version: 66.04
glider: 512
mission: 1
dive: 959
start: 3 14 111 7 34 23
data:
$ID,512
$MISSION,1
$DIVE,959
$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,-26667.795
$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,61
$R_STBD_OVSHOOT,35
$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
$GPS1,072200,2254.457,-15754.020,37,1.7,44,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.8
$GPS2,073331,2254.489,-15753.992,16,2.0,33,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.020,-0.255
$KALMAN_X,-383977.9,520.2,87.9,412667.7,-2668.9
$KALMAN_Y,-663153.8,-82.5,-126.8,800818.9,1476.9
$MHEAD_RNG_PITCHd_Wd,165.4,3158,-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,-52.83,0.000,2,0.000,0.000,50,2653,2968
$GC,79,-0.85,-146.0,3.8,-5.9,7,104,11.18,0.00,-11.20,0.000,6,0.236,0.000,2593,2652,3578
$GC,374,-0.85,-146.0,87.3,-24.3,39,377,0.00,2.10,0.00,0.000,4,0.000,0.025,2603,1240,3581
$GC,392,-0.85,-146.0,93.8,-24.9,40,401,0.00,2.25,0.00,0.000,6,0.000,0.051,2594,2624,3581
$GC,658,-0.85,-146.0,151.2,-19.8,65,662,0.00,2.08,0.00,0.000,4,0.000,0.064,2584,3892,3581
$GC,677,-0.85,-146.0,155.9,-21.1,66,686,0.00,1.85,0.00,0.000,6,0.000,0.022,2591,2638,3581
$GC,961,-0.85,-146.0,207.5,-17.7,90,964,0.00,2.05,0.00,0.000,4,0.000,0.025,2601,1230,3582
$GC,997,-0.85,-146.0,213.4,-15.3,90,1001,0.00,2.30,0.00,0.000,6,0.000,0.055,2592,2638,3582
$GC,1250,-0.85,-146.0,252.4,-15.4,96,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2638,3583
$GC,1493,-0.85,-146.0,286.0,-13.2,102,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2638,3583
$GC,1736,-0.85,-146.0,319.2,-13.6,108,1740,0.00,2.05,0.00,0.000,4,0.000,0.025,2600,1243,3583
$GC,1761,-0.85,-146.0,322.6,-12.9,108,1765,0.00,2.28,0.00,0.000,6,0.000,0.054,2591,2643,3583
$GC,2029,-0.85,-146.0,355.1,-12.6,115,2033,0.00,2.05,0.00,0.000,4,0.000,0.064,2581,3896,3582
$GC,2087,-0.85,-146.0,362.3,-11.3,116,2091,0.00,1.85,0.00,0.000,6,0.000,0.024,2589,2629,3581
$GC,2368,-0.85,-146.0,395.7,-11.7,123,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2622,3579
$GC,2611,-0.85,-146.0,423.8,-11.5,129,2615,0.00,2.12,0.00,0.000,4,0.000,0.063,2580,3895,3577
$GC,2635,-0.85,-146.0,426.8,-11.8,129,2639,0.00,1.88,0.00,0.000,6,0.000,0.024,2588,2638,3577
$GC,2905,-0.85,-146.0,455.3,-10.8,136,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2631,3575
$GC,3147,-0.85,-146.0,481.8,-10.9,142,3151,0.00,2.12,0.00,0.000,4,0.000,0.065,2580,3899,3573
$GC,3183,-0.85,-146.0,485.9,-10.8,142,3187,0.00,1.85,0.00,0.000,6,0.000,0.025,2588,2642,3573
$GC,3441,-0.85,-146.0,511.5,-9.9,149,3444,0.00,2.08,0.00,0.000,4,0.000,0.027,2598,1241,3571
$GC,3455,-0.85,-146.0,512.9,-9.8,149,3460,0.00,2.28,0.00,0.000,6,0.000,0.050,2589,2652,3571
$GC,3731,-0.85,-146.0,538.0,-9.2,156,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2652,3569
$GC,3974,-0.85,-146.0,561.9,-10.1,162,3978,0.00,2.05,0.00,0.000,4,0.000,0.064,2579,3893,3567
$GC,4009,-0.85,-146.0,566.0,-11.1,162,4013,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2627,3566
$GC,4267,-0.85,-146.0,591.6,-9.9,169,4271,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1230,3564
$GC,4309,-0.85,-146.0,595.6,-9.1,169,4315,0.00,2.28,0.00,0.000,6,0.000,0.050,2589,2639,3564
