version: 66.04
glider: 512
mission: 1
dive: 1040
start: 3 24 111 13 15 52
data:
$ID,512
$MISSION,1
$DIVE,1040
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1000
$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,266
$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,380
$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,-28521.586
$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,30
$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,38
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2880
$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
$GPS1,130637,2222.782,-15804.020,28,1.2,28,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.2
$GPS2,131456,2222.845,-15804.098,16,1.3,16,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SIX
$TGT_LATLONG,2143.800,-15810.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,-0.235
$KALMAN_X,-469754.6,-52.7,-14.7,481722.2,-1598.3
$KALMAN_Y,-617257.3,-642.7,-208.7,696965.0,4840.3
$MHEAD_RNG_PITCHd_Wd,144.9,73145,-17.5,-10.025
$D_GRID,800
$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,-0.76,-146.0,0.0,0.0,0,80,0.00,0.00,-60.40,0.000,2,0.000,0.000,28,2650,2907
$GC,87,-0.76,-146.0,3.2,-5.4,8,119,11.18,2.20,-11.80,0.000,4,0.235,0.041,2632,1220,3478
$GC,167,-0.76,-146.0,23.6,-19.8,20,176,0.00,2.35,0.00,0.000,6,0.000,0.053,2623,2628,3480
$GC,442,-0.76,-146.0,76.2,-19.5,48,445,0.00,2.10,0.00,0.000,4,0.000,0.059,2613,3905,3480
$GC,494,-0.76,-146.0,86.4,-16.7,52,502,0.00,1.92,0.00,0.000,6,0.000,0.023,2616,2627,3480
$GC,760,-0.76,-146.0,134.0,-17.4,77,764,0.00,2.08,0.00,0.000,4,0.000,0.027,2626,1234,3481
$GC,856,-0.76,-146.0,147.3,-11.2,85,860,0.00,2.30,0.00,0.000,6,0.000,0.049,2617,2650,3482
$GC,1123,-0.76,-146.0,181.1,-13.0,109,1127,0.00,2.05,0.00,0.000,4,0.000,0.058,2608,3899,3482
$GC,1184,-0.76,-146.0,188.7,-10.9,114,1187,0.00,1.88,0.00,0.000,6,0.000,0.022,2612,2621,3483
$GC,1445,-0.76,-146.0,219.7,-11.8,127,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2615,3483
$GC,1691,-0.76,-146.0,246.4,-10.9,133,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2614,3484
$GC,1933,-0.76,-146.0,272.4,-10.8,139,1937,0.00,2.05,0.00,0.000,4,0.000,0.027,2622,1243,3483
$GC,1963,-0.76,-146.0,275.6,-9.5,139,1967,0.00,2.28,0.00,0.000,6,0.000,0.050,2614,2644,3483
$GC,2223,-0.76,-146.0,297.8,-8.6,146,2227,0.00,2.08,0.00,0.000,4,0.000,0.059,2604,3900,3483
$GC,2276,-0.76,-146.0,302.2,-7.5,147,2280,0.00,1.90,0.00,0.000,6,0.000,0.023,2611,2636,3483
$GC,2562,-0.76,-146.0,327.8,-9.5,154,2566,0.00,2.08,0.00,0.000,4,0.000,0.028,2621,1244,3481
$GC,2581,-0.76,-146.0,329.8,-9.4,154,2585,0.00,2.28,0.00,0.000,6,0.000,0.051,2612,2638,3482
$GC,2854,-0.76,-146.0,353.2,-9.1,161,2857,0.00,2.10,0.00,0.000,4,0.000,0.063,2603,3897,3480
$GC,2935,-0.76,-146.0,361.5,-9.3,162,2939,0.00,1.90,0.00,0.000,6,0.000,0.024,2610,2642,3480
$GC,3193,-0.76,-146.0,386.8,-9.9,169,3197,0.00,2.10,0.00,0.000,4,0.000,0.028,2620,1228,3478
$GC,3235,-0.76,-146.0,390.8,-8.6,169,3241,0.00,2.33,0.00,0.000,6,0.000,0.051,2611,2645,3478
$GC,3489,-0.76,-146.0,413.6,-9.0,176,3493,0.00,2.10,0.00,0.000,4,0.000,0.064,2602,3899,3476
