version: 66.04
glider: 512
mission: 1
dive: 958
start: 3 14 111 4 48 36
data:
$ID,512
$MISSION,1
$DIVE,958
$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,-26633.438
$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,52
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,044046,2255.255,-15754.313,9,3.3,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-80.1
$GPS2,044743,2255.281,-15754.283,11,1.6,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.149,-0.209
$KALMAN_X,-382719.2,289.0,284.6,410941.5,-3074.3
$KALMAN_Y,-664041.6,-381.3,-108.8,803458.1,673.6
$MHEAD_RNG_PITCHd_Wd,134.4,3897,-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,17,-0.85,-146.0,0.0,0.0,0,65,0.00,0.00,-45.20,0.000,2,0.000,0.000,48,2653,2720
$GC,70,-0.85,-146.0,3.0,-4.0,6,110,11.27,2.05,-19.02,0.000,4,0.240,0.075,2585,3862,3597
$GC,121,-0.85,-146.0,14.2,-23.5,12,129,0.00,1.83,0.00,0.000,6,0.000,0.024,2592,2635,3598
$GC,389,-0.85,-146.0,90.1,-25.7,41,393,0.00,2.05,0.00,0.000,4,0.000,0.026,2602,1240,3599
$GC,408,-0.85,-146.0,96.1,-26.2,42,416,0.00,2.25,0.00,0.000,6,0.000,0.048,2592,2625,3599
$GC,674,-0.85,-146.0,154.3,-19.3,67,678,0.00,2.08,0.00,0.000,4,0.000,0.062,2583,3895,3600
$GC,700,-0.85,-146.0,159.5,-18.7,69,704,0.00,1.83,0.00,0.000,6,0.000,0.022,2591,2638,3600
$GC,998,-0.85,-146.0,214.6,-16.8,91,1002,0.00,2.03,0.00,0.000,4,0.000,0.025,2601,1242,3602
$GC,1067,-0.85,-146.0,224.2,-11.5,92,1072,0.00,2.30,0.00,0.000,6,0.000,0.054,2591,2650,3602
$GC,1331,-0.85,-146.0,262.4,-15.2,99,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2650,3602
$GC,1574,-0.85,-146.0,295.6,-13.1,105,1578,0.00,2.05,0.00,0.000,4,0.000,0.063,2581,3898,3602
$GC,1604,-0.85,-146.0,299.9,-14.2,105,1608,0.00,1.85,0.00,0.000,6,0.000,0.023,2589,2628,3602
$GC,1867,-0.85,-146.0,331.6,-12.1,112,1871,0.00,2.03,0.00,0.000,4,0.000,0.025,2599,1239,3602
$GC,1892,-0.85,-146.0,334.7,-11.9,112,1896,0.00,2.28,0.00,0.000,6,0.000,0.049,2590,2651,3602
$GC,2155,-0.85,-146.0,367.3,-12.8,119,2158,0.00,2.03,0.00,0.000,4,0.000,0.059,2580,3900,3600
$GC,2190,-0.85,-146.0,372.0,-13.1,119,2194,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2626,3600
$GC,2449,-0.85,-146.0,402.7,-12.0,126,2452,0.00,2.03,0.00,0.000,4,0.000,0.025,2598,1246,3599
$GC,2470,-0.85,-146.0,405.3,-12.1,126,2474,0.00,2.28,0.00,0.000,6,0.000,0.053,2589,2638,3599
$GC,2739,-0.85,-146.0,435.3,-11.4,133,2742,0.00,2.08,0.00,0.000,4,0.000,0.065,2580,3891,3597
$GC,2779,-0.85,-146.0,440.1,-11.1,133,2785,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,2641,3597
$GC,3032,-0.85,-146.0,466.9,-10.6,140,3035,0.00,2.08,0.00,0.000,4,0.000,0.027,2597,1231,3595
$GC,3062,-0.85,-146.0,469.8,-10.0,140,3066,0.00,2.30,0.00,0.000,6,0.000,0.051,2589,2645,3595
$GC,3326,-0.85,-146.0,493.9,-9.5,147,3329,0.00,2.10,0.00,0.000,4,0.000,0.026,2598,1236,3593
$GC,3350,-0.85,-146.0,496.3,-9.4,147,3354,0.00,2.28,0.00,0.000,6,0.000,0.048,2589,2650,3592
$GC,3621,-0.85,-146.0,521.7,-9.6,154,3624,0.00,2.05,0.00,0.000,4,0.000,0.061,2580,3900,3590
$GC,3639,-0.85,-146.0,524.2,-10.2,154,3643,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2641,3590
$GC,3915,-0.85,-146.0,550.8,-9.9,161,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2635,3588
$GC,4157,-0.85,-146.0,575.5,-10.1,167,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2634,3586
$GC,4401,-0.85,-146.0,599.8,-9.9,173,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2635,3585
