version: 66.04
glider: 512
mission: 1
dive: 1044
start: 3 25 111 3 52 11
data:
$ID,512
$MISSION,1
$DIVE,1044
$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,-28608.551
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2840
$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,84
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2860
$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
$GPS1,034402,2221.653,-15803.784,14,1.7,14,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.4
$GPS2,035121,2221.799,-15803.794,20,1.7,20,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SIX
$TGT_LATLONG,2143.800,-15810.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.135
$KALMAN_X,-478358.9,-61.2,-44.0,490895.5,-3033.0
$KALMAN_Y,-606444.1,-467.8,-318.9,684158.9,5288.5
$MHEAD_RNG_PITCHd_Wd,111.3,71313,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-0.76,-146.0,0.0,0.0,0,78,0.00,0.00,-52.72,0.000,2,0.000,0.000,27,2587,2688
$GC,84,-0.76,-146.0,3.0,-5.1,7,117,10.73,2.05,-17.23,0.000,4,0.225,0.038,2585,1256,3457
$GC,149,-0.76,-146.0,16.7,-22.8,16,157,0.00,2.28,0.00,0.000,6,0.000,0.048,2577,2635,3459
$GC,423,-0.76,-146.0,82.3,-24.2,46,427,0.00,2.08,0.00,0.000,4,0.000,0.055,2567,3907,3460
$GC,515,-0.76,-146.0,101.8,-18.6,54,519,0.00,1.85,0.00,0.000,6,0.000,0.023,2567,2661,3460
$GC,788,-0.76,-146.0,155.8,-21.8,79,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2655,3461
$GC,1051,-0.76,-146.0,208.5,-18.5,101,1054,0.00,2.05,0.00,0.000,4,0.000,0.054,2559,3900,3462
$GC,1092,-0.76,-146.0,216.4,-17.9,101,1099,0.12,1.88,0.00,0.000,6,0.155,0.022,2589,2623,3462
$GC,1344,-0.76,-146.0,254.4,-15.1,108,1348,0.00,2.05,0.00,0.000,4,0.000,0.025,2589,1235,3463
$GC,1386,-0.76,-146.0,260.0,-12.0,108,1392,0.00,2.33,0.00,0.000,6,0.000,0.052,2581,2650,3463
$GC,1639,-0.76,-146.0,293.2,-13.2,115,1642,0.00,2.08,0.00,0.000,4,0.000,0.060,2571,3906,3463
$GC,1689,-0.76,-146.0,299.3,-12.0,116,1692,0.00,1.88,0.00,0.000,6,0.000,0.024,2571,2644,3463
$GC,1980,-0.76,-146.0,339.6,-14.0,123,1984,0.00,2.15,0.00,0.000,4,0.000,0.063,2561,3905,3463
$GC,2010,-0.76,-146.0,344.3,-15.1,123,2015,0.12,1.90,0.00,0.000,6,0.151,0.024,2591,2633,3462
$GC,2274,-0.76,-146.0,376.8,-12.2,130,2278,0.00,2.10,0.00,0.000,4,0.000,0.030,2601,1234,3462
$GC,2305,-0.76,-146.0,380.5,-11.9,130,2309,0.00,2.33,0.00,0.000,6,0.000,0.055,2593,2636,3461
$GC,2563,-0.76,-146.0,409.9,-11.3,137,2566,0.00,2.12,0.00,0.000,4,0.000,0.066,2583,3902,3460
$GC,2649,-0.76,-146.0,419.9,-10.7,138,2655,0.00,1.90,0.00,0.000,6,0.000,0.024,2583,2629,3459
$GC,2902,-0.76,-146.0,447.8,-11.1,145,2906,0.00,2.17,0.00,0.000,4,0.000,0.067,2573,3899,3457
$GC,2994,-0.76,-146.0,458.5,-11.4,147,2998,0.00,1.90,0.00,0.000,6,0.000,0.025,2573,2646,3456
$GC,3286,-0.76,-146.0,495.5,-12.9,154,3289,0.00,2.12,0.00,0.000,4,0.000,0.030,2573,1241,3456
$GC,3321,-0.76,-146.0,500.1,-12.4,154,3326,0.00,2.35,0.00,0.000,6,0.000,0.058,2563,2643,3455
$GC,3581,-0.76,-146.0,533.4,-13.1,161,3585,0.00,2.12,0.00,0.000,4,0.000,0.067,2554,3896,3453
$GC,3679,-0.76,-146.0,546.8,-12.5,163,3683,0.15,1.90,0.00,0.000,6,0.146,0.025,2592,2636,3453
$GC,3965,-0.76,-146.0,576.0,-10.1,170,3968,0.00,2.20,0.00,0.000,4,0.000,0.067,2584,3904,3450
$GC,3990,-0.76,-146.0,578.8,-10.8,170,3993,0.00,1.92,0.00,0.000,6,0.000,0.026,2584,2626,3450
$GC,4259,-0.76,-146.0,606.6,-10.3,177,4263,0.00,2.20,0.00,0.000,4,0.000,0.066,2574,3898,3448
$GC,4300,-0.76,-146.0,611.2,-10.8,177,4306,0.00,1.90,0.00,0.000,6,0.000,0.025,2574,2641,3448
$GC,4553,-0.76,-146.0,638.9,-11.2,184,4556,0.00,2.17,0.00,0.000,4,0.000,0.066,2565,3895,3446
$GC,4601,-0.76,-146.0,644.5,-11.9,185,4605,0.00,1.90,0.00,0.000,6,0.000,0.026,2565,2636,3446
$GC,4893,-0.76,-146.0,680.1,-12.1,192,4897,0.00,2.20,0.00,0.000,4,0.000,0.066,2555,3904,3443
$GC,4951,-0.76,-146.0,687.5,-12.1,193,4955,0.15,1.92,0.00,0.000,6,0.145,0.025,2593,2632,3443
