version: 66.04
glider: 512
mission: 1
dive: 1045
start: 3 25 111 7 9 23
data:
$ID,512
$MISSION,1
$DIVE,1045
$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,530
$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,-28621.168
$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,54
$R_STBD_OVSHOOT,51
$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
$GPS1,065737,2221.696,-15802.993,36,1.4,36,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.1
$GPS2,070832,2221.854,-15803.075,11,2.0,11,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SIX
$TGT_LATLONG,2143.800,-15810.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,-0.259
$KALMAN_X,-481271.4,145.8,391.1,494405.6,-4660.2
$KALMAN_Y,-604066.4,-760.4,-284.4,682149.9,5451.8
$MHEAD_RNG_PITCHd_Wd,176.1,71625,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,89,0.00,0.00,-67.85,0.000,2,0.000,0.000,29,2678,3136
$GC,95,-0.76,-146.0,3.7,-4.8,9,119,10.82,2.22,-5.93,0.000,4,0.230,0.038,2590,1232,3457
$GC,265,-0.76,-146.0,44.7,-17.3,31,273,0.00,2.28,0.00,0.000,6,0.000,0.051,2581,2603,3458
$GC,530,-0.76,-146.0,103.4,-20.6,56,534,0.00,2.12,0.00,0.000,4,0.000,0.057,2571,3898,3459
$GC,557,-0.76,-146.0,108.9,-20.3,58,561,0.00,1.88,0.00,0.000,6,0.000,0.022,2571,2626,3459
$GC,828,-0.76,-146.0,161.8,-19.1,83,832,0.00,2.05,0.00,0.000,4,0.000,0.025,2574,1240,3460
$GC,856,-0.76,-146.0,166.8,-18.6,85,860,0.00,2.30,0.00,0.000,6,0.000,0.051,2565,2648,3460
$GC,1121,-0.76,-146.0,214.9,-17.6,104,1125,0.00,2.03,0.00,0.000,4,0.000,0.058,2556,3893,3461
$GC,1215,-0.76,-146.0,229.8,-16.1,106,1219,0.10,1.88,0.00,0.000,6,0.145,0.021,2601,2629,3461
$GC,1507,-0.76,-146.0,267.5,-12.2,113,1510,0.00,2.05,0.00,0.000,4,0.000,0.025,2611,1242,3461
$GC,1559,-0.76,-146.0,273.6,-10.3,114,1564,0.00,2.30,0.00,0.000,6,0.000,0.053,2603,2644,3462
$GC,1843,-0.76,-146.0,305.2,-10.9,121,1846,0.00,2.08,0.00,0.000,4,0.000,0.061,2593,3897,3460
$GC,1924,-0.76,-146.0,313.7,-9.2,122,1928,0.00,1.88,0.00,0.000,6,0.000,0.023,2600,2654,3460
$GC,2183,-0.76,-146.0,338.8,-10.1,129,2186,0.00,2.12,0.00,0.000,4,0.000,0.030,2611,1241,3459
$GC,2196,-0.76,-146.0,340.6,-10.7,129,2200,0.00,2.30,0.00,0.000,6,0.000,0.052,2603,2642,3459
$GC,2472,-0.76,-146.0,371.5,-11.7,136,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2642,3458
$GC,2714,-0.76,-146.0,398.5,-10.8,142,2718,0.00,2.12,0.00,0.000,4,0.000,0.065,2592,3906,3456
$GC,2750,-0.76,-146.0,402.4,-10.0,142,2754,0.00,1.90,0.00,0.000,6,0.000,0.025,2600,2635,3456
$GC,3009,-0.76,-146.0,426.7,-9.5,149,3012,0.00,2.10,0.00,0.000,4,0.000,0.029,2610,1236,3455
$GC,3051,-0.76,-146.0,430.6,-8.1,149,3057,0.00,2.35,0.00,0.000,6,0.000,0.056,2602,2646,3455
$GC,3305,-0.76,-146.0,454.1,-9.5,156,3309,0.00,2.12,0.00,0.000,4,0.000,0.066,2592,3906,3453
$GC,3392,-0.76,-146.0,462.5,-9.5,157,3398,0.00,1.90,0.00,0.000,6,0.000,0.025,2599,2637,3452
