1572,350.04
$SM_GC,1.88,0.00,0.00,86.93,0.000,0.000,0.591,47,2627,1572,-8.86,-0.37,350.04
$IRIDIUM_FIX,2244.02,-15738.46,060600,080830
$TT8_MAMPS,0.023777
$HUMID,1873
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.6,124.039
$10V_AH,10.6,74.162
$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,22.150,89.975,283.375,86.925,0.000,25.391,32.995,150.616,0.250,0.000,0.000,17.728,865.015,6110.494,424.492,1519.964,624.395,33.363,1045.473,0.000,1515.384,0.000,0.543,0.000
$DEVICE_MAMPS,245.440,73.632,1072.266,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.830,670.083,691.825,157.467,642.986,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35116,418
$CAP_FILE_SIZE,76027,0
$CFSIZE,260165632,223637504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,130311,131936,2255.868,-15800.079,28,1.5,29,10.1