version: 66.04
glider: 512
mission: 1
dive: 961
start: 3 14 111 12 29 12
data:
$ID,512
$MISSION,1
$DIVE,961
$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,-26702.061
$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,63
$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
$GPS1,121625,2253.587,-15754.120,15,1.8,32,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.8
$GPS2,122814,2253.672,-15754.081,16,2.0,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.175,-0.187
$KALMAN_X,-384394.8,897.0,599.9,412037.6,-2357.3
$KALMAN_Y,-660298.6,540.1,273.2,795429.3,2001.1
$MHEAD_RNG_PITCHd_Wd,126.8,13893,-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,13,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,-52.80,0.000,2,0.000,0.000,42,2657,2927
$GC,79,-0.85,-146.0,3.3,-4.3,7,111,11.23,2.17,-12.80,0.000,4,0.237,0.039,2604,1242,3574
$GC,133,-0.85,-146.0,20.2,-33.9,14,142,0.00,2.28,0.00,0.000,6,0.000,0.056,2595,2611,3574
$GC,406,-0.85,-146.0,95.3,-27.7,42,410,0.00,2.10,0.00,0.000,4,0.000,0.061,2584,3905,3575
$GC,469,-0.85,-146.0,111.1,-22.0,47,476,0.00,1.88,0.00,0.000,6,0.000,0.023,2591,2647,3575
$GC,733,-0.85,-146.0,166.2,-20.1,72,737,0.00,2.08,0.00,0.000,4,0.000,0.025,2601,1219,3576
$GC,783,-0.85,-146.0,174.9,-15.9,76,787,0.00,2.35,0.00,0.000,6,0.000,0.058,2592,2651,3577
$GC,1042,-0.85,-146.0,225.0,-20.2,91,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2651,3577
$GC,1284,-0.85,-146.0,263.8,-15.6,97,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2651,3577
$GC,1528,-0.85,-146.0,299.3,-14.0,103,1532,0.00,2.10,0.00,0.000,4,0.000,0.025,2600,1225,3577
$GC,1553,-0.85,-146.0,302.4,-12.5,103,1557,0.00,2.33,0.00,0.000,6,0.000,0.056,2591,2646,3577
$GC,1822,-0.85,-146.0,335.0,-12.6,110,1826,0.00,2.05,0.00,0.000,4,0.000,0.067,2581,3894,3577
$GC,1873,-0.85,-146.0,341.6,-11.2,111,1877,0.00,1.85,0.00,0.000,6,0.000,0.023,2589,2621,3577
$GC,2160,-0.85,-146.0,373.2,-11.3,118,2163,0.00,2.03,0.00,0.000,4,0.000,0.025,2599,1231,3576
$GC,2212,-0.85,-146.0,379.0,-9.5,119,2216,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2643,3575
$GC,2493,-0.85,-146.0,412.4,-12.4,126,2497,0.00,2.08,0.00,0.000,4,0.000,0.067,2580,3898,3573
$GC,2573,-0.85,-146.0,422.0,-10.5,127,2577,0.00,1.88,0.00,0.000,6,0.000,0.024,2587,2635,3572
$GC,2832,-0.85,-146.0,449.1,-10.5,134,2836,0.00,2.03,0.00,0.000,4,0.000,0.026,2597,1240,3570
$GC,2868,-0.85,-146.0,452.7,-8.7,134,2872,0.00,2.28,0.00,0.000,6,0.000,0.052,2589,2642,3570
$GC,3120,-0.85,-146.0,475.4,-9.1,140,3124,0.00,2.08,0.00,0.000,4,0.000,0.065,2579,3892,3568
$GC,3156,-0.85,-146.0,478.8,-9.6,140,3160,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2631,3568
$GC,3414,-0.85,-146.0,502.5,-9.4,147,3418,0.00,2.12,0.00,0.000,4,0.000,0.065,2579,3890,3565
$GC,3438,-0.85,-146.0,504.9,-9.4,147,3442,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2631,3565
$GC,3707,-0.85,-146.0,529.4,-9.3,154,3711,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1247,3562
$GC,3761,-0.85,-146.0,533.9,-7.1,155,3765,0.00,2.30,0.00,0.000,6,0.000,0.054,2590,2645,3562
$GC,4043,-0.85,-146.0,559.8,-9.2,162,4046,0.00,2.10,0.00,0.000,4,0.000,0.068,2580,3900,3560
$GC,4080,-0.85,-146.0,563.4,-9.3,162,4084,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2643,3559
$GC,4341,-0.85,-146.0,587.7,-9.5,169,4344,0.00,2.10,0.00,0.000,4,0.000,0.028,2597,1228,3558
$GC,4382,-0.85,-146.0,591.8,-8.1,169,4389,0.00,2.30,0.00,0.000,6,0.000,0.052,2589,2642,3557
