version: 66.04
glider: 512
mission: 1
dive: 1036
start: 3 23 111 21 46 28
data:
$ID,512
$MISSION,1
$DIVE,1036
$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,-28459.34
$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,46
$R_STBD_OVSHOOT,33
$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
$GPS1,213337,2224.287,-15803.419,34,1.1,34,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.9
$GPS2,214537,2224.332,-15803.585,9,2.0,14,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SIX
$TGT_LATLONG,2143.800,-15810.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.190
$KALMAN_X,-464989.7,478.3,248.2,477041.2,-2623.4
$KALMAN_Y,-628668.5,63.4,-237.7,710457.4,4337.7
$MHEAD_RNG_PITCHd_Wd,127.0,76002,-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,18,-0.88,-146.0,0.0,0.0,0,89,0.00,0.00,-67.88,0.000,2,0.000,0.000,25,2657,3124
$GC,95,-0.88,-146.0,3.4,-4.1,9,119,10.73,2.20,-6.62,0.000,4,0.225,0.038,2595,1212,3476
$GC,177,-0.88,-146.0,29.3,-19.2,22,186,0.00,2.33,0.00,0.000,6,0.000,0.049,2586,2614,3477
$GC,444,-0.88,-146.0,92.3,-21.8,47,447,0.00,2.10,0.00,0.000,4,0.000,0.055,2576,3906,3478
$GC,507,-0.88,-146.0,106.5,-19.0,52,515,0.00,1.92,0.00,0.000,6,0.000,0.024,2576,2633,3478
$GC,773,-0.88,-146.0,152.8,-18.9,77,777,0.00,2.10,0.00,0.000,4,0.000,0.028,2577,1222,3479
$GC,844,-0.88,-146.0,164.5,-14.3,83,848,0.00,2.33,0.00,0.000,6,0.000,0.048,2569,2648,3479
$GC,1125,-0.88,-146.0,216.1,-19.4,103,1129,0.00,2.03,0.00,0.000,4,0.000,0.056,2558,3902,3479
$GC,1205,-0.88,-146.0,230.8,-15.5,104,1209,0.15,1.88,0.00,0.000,6,0.153,0.022,2596,2619,3480
$GC,1464,-0.88,-146.0,265.0,-13.0,111,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2613,3480
$GC,1706,-0.88,-146.0,297.1,-13.4,117,1710,0.00,2.03,0.00,0.000,4,0.000,0.026,2606,1246,3480
$GC,1719,-0.88,-146.0,299.0,-13.4,117,1724,0.00,2.25,0.00,0.000,6,0.000,0.048,2598,2647,3480
$GC,2001,-0.88,-146.0,332.6,-12.0,124,2004,0.00,2.05,0.00,0.000,4,0.000,0.060,2588,3894,3479
$GC,2059,-0.88,-146.0,339.4,-10.4,125,2062,0.00,1.85,0.00,0.000,6,0.000,0.023,2588,2637,3479
$GC,2341,-0.88,-146.0,368.7,-10.6,132,2345,0.00,2.08,0.00,0.000,4,0.000,0.027,2588,1239,3478
$GC,2393,-0.88,-146.0,374.6,-10.3,133,2398,0.00,2.28,0.00,0.000,6,0.000,0.048,2577,2644,3478
$GC,2675,-0.88,-146.0,405.3,-11.1,140,2678,0.00,2.08,0.00,0.000,4,0.000,0.059,2567,3898,3476
$GC,2744,-0.88,-146.0,413.5,-11.0,141,2748,0.00,1.88,0.00,0.000,6,0.000,0.023,2567,2631,3475
$GC,3013,-0.88,-146.0,447.0,-12.8,148,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2624,3474
$GC,3259,-0.88,-146.0,480.3,-13.9,154,3263,0.00,2.15,0.00,0.000,4,0.000,0.061,2557,3894,3472