$STATE,4393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4406,-0.32,0.0,603.9,9.4,172,4531,0.62,0.00,122.03,1.066,6,0.145,0.000,2770,2486,2980
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4537,0.85,146.0,610.3,0.0,175,4674,1.10,2.38,129.12,1.045,4,0.074,0.058,3150,3862,2383
$GC,4805,0.85,146.0,579.0,24.9,181,4809,0.00,2.15,0.00,0.000,6,0.000,0.026,3159,2443,2378
$GC,5091,0.85,146.0,514.3,22.1,188,5094,0.00,2.08,0.00,0.000,4,0.000,0.029,3170,1044,2372
$GC,5126,0.85,146.0,506.6,20.4,188,5130,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2463,2372
$GC,5379,0.85,146.0,454.3,20.6,194,5382,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1041,2369
$GC,5459,0.85,146.0,437.7,18.8,195,5463,0.00,2.25,0.00,0.000,6,0.000,0.043,3163,2464,2369
$GC,5712,0.85,146.0,384.4,21.3,201,5716,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1047,2368
$GC,5781,0.85,146.0,371.2,16.9,202,5785,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2467,2367
$GC,6052,0.85,146.0,325.4,17.1,209,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2468,2366
$GC,6294,0.85,146.0,287.0,15.5,215,6298,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1049,2365
$GC,6441,0.85,146.0,267.3,12.4,218,6445,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2463,2364
$GC,6716,0.85,146.0,234.0,11.6,225,6720,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1046,2363
$GC,6825,0.87,157.4,223.0,9.1,227,6839,0.00,2.25,7.55,0.696,6,0.000,0.041,3163,2469,2338
$GC,7093,0.87,157.4,188.8,13.5,239,7096,0.00,2.12,0.00,0.000,4,0.000,0.027,3172,1037,2336
$GC,7133,0.87,157.4,183.3,13.2,242,7140,0.00,2.28,0.00,0.000,6,0.000,0.041,3164,2456,2336
$GC,7399,0.87,157.4,150.4,12.1,267,7403,0.00,2.10,0.00,0.000,4,0.000,0.027,3172,1043,2335
$GC,7440,0.87,157.4,145.9,10.9,270,7448,0.00,2.28,0.00,0.000,6,0.000,0.041,3164,2467,2335
$GC,7706,0.88,166.1,119.6,9.2,295,7724,0.00,0.00,9.25,0.630,6,0.000,0.000,3164,2467,2302
$GC,7982,0.88,166.1,93.4,10.4,321,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2466,2301
$GC,8248,0.88,166.1,67.2,9.7,346,8252,0.00,2.25,0.00,0.000,4,0.000,0.049,3162,3873,2301
$GC,8500,0.88,166.1,44.4,10.1,368,8509,0.00,2.12,0.00,0.000,6,0.000,0.023,3171,2445,2302
$GC,8769,0.88,167.5,18.6,9.6,403,8777,0.00,2.33,0.00,0.000,4,0.000,0.047,3163,3873,2302
$STATE,8906,end climb,SURFACE_DEPTH_REACHED
$STATE,8906,begin surface coast
$FINISH,0.5,1.023682
$STATE,8935,end surface coast,CONTROL_FINISHED_OK
$STATE,8935,begin surface
$SM_CCo,8963,101.50,0.592,0,0,1552,350.04
$SM_GC,2.13,0.00,0.00,101.50,0.000,0.000,0.592,48,2601,1552,-8.85,-1.10,350.04
$IRIDIUM_FIX,2246.36,-15753.23,070600,040419
$TT8_MAMPS,0.023777
$HUMID,1858
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.6,124.955
$10V_AH,10.6,74.868
$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,22.000,85.400,267.950,101.500,0.000,28.349,39.994,435.615,0.250,0.000,0.000,33.729,874.056,5959.571,435.493,1579.241,908.024,33.373,1047.005,0.000,1555.407,0.000,0.544,0.000
$DEVICE_MAMPS,236.236,65.195,1066.130,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,292.232,715.055,735.824,170.383,702.058,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35120,432
$CAP_FILE_SIZE,76417,0
$CFSIZE,260165632,223309824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,140311,100700,2253.821,-15754.023,38,1.3,45,10.1