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4519,-0.32,0.0,603.7,9.2,173,4643,0.62,0.00,120.62,1.077,6,0.143,0.000,2770,2487,2980
$STATE,4643,end apogee,CONTROL_FINISHED_OK
$STATE,4643,begin climb
$GC,4649,0.85,146.0,609.4,0.0,176,4786,1.10,2.33,129.32,1.049,4,0.069,0.057,3150,3870,2383
$GC,4944,0.85,146.0,570.2,26.8,182,4950,0.00,2.17,0.00,0.000,6,0.000,0.028,3159,2428,2377
$GC,5197,0.85,146.0,509.7,22.9,189,5201,0.00,2.05,0.00,0.000,4,0.000,0.029,3170,1058,2372
$GC,5367,0.85,146.0,471.8,20.5,192,5372,0.00,2.25,0.00,0.000,6,0.000,0.046,3163,2468,2370
$GC,5621,0.85,146.0,419.4,20.5,198,5625,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1048,2369
$GC,5718,0.85,146.0,400.5,19.2,200,5722,0.00,2.28,0.00,0.000,6,0.000,0.046,3163,2467,2369
$GC,6004,0.85,146.0,348.3,17.9,207,6008,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1039,2366
$GC,6112,0.85,146.0,330.6,15.6,209,6117,0.00,2.28,0.00,0.000,6,0.000,0.045,3168,2465,2366
$GC,6385,0.85,146.0,286.2,16.2,216,6388,0.00,2.28,0.00,0.000,4,0.000,0.051,3163,3872,2364
$GC,6459,0.85,146.0,274.0,14.9,217,6463,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2462,2364
$GC,6723,0.85,146.0,239.8,12.9,224,6727,0.00,2.30,0.00,0.000,4,0.000,0.054,3163,3869,2363
$GC,6747,0.85,146.0,236.4,14.5,224,6751,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2446,2362
$GC,7011,0.85,146.0,203.3,12.0,231,7015,0.00,2.08,0.00,0.000,4,0.000,0.028,3182,1046,2362
$GC,7082,0.85,146.0,196.0,9.9,234,7086,0.00,2.25,0.00,0.000,6,0.000,0.041,3176,2469,2363
$GC,7347,0.85,146.0,169.8,10.1,258,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2470,2362
$GC,7613,0.86,151.6,141.9,9.4,283,7617,0.00,2.25,0.00,0.000,4,0.000,0.049,3176,3875,2362
$GC,7630,0.87,159.2,140.3,9.3,284,7645,0.00,2.10,8.98,0.653,6,0.000,0.024,3185,2450,2330
$GC,7905,0.87,159.2,111.6,9.7,309,7909,0.00,2.05,0.00,0.000,4,0.000,0.027,3196,1053,2329
$GC,7946,0.88,163.9,107.1,9.4,312,7958,0.08,2.25,5.72,0.551,6,0.221,0.041,3172,2465,2311
$GC,8225,0.88,164.7,83.1,9.6,338,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2465,2311
$GC,8491,0.89,173.9,57.5,9.2,363,8508,0.00,2.28,10.52,0.582,4,0.000,0.045,3163,3874,2270
$GC,8607,0.89,173.9,43.2,14.8,373,8611,0.00,2.08,0.00,0.000,6,0.000,0.023,3172,2464,2270
$GC,8876,0.89,173.9,8.1,12.4,413,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2458,2270
$STATE,8916,end climb,SURFACE_DEPTH_REACHED
$STATE,8916,begin surface coast
$FINISH,0.5,1.023769
$STATE,8939,end surface coast,CONTROL_FINISHED_OK
$STATE,8939,begin surface
$SM_CCo,8967,95.62,0.595,0,0,1552,350.04
$SM_GC,1.85,0.00,0.00,95.62,0.000,0.000,0.595,49,2675,1552,-8.85,0.99,350.04
$IRIDIUM_FIX,2244.02,-15751.94,070600,101030
$TT8_MAMPS,0.023777
$HUMID,1861
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.6,125.197
$10V_AH,10.6,75.052
$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,21.975,98.625,275.175,95.625,0.000,28.161,39.027,478.680,0.000,0.000,0.000,16.668,893.314,5898.386,434.895,1588.522,965.729,33.395,1083.544,0.000,1583.939,0.000,0.544,0.000
$DEVICE_MAMPS,237.003,68.263,1076.868,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,286.779,694.820,716.674,159.845,656.902,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35064,424
$CAP_FILE_SIZE,83333,0
$CFSIZE,260165632,223223808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,140311,150136,2253.167,-15753.541,33,1.2,34,10.1