$GC,3354,-0.88,-146.0,493.1,-12.9,156,3358,0.15,1.88,0.00,0.000,6,0.150,0.025,2596,2640,3471
$GC,3645,-0.88,-146.0,520.7,-8.9,163,3649,0.00,2.12,0.00,0.000,4,0.000,0.031,2606,1234,3469
$GC,3688,-0.88,-146.0,524.4,-8.1,163,3694,0.00,2.33,0.00,0.000,6,0.000,0.053,2597,2640,3469
$GC,3941,-0.88,-146.0,546.8,-9.3,170,3944,0.00,2.12,0.00,0.000,4,0.000,0.066,2587,3899,3466
$GC,3971,-0.88,-146.0,549.9,-10.1,170,3974,0.00,1.90,0.00,0.000,6,0.000,0.025,2587,2637,3466
$GC,4234,-0.88,-146.0,576.5,-10.2,177,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2630,3464
$GC,4480,-0.88,-146.0,601.6,-10.3,183,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2630,3463
$GC,4723,-0.88,-146.0,625.8,-9.8,189,4727,0.00,2.15,0.00,0.000,4,0.000,0.064,2578,3894,3461
$GC,4753,-0.88,-146.0,629.3,-10.8,189,4756,0.00,1.90,0.00,0.000,6,0.000,0.027,2577,2639,3461
$GC,5019,-0.88,-146.0,656.1,-10.0,196,5023,0.00,2.15,0.00,0.000,4,0.000,0.032,2577,1231,3458
$GC,5044,-0.88,-146.0,659.0,-10.3,196,5048,0.00,2.38,0.00,0.000,6,0.000,0.056,2576,2647,3458
$GC,5315,-0.88,-146.0,684.8,-9.7,203,5319,0.00,2.10,0.00,0.000,4,0.000,0.064,2566,3897,3456
$GC,5374,-0.88,-146.0,691.1,-10.0,204,5378,0.12,1.90,0.00,0.000,6,0.156,0.026,2597,2637,3456
$GC,5656,-0.88,-146.0,713.8,-8.1,211,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2630,3455
$GC,5899,-0.88,-146.0,732.7,-7.8,217,5902,0.00,2.15,0.00,0.000,4,0.000,0.032,2601,1232,3454
$GC,5929,-0.88,-146.0,735.2,-8.1,217,5933,0.00,2.35,0.00,0.000,6,0.000,0.053,2593,2647,3454
$GC,6187,-0.88,-146.0,755.8,-8.1,224,6191,0.00,2.12,0.00,0.000,4,0.000,0.066,2583,3897,3452
$GC,6224,-0.88,-146.0,758.9,-8.2,224,6227,0.00,1.90,0.00,0.000,6,0.000,0.028,2583,2642,3452
$GC,6483,-0.88,-146.0,778.9,-7.7,231,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2635,3451
$GC,6726,-0.88,-146.0,796.7,-7.3,237,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2635,3450
$STATE,6803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6803,begin apogee
$GC,6815,-0.32,0.0,802.7,7.4,239,6950,0.62,0.00,126.62,1.220,6,0.121,0.000,2773,2458,2880
$STATE,6950,end apogee,CONTROL_FINISHED_OK
$STATE,6951,begin climb
$GC,6957,0.88,146.0,806.5,0.0,242,7159,1.08,2.58,152.75,1.101,4,0.043,0.054,3165,3864,2283
$GC,7207,0.88,146.0,769.6,33.4,247,7213,0.00,2.30,0.00,0.000,6,0.000,0.029,3174,2469,2278
$GC,7460,0.88,146.0,694.1,29.6,254,7463,0.00,2.20,0.00,0.000,4,0.000,0.032,3185,1029,2273
$GC,7518,0.88,146.0,677.5,26.4,255,7522,0.00,2.33,0.00,0.000,6,0.000,0.048,3179,2467,2272
$GC,7792,0.88,146.0,598.6,29.2,262,7796,0.00,2.20,0.00,0.000,4,0.000,0.031,3187,1032,2270