$GC,3645,-0.76,-146.0,484.2,-8.6,164,3649,0.00,2.17,0.00,0.000,4,0.000,0.066,2591,3901,3449
$GC,3698,-0.76,-146.0,489.1,-8.1,165,3702,0.00,1.90,0.00,0.000,6,0.000,0.025,2599,2635,3449
$GC,3986,-0.76,-146.0,513.6,-8.5,172,3990,0.00,2.12,0.00,0.000,4,0.000,0.030,2609,1228,3447
$GC,4039,-0.76,-146.0,518.3,-7.8,173,4044,0.00,2.38,0.00,0.000,6,0.000,0.056,2601,2648,3447
$GC,4321,-0.76,-146.0,543.8,-9.3,180,4325,0.00,2.12,0.00,0.000,4,0.000,0.066,2591,3904,3444
$GC,4370,-0.76,-146.0,548.4,-8.9,181,4374,0.00,1.92,0.00,0.000,6,0.000,0.025,2598,2643,3444
$GC,4663,-0.76,-146.0,572.5,-7.9,188,4666,0.00,2.20,0.00,0.000,4,0.000,0.067,2590,3905,3442
$GC,4716,-0.76,-146.0,577.1,-8.5,189,4720,0.00,1.92,0.00,0.000,6,0.000,0.027,2597,2637,3442
$GC,5004,-0.76,-146.0,601.7,-8.9,196,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2629,3440
$GC,5247,-0.76,-146.0,623.2,-8.8,202,5251,0.00,2.17,0.00,0.000,4,0.000,0.066,2589,3899,3439
$GC,5283,-0.76,-146.0,626.4,-8.6,202,5287,0.00,1.90,0.00,0.000,6,0.000,0.026,2591,2642,3439
$GC,5542,-0.76,-146.0,647.2,-7.9,209,5546,0.00,2.20,0.00,0.000,4,0.000,0.067,2583,3906,3438
$GC,5578,-0.76,-146.0,650.3,-8.5,209,5582,0.00,1.92,0.00,0.000,6,0.000,0.028,2582,2637,3437
$GC,5837,-0.76,-146.0,672.9,-8.9,216,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2630,3436
$GC,6081,-0.76,-146.0,695.3,-9.2,222,6084,0.00,2.20,0.00,0.000,4,0.000,0.067,2574,3900,3435
$GC,6129,-0.76,-146.0,699.8,-9.3,223,6133,0.00,1.92,0.00,0.000,6,0.000,0.027,2574,2631,3434
$GC,6421,-0.76,-146.0,727.3,-9.4,230,6425,0.00,2.20,0.00,0.000,4,0.000,0.067,2564,3900,3433
$GC,6452,-0.76,-146.0,730.5,-10.0,230,6456,0.12,1.92,0.00,0.000,6,0.153,0.027,2594,2638,3432
$GC,6717,-0.76,-146.0,750.1,-7.2,237,6721,0.00,2.20,0.00,0.000,4,0.000,0.068,2587,3897,3431
$GC,6759,-0.76,-146.0,753.3,-7.7,237,6765,0.00,1.92,0.00,0.000,6,0.000,0.027,2587,2633,3431
$GC,7014,-0.76,-146.0,770.4,-6.8,244,7017,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,1226,3431
$GC,7028,-0.76,-146.0,771.7,-6.7,244,7032,0.00,2.40,0.00,0.000,6,0.000,0.058,2576,2647,3430
$GC,7304,-0.76,-146.0,792.3,-7.5,251,7308,0.00,2.15,0.00,0.000,4,0.000,0.068,2567,3900,3429
$GC,7357,-0.76,-146.0,797.2,-8.6,252,7361,0.00,1.92,0.00,0.000,6,0.000,0.026,2567,2629,3429
$STATE,7387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7387,begin apogee
$GC,7400,-0.27,0.0,800.2,8.9,252,7528,0.57,0.00,125.22,1.218,6,0.133,0.000,2743,2460,2860
$STATE,7529,end apogee,CONTROL_FINISHED_OK
$STATE,7529,begin climb
$GC,7534,0.76,146.0,803.9,0.0,256,7787,0.98,2.35,170.02,1.008,4,0.052,0.033,3096,1055,2264
$GC,7820,0.76,146.0,763.5,27.3,263,7824,0.00,2.42,0.00,0.000,6,0.000,0.048,3096,2461,2260
$GC,8106,0.76,146.0,686.7,26.7,270,8110,0.00,2.17,0.00,0.000,4,0.000,0.032,3106,1043,2255
$GC,8231,0.76,146.0,654.3,26.9,272,8235,0.00,2.33,0.00,0.000,6,0.000,0.052,3106,2461,2254