$GC,5232,-0.76,-146.0,713.3,-9.0,200,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2625,3442
$GC,5476,-0.76,-146.0,733.9,-8.4,206,5479,0.00,2.20,0.00,0.000,4,0.000,0.066,2585,3900,3440
$GC,5506,-0.76,-146.0,736.8,-9.4,206,5510,0.00,1.92,0.00,0.000,6,0.000,0.027,2585,2636,3440
$GC,5770,-0.76,-146.0,759.8,-8.8,213,5774,0.00,2.15,0.00,0.000,4,0.000,0.031,2585,1222,3439
$GC,5797,-0.76,-146.0,762.1,-9.0,213,5802,0.00,2.38,0.00,0.000,6,0.000,0.055,2576,2638,3439
$GC,6061,-0.76,-146.0,784.2,-8.3,220,6065,0.00,2.15,0.00,0.000,4,0.000,0.066,2566,3902,3437
$GC,6165,-0.76,-146.0,793.4,-9.2,222,6169,0.00,1.92,0.00,0.000,6,0.000,0.026,2566,2631,3437
$STATE,6237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6237,begin apogee
$GC,6250,-0.27,0.0,800.3,9.0,224,6378,0.62,0.00,125.45,1.205,6,0.132,0.000,2749,2465,2860
$STATE,6379,end apogee,CONTROL_FINISHED_OK
$STATE,6379,begin climb
$GC,6384,0.76,146.0,803.9,0.0,227,6643,0.95,2.38,168.57,0.996,4,0.051,0.031,3097,1045,2264
$GC,6685,0.76,146.0,758.3,26.3,234,6689,0.00,2.45,0.00,0.000,6,0.000,0.052,3097,2462,2260
$GC,6966,0.76,146.0,683.2,27.2,241,6970,0.00,2.17,0.00,0.000,4,0.000,0.031,3107,1042,2256
$GC,7115,0.76,146.0,646.4,23.1,244,7119,0.00,2.33,0.00,0.000,6,0.000,0.050,3106,2469,2254
$GC,7396,0.76,146.0,576.3,25.4,251,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2469,2252
$GC,7639,0.76,146.0,517.1,24.1,257,7643,0.00,2.20,0.00,0.000,4,0.000,0.031,3117,1038,2252
$GC,7697,0.76,146.0,503.3,22.7,258,7702,0.12,2.33,0.00,0.000,6,0.202,0.048,3092,2466,2252
$GC,7973,0.76,146.0,441.7,22.6,265,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2467,2250
$GC,8216,0.76,146.0,389.9,20.5,271,8220,0.00,2.20,0.00,0.000,4,0.000,0.030,3101,1034,2249
$GC,8309,0.76,146.0,374.5,15.8,273,8314,0.00,2.33,0.00,0.000,6,0.000,0.045,3097,2469,2249
$GC,8596,0.76,146.0,325.6,17.3,280,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2469,2248
$GC,8840,0.76,146.0,281.4,18.4,286,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2469,2248
$GC,9082,0.76,146.0,235.9,17.7,292,9086,0.00,2.20,0.00,0.000,4,0.000,0.029,3106,1036,2247
$GC,9185,0.76,146.0,220.0,15.4,294,9190,0.00,2.33,0.00,0.000,6,0.000,0.046,3106,2458,2247
$GC,9446,0.76,146.0,180.8,13.5,308,9451,0.00,2.35,0.00,0.000,4,0.000,0.056,3106,3874,2247
$GC,9504,0.76,146.0,172.4,13.8,312,9513,0.00,2.20,0.00,0.000,6,0.000,0.026,3116,2453,2246
$GC,9772,0.76,146.0,139.4,13.4,337,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2448,2246
$GC,10036,0.76,146.0,103.5,12.6,362,10041,0.12,2.15,0.00,0.000,4,0.235,0.028,3101,1040,2245
$GC,10295,0.78,161.5,78.3,9.3,384,10317,0.00,2.30,11.75,0.622,6,0.000,0.042,3097,2456,2201
$GC,10580,0.78,161.5,48.9,12.0,410,10584,0.00,2.33,0.00,0.000,4,0.000,0.054,3097,3868,2200
$GC,10836,0.78,161.5,12.1,15.4,443,10845,0.00,2.17,0.00,0.000,6,0.000,0.026,3106,2446,2200
$STATE,10888,end climb,SURFACE_DEPTH_REACHED
$STATE,10888,begin surface coast
$FINISH,0.5,1.023926
$STATE,10906,end surface coast,CONTROL_FINISHED_OK
$STATE,10906,begin surface
$SM_CCo,10933,106.35,0.590,0,0,1309,380.21
$SM_GC,1.58,0.00,0.00,106.35,0.000,0.000,0.590,34,2678,1309,-8.77,1.07,380.21
$IRIDIUM_FIX,2213.68,-15806.72,180600,000022
$TT8_MAMPS,0.023777
$HUMID,1878
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,22.3,138.543
$10V_AH,10.5,83.442
$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,21.450,111.650,305.775,106.350,0.000,22.752,34.880,192.603,0.250,0.000,0.000,20.153,965.520,7471.159,543.264,1747.499,747.528,33.376,1296.216,0.000,1727.357,0.000,0.542,0.000
$DEVICE_MAMPS,235.469,66.729,1204.957,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,308.385,667.764,691.085,150.906,622.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38097,455
$CAP_FILE_SIZE,91980,0
$CFSIZE,260165632,219430912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,15,0
$GPS,250311,065737,2221.696,-15802.993,36,1.4,36,10.0