$GC,7840,0.88,146.0,585.0,27.0,263,7844,0.00,2.33,0.00,0.000,6,0.000,0.048,3187,2470,2269
$GC,8126,0.88,146.0,506.6,27.0,270,8129,0.00,2.20,0.00,0.000,4,0.000,0.029,3197,1032,2268
$GC,8219,0.88,146.0,484.6,23.9,272,8223,0.00,2.35,0.00,0.000,6,0.000,0.050,3192,2468,2267
$GC,8507,0.88,146.0,411.8,25.6,279,8511,0.00,2.30,0.00,0.000,4,0.000,0.051,3192,3876,2267
$GC,8615,0.88,146.0,384.7,25.9,281,8620,0.17,2.20,0.00,0.000,6,0.261,0.029,3169,2445,2265
$GC,8878,0.88,146.0,326.3,21.3,288,8882,0.00,2.12,0.00,0.000,4,0.000,0.031,3178,1044,2265
$GC,8948,0.88,146.0,313.1,18.9,289,8952,0.00,2.30,0.00,0.000,6,0.000,0.046,3177,2465,2265
$GC,9218,0.88,146.0,261.5,18.9,296,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2465,2264
$GC,9460,0.88,146.0,212.4,20.1,302,9464,0.00,2.17,0.00,0.000,4,0.000,0.030,3186,1042,2264
$GC,9502,0.88,146.0,204.3,18.8,302,9508,0.00,2.30,0.00,0.000,6,0.000,0.043,3178,2469,2264
$GC,9767,0.88,146.0,157.4,18.7,324,9770,0.00,2.17,0.00,0.000,4,0.000,0.028,3187,1040,2264
$GC,9841,0.88,146.0,144.1,16.1,330,9849,0.00,2.33,0.00,0.000,6,0.000,0.044,3187,2456,2263
$GC,10107,0.88,146.0,101.2,14.2,355,10110,0.00,2.15,0.00,0.000,4,0.000,0.028,3197,1034,2264
$GC,10203,0.88,146.0,89.6,12.0,363,10208,0.00,2.30,0.00,0.000,6,0.000,0.041,3192,2466,2264
$GC,10469,0.88,146.0,58.7,10.6,387,10473,0.00,2.30,0.00,0.000,4,0.000,0.049,3192,3872,2264
$GC,10505,0.88,146.0,54.9,10.5,389,10514,0.12,2.17,0.00,0.000,6,0.232,0.025,3173,2449,2264
$GC,10775,0.88,146.0,25.7,12.1,417,10783,0.00,2.35,0.00,0.000,4,0.000,0.048,3163,3868,2264
$STATE,10947,end climb,SURFACE_DEPTH_REACHED
$STATE,10947,begin surface coast
$FINISH,0.4,1.023941
$STATE,10969,end surface coast,CONTROL_FINISHED_OK
$STATE,10969,begin surface
$SM_CCo,10998,110.82,0.601,0,0,1329,380.21
$SM_GC,1.60,0.00,0.00,110.82,0.000,0.000,0.601,38,2619,1329,-8.88,-0.59,380.21
$IRIDIUM_FIX,2216.01,-15803.69,160600,181807
$TT8_MAMPS,0.023777
$HUMID,1928
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,22.7,137.499
$10V_AH,10.5,82.579
$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,21.675,116.725,279.375,110.825,0.000,29.494,34.429,472.130,0.000,0.000,0.000,15.069,966.443,7698.466,499.937,1634.796,1027.495,33.372,1204.222,0.000,1623.001,0.000,0.542,0.000
$DEVICE_MAMPS,260.780,65.962,1219.530,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,307.079,649.095,669.948,150.583,617.962,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38238,452
$CAP_FILE_SIZE,93365,0
$CFSIZE,260165632,219877376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,8,0
$GPS,240311,005307,2223.729,-15803.073,39,1.3,39,10.0