$STATE,4437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4437,begin apogee
$GC,4449,-0.32,0.0,603.7,9.8,174,4574,0.62,0.00,122.18,1.074,6,0.146,0.000,2768,2494,3000
$STATE,4575,end apogee,CONTROL_FINISHED_OK
$STATE,4575,begin climb
$GC,4580,0.85,146.0,609.8,0.0,177,4716,1.10,2.33,129.23,1.049,4,0.071,0.054,3150,3876,2404
$GC,4740,0.85,146.0,608.7,20.2,180,4744,0.00,2.22,0.00,0.000,6,0.000,0.027,3159,2438,2400
$GC,4993,0.85,146.0,550.1,23.2,186,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2433,2394
$GC,5236,0.85,146.0,496.3,21.9,192,5239,0.00,2.08,0.00,0.000,4,0.000,0.029,3170,1046,2391
$GC,5260,0.85,146.0,491.0,21.1,192,5264,0.00,2.25,0.00,0.000,6,0.000,0.045,3163,2466,2391
$GC,5531,0.85,146.0,435.3,20.6,199,5534,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1038,2388
$GC,5605,0.85,146.0,420.5,18.4,200,5609,0.00,2.28,0.00,0.000,6,0.000,0.042,3163,2476,2388
$GC,5863,0.85,146.0,370.9,19.2,207,5867,0.00,2.17,0.00,0.000,4,0.000,0.029,3172,1036,2386
$GC,6001,0.85,146.0,347.6,15.0,210,6005,0.00,2.25,0.00,0.000,6,0.000,0.043,3163,2458,2386
$GC,6288,0.85,146.0,300.4,16.7,217,6292,0.00,2.12,0.00,0.000,4,0.000,0.029,3172,1043,2384
$GC,6425,0.85,146.0,281.1,15.1,220,6429,0.00,2.25,0.00,0.000,6,0.000,0.044,3164,2463,2384
$GC,6711,0.85,146.0,244.8,11.8,227,6715,0.00,2.28,0.00,0.000,4,0.000,0.053,3163,3867,2383
$GC,6780,0.85,146.0,236.2,12.3,228,6784,0.00,2.12,0.00,0.000,6,0.000,0.026,3172,2453,2382
$GC,7050,0.87,160.2,210.6,9.0,235,7064,0.00,2.12,9.48,0.721,4,0.000,0.028,3182,1040,2347
$GC,7247,0.87,160.2,187.3,11.6,243,7256,0.00,2.28,0.00,0.000,6,0.000,0.042,3176,2457,2346
$GC,7513,0.87,160.2,156.6,10.2,268,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2458,2345
$GC,7779,0.87,160.2,129.5,9.8,293,7783,0.00,2.28,0.00,0.000,4,0.000,0.051,3176,3873,2345
$GC,7821,0.88,167.0,125.0,9.3,296,7836,0.00,2.12,7.75,0.617,6,0.000,0.025,3185,2434,2319
$GC,8097,0.89,171.0,101.1,9.4,321,8110,0.00,2.08,5.03,0.514,4,0.000,0.026,3195,1053,2303
$GC,8283,0.89,177.1,82.2,9.3,337,8296,0.00,2.20,7.45,0.567,6,0.000,0.039,3191,2465,2277
$GC,8560,0.89,177.1,49.7,10.8,362,8564,0.00,2.25,0.00,0.000,4,0.000,0.048,3191,3874,2276
$GC,8584,0.89,177.1,45.7,11.7,363,8593,0.12,2.12,0.00,0.000,6,0.260,0.023,3175,2455,2276
$GC,8853,0.89,177.1,15.5,11.5,399,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2455,2276
$STATE,8962,end climb,SURFACE_DEPTH_REACHED
$STATE,8962,begin surface coast
$FINISH,0.6,1.023707
$STATE,8990,end surface coast,CONTROL_FINISHED_OK
$STATE,8990,begin surface
$SM_CCo,9017,95.47,0.588,0,0,1573,350.04
$SM_GC,2.08,0.00,0.00,95.47,0.000,0.000,0.588,50,2653,1573,-8.84,0.34,350.04
$IRIDIUM_FIX,2248.70,-15803.66,070600,020201
$TT8_MAMPS,0.023777
$HUMID,1858
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,23.6,124.830
$10V_AH,10.6,74.768
$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,21.950,93.725,281.100,95.475,0.000,33.144,41.868,174.955,0.750,0.000,0.000,16.682,875.696,6008.164,440.659,1533.701,674.094,33.373,1067.017,0.000,1528.979,0.000,0.544,0.000
$DEVICE_MAMPS,260.013,75.166,1073.800,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,286.776,684.851,705.765,159.685,656.185,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35122,424
$CAP_FILE_SIZE,77867,0
$CFSIZE,260165632,223346688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,140311,072200,2254.457,-15754.020,37,1.7,44,10.1