$GC,8484,0.76,146.0,588.8,25.9,278,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2461,2253
$GC,8727,0.76,146.0,528.6,24.1,284,8731,0.00,2.15,0.00,0.000,4,0.000,0.030,3116,1045,2252
$GC,8746,0.76,146.0,524.0,23.4,284,8750,0.00,2.30,0.00,0.000,6,0.000,0.047,3111,2464,2252
$GC,9016,0.76,146.0,460.2,23.6,291,9020,0.00,2.15,0.00,0.000,4,0.000,0.030,3120,1047,2250
$GC,9085,0.76,146.0,443.8,22.7,292,9090,0.15,2.33,0.00,0.000,6,0.201,0.048,3088,2472,2250
$GC,9349,0.76,146.0,387.2,21.2,299,9352,0.00,2.20,0.00,0.000,4,0.000,0.031,3097,1045,2249
$GC,9491,0.76,146.0,360.4,17.9,302,9496,0.00,2.33,0.00,0.000,6,0.000,0.048,3097,2466,2249
$GC,9772,0.76,146.0,306.9,19.4,309,9776,0.00,2.17,0.00,0.000,4,0.000,0.030,3106,1045,2248
$GC,9820,0.76,146.0,297.6,18.9,310,9824,0.00,2.33,0.00,0.000,6,0.000,0.048,3106,2464,2248
$GC,10106,0.76,146.0,246.3,17.7,317,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2464,2248
$GC,10349,0.76,146.0,207.6,15.8,323,10353,0.00,2.15,0.00,0.000,4,0.000,0.028,3116,1046,2247
$GC,10397,0.76,146.0,200.0,16.0,324,10402,0.00,2.30,0.00,0.000,6,0.000,0.044,3111,2466,2247
$GC,10669,0.76,146.0,158.6,14.8,349,10673,0.00,2.33,0.00,0.000,4,0.000,0.053,3110,3872,2247
$GC,10690,0.76,146.0,155.1,14.7,350,10695,0.15,2.17,0.00,0.000,6,0.261,0.025,3093,2448,2246
$GC,10960,0.76,146.0,120.6,13.1,374,10964,0.00,2.10,0.00,0.000,4,0.000,0.029,3102,1051,2246
$GC,11222,0.76,146.0,91.1,11.2,397,11227,0.00,2.28,0.00,0.000,6,0.000,0.042,3097,2470,2246
$GC,11489,0.85,212.7,64.9,6.9,421,11553,0.00,2.20,54.15,0.654,4,0.000,0.028,3106,1052,1991
$GC,11562,0.85,212.7,57.4,12.6,426,11571,0.00,2.33,0.00,0.000,6,0.000,0.045,3106,2462,1989
$GC,11832,0.85,212.7,10.6,15.1,461,11841,0.00,2.17,0.00,0.000,4,0.000,0.027,3116,1043,1986
$GC,11854,0.85,212.7,7.1,16.7,463,11862,0.00,2.28,0.00,0.000,6,0.000,0.040,3110,2460,1985
$STATE,11879,end climb,SURFACE_DEPTH_REACHED
$STATE,11879,begin surface coast
$FINISH,0.4,1.023779
$STATE,11902,end surface coast,CONTROL_FINISHED_OK
$STATE,11902,begin surface
$SM_CCo,11930,82.53,0.598,0,0,1310,380.21
$SM_GC,1.14,0.00,0.00,82.53,0.000,0.000,0.598,31,2690,1310,-8.78,1.41,380.21
$IRIDIUM_FIX,2213.68,-15801.53,180600,030338
$TT8_MAMPS,0.024544
$HUMID,1925
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,20.9,138.687
$10V_AH,10.5,83.544
$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,21.325,137.950,349.400,82.525,0.000,26.218,39.893,403.310,0.000,0.000,0.000,11.987,1027.907,8279.390,582.718,1743.187,1031.575,33.375,1363.289,0.000,1733.174,0.000,0.543,0.000
$DEVICE_MAMPS,260.780,68.263,1217.996,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,319.357,658.829,679.457,144.924,594.355,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38327,471
$CAP_FILE_SIZE,105034,0
$CFSIZE,260165632,219369472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,40,15,0
$GPS,250311,103107,2221.319,-15803.941,42,1.2,42,10.0