$GC,3514,-0.76,-146.0,415.9,-8.4,176,3518,0.00,1.88,0.00,0.000,6,0.000,0.024,2609,2642,3476
$GC,3783,-0.76,-146.0,440.5,-9.4,183,3787,0.00,2.12,0.00,0.000,4,0.000,0.030,2617,1232,3475
$GC,3820,-0.76,-146.0,444.2,-9.5,183,3824,0.00,2.33,0.00,0.000,6,0.000,0.051,2609,2649,3475
$GC,4072,-0.76,-146.0,471.5,-11.2,189,4076,0.00,2.10,0.00,0.000,4,0.000,0.063,2599,3904,3473
$GC,4153,-0.76,-146.0,480.8,-10.8,190,4157,0.00,1.90,0.00,0.000,6,0.000,0.025,2607,2639,3472
$GC,4412,-0.76,-146.0,506.0,-9.5,197,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2631,3471
$GC,4656,-0.76,-146.0,526.5,-8.3,203,4660,0.00,2.17,0.00,0.000,4,0.000,0.064,2599,3902,3469
$GC,4692,-0.76,-146.0,529.8,-8.4,203,4696,0.00,1.90,0.00,0.000,6,0.000,0.025,2606,2634,3469
$GC,4950,-0.76,-146.0,550.3,-8.0,210,4954,0.00,2.17,0.00,0.000,4,0.000,0.064,2598,3894,3467
$GC,4993,-0.76,-146.0,554.0,-9.0,210,5000,0.00,1.92,0.00,0.000,6,0.000,0.025,2606,2639,3466
$GC,5246,-0.76,-146.0,574.3,-7.9,217,5249,0.00,2.12,0.00,0.000,4,0.000,0.031,2616,1238,3465
$GC,5282,-0.76,-146.0,577.2,-7.5,217,5286,0.00,2.33,0.00,0.000,6,0.000,0.053,2608,2638,3465
$GC,5534,-0.76,-146.0,596.2,-7.4,223,5538,0.00,2.12,0.00,0.000,4,0.000,0.066,2598,3894,3463
$GC,5616,-0.76,-146.0,602.2,-7.2,224,5620,0.00,1.92,0.00,0.000,6,0.000,0.026,2606,2643,3462
$GC,5877,-0.76,-146.0,620.7,-7.2,231,5880,0.00,2.15,0.00,0.000,4,0.000,0.031,2616,1227,3461
$GC,5913,-0.76,-146.0,623.6,-7.6,231,5917,0.00,2.35,0.00,0.000,6,0.000,0.052,2608,2643,3461
$GC,6171,-0.76,-146.0,641.5,-7.0,238,6175,0.00,2.12,0.00,0.000,4,0.000,0.066,2598,3895,3459
$GC,6224,-0.76,-146.0,645.7,-7.6,239,6228,0.00,1.92,0.00,0.000,6,0.000,0.026,2606,2640,3459
$GC,6512,-0.76,-146.0,668.0,-8.1,246,6516,0.00,2.17,0.00,0.000,4,0.000,0.064,2597,3894,3457
$GC,6548,-0.76,-146.0,671.4,-9.4,246,6552,0.00,1.90,0.00,0.000,6,0.000,0.025,2605,2637,3457
$GC,6807,-0.76,-146.0,693.0,-8.3,253,6811,0.00,2.12,0.00,0.000,4,0.000,0.031,2615,1240,3456
$GC,6843,-0.76,-146.0,696.0,-7.5,253,6847,0.00,2.33,0.00,0.000,6,0.000,0.052,2607,2641,3456
$GC,7098,-0.76,-146.0,715.4,-7.8,259,7102,0.00,2.15,0.00,0.000,4,0.000,0.067,2597,3899,3454
$GC,7129,-0.76,-146.0,717.9,-7.9,259,7133,0.00,1.95,0.00,0.000,6,0.000,0.028,2604,2636,3454
$GC,7394,-0.76,-146.0,735.6,-6.4,266,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2629,3454
$GC,7636,-0.76,-146.0,750.2,-5.9,272,7640,0.00,2.17,0.00,0.000,4,0.000,0.066,2597,3899,3453
$GC,7660,-0.76,-146.0,752.0,-6.8,272,7664,0.00,1.92,0.00,0.000,6,0.000,0.027,2604,2639,3453
$GC,7931,-0.76,-146.0,767.6,-5.6,279,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2632,3452
$GC,8174,-0.76,-146.0,781.1,-5.6,285,8177,0.00,2.20,0.00,0.000,4,0.000,0.067,2595,3902,3451
$GC,8209,-0.76,-146.0,783.5,-7.0,285,8214,0.10,1.92,0.00,0.000,6,0.130,0.026,2632,2632,3450
$GC,8468,-0.76,-146.0,795.2,-4.6,292,8472,0.00,2.12,0.00,0.000,4,0.000,0.031,2632,1238,3451
$GC,8550,-0.76,-146.0,799.8,-5.4,293,8554,0.00,2.35,0.00,0.000,6,0.000,0.055,2632,2636,3450
$STATE,8559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8559,begin apogee
$GC,8571,-0.27,0.0,800.4,4.6,294,8706,0.50,0.00,126.80,1.214,6,0.100,0.000,2792,2464,2880
$STATE,8706,end apogee,CONTROL_FINISHED_OK
$STATE,8706,begin climb
$GC,8712,0.76,146.0,805.5,0.0,297,8968,0.93,2.55,169.75,1.022,4,0.044,0.056,3124,3872,2283
$GC,9156,0.76,146.0,722.5,28.5,307,9161,0.00,2.22,0.00,0.000,6,0.000,0.029,3133,2441,2278
$GC,9426,0.76,146.0,648.8,27.2,314,9429,0.00,2.10,0.00,0.000,4,0.000,0.031,3145,1050,2275
$GC,9461,0.76,146.0,639.5,24.9,314,9466,0.00,2.30,0.00,0.000,6,0.000,0.048,3137,2474,2274
$GC,9714,0.76,146.0,576.5,24.5,320,9717,0.00,2.17,0.00,0.000,4,0.000,0.031,3146,1052,2272
$GC,9772,0.76,146.0,563.1,21.6,321,9777,0.00,2.30,0.00,0.000,6,0.000,0.051,3146,2455,2272
$GC,10047,0.76,146.0,497.6,24.2,328,10051,0.00,2.35,0.00,0.000,4,0.000,0.055,3146,3886,2271
$GC,10061,0.76,146.0,494.1,24.0,328,10064,0.00,2.17,0.00,0.000,6,0.000,0.028,3156,2464,2271
$GC,10341,0.76,146.0,429.6,22.9,335,10346,0.12,2.17,0.00,0.000,4,0.219,0.031,3141,1047,2270
$GC,10473,0.76,146.0,402.8,21.4,338,10478,0.00,2.30,0.00,0.000,6,0.000,0.048,3137,2461,2270
$GC,10760,0.76,146.0,347.9,18.7,345,10764,0.00,2.35,0.00,0.000,4,0.000,0.056,3137,3876,2269
$GC,10829,0.76,146.0,333.0,23.0,346,10833,0.00,2.17,0.00,0.000,6,0.000,0.028,3146,2467,2268
$GC,11093,0.76,146.0,282.7,19.2,353,11097,0.00,2.17,0.00,0.000,4,0.000,0.031,3157,1042,2268
$GC,11332,0.76,146.0,239.9,15.1,358,11337,0.12,2.33,0.00,0.000,6,0.203,0.047,3133,2466,2268
$GC,11607,0.76,146.0,200.4,13.8,365,11611,0.00,2.17,0.00,0.000,4,0.000,0.028,3142,1042,2267
$GC,11668,0.76,146.0,192.2,14.2,367,11673,0.00,2.30,0.00,0.000,6,0.000,0.043,3137,2469,2267
$GC,11939,0.76,146.0,151.3,16.9,392,11943,0.00,2.17,0.00,0.000,4,0.000,0.028,3147,1035,2267
$GC,12135,0.76,146.0,128.6,10.9,409,12139,0.00,2.30,0.00,0.000,6,0.000,0.043,3146,2462,2267
$GC,12402,0.76,146.0,96.1,11.4,433,12405,0.00,2.17,0.00,0.000,4,0.000,0.026,3155,1028,2267
$GC,12541,0.82,189.0,83.3,8.0,445,12580,0.00,2.30,34.62,0.673,6,0.000,0.041,3151,2464,2110
$GC,12848,0.82,189.0,40.5,15.6,473,12852,0.00,2.28,0.00,0.000,4,0.000,0.050,3150,3870,2106
$GC,12992,0.82,189.0,9.9,22.1,494,13000,0.00,2.17,0.00,0.000,6,0.000,0.022,3159,2414,2105
$STATE,13027,end climb,SURFACE_DEPTH_REACHED
$STATE,13027,begin surface coast
$FINISH,0.7,1.023992
$STATE,13045,end surface coast,CONTROL_FINISHED_OK
$STATE,13045,begin surface
$SM_CCo,13073,95.70,0.607,0,0,1329,380.21
$SM_GC,1.26,0.00,0.00,95.70,0.000,0.000,0.607,43,2662,1329,-8.86,0.62,380.21
$IRIDIUM_FIX,2213.68,-15811.92,170600,090929
$TT8_MAMPS,0.023777
$HUMID,1895
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,20.9,138.031
$10V_AH,10.5,83.030
$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,21.500,151.100,331.175,95.700,0.000,31.464,38.822,226.728,0.500,0.000,0.000,16.252,1113.899,9186.456,545.900,1919.912,900.017,33.395,1422.536,0.000,1899.738,0.000,0.542,0.000
$DEVICE_MAMPS,235.469,67.496,1214.161,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,341.794,694.826,716.980,145.512,598.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41280,503
$CAP_FILE_SIZE,113104,0
$CFSIZE,260165632,219619328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,16,0
$GPS,240311,165654,2222.409,-15804.105,25,1.5,43,10.0