version: 66.04
glider: 512
mission: 1
dive: 1037
start: 3 24 111 1 4 22
data:
$ID,512
$MISSION,1
$DIVE,1037
$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,-28473.379
$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,52
$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
$GPS1,005307,2223.729,-15803.073,39,1.3,39,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.7
$GPS2,010326,2223.875,-15803.135,13,1.2,13,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SIX
$TGT_LATLONG,2143.800,-15810.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.157
$KALMAN_X,-466969.7,933.5,-224.6,479830.5,-2986.6
$KALMAN_Y,-626730.9,375.8,-435.0,707565.8,4370.1
$MHEAD_RNG_PITCHd_Wd,117.3,75294,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-60.42,0.000,2,0.000,0.000,26,2615,2881
$GC,87,-0.76,-146.0,3.2,-5.5,8,119,10.98,2.15,-12.48,0.000,4,0.229,0.041,2631,1232,3479
$GC,183,-0.76,-146.0,24.6,-14.7,23,192,0.00,2.33,0.00,0.000,6,0.000,0.048,2623,2637,3480
$GC,457,-0.76,-146.0,77.0,-20.1,51,461,0.00,2.08,0.00,0.000,4,0.000,0.056,2612,3909,3481
$GC,498,-0.76,-146.0,85.5,-18.6,54,506,0.00,1.92,0.00,0.000,6,0.000,0.023,2616,2631,3481
$GC,764,-0.76,-146.0,128.7,-15.3,79,767,0.00,2.08,0.00,0.000,4,0.000,0.026,2624,1229,3482
$GC,795,-0.76,-146.0,133.2,-12.6,81,802,0.00,2.33,0.00,0.000,6,0.000,0.049,2619,2640,3482
$GC,1061,-0.76,-146.0,167.1,-12.9,106,1065,0.00,2.08,0.00,0.000,4,0.000,0.060,2609,3898,3483
$GC,1101,-0.76,-146.0,172.0,-12.0,109,1105,0.00,1.88,0.00,0.000,6,0.000,0.023,2613,2621,3483
$GC,1370,-0.76,-146.0,205.7,-12.8,131,1374,0.00,2.05,0.00,0.000,4,0.000,0.026,2623,1239,3483
$GC,1429,-0.76,-146.0,212.8,-10.0,132,1433,0.00,2.28,0.00,0.000,6,0.000,0.048,2619,2645,3484
$GC,1709,-0.76,-146.0,244.3,-11.2,139,1712,0.00,2.08,0.00,0.000,4,0.000,0.060,2610,3901,3484
$GC,1757,-0.76,-146.0,249.4,-10.6,140,1760,0.00,1.85,0.00,0.000,6,0.000,0.023,2613,2634,3484
$GC,2052,-0.76,-146.0,279.7,-10.6,147,2055,0.00,2.08,0.00,0.000,4,0.000,0.026,2617,1238,3483
$GC,2110,-0.76,-146.0,286.1,-9.5,148,2114,0.00,2.28,0.00,0.000,6,0.000,0.048,2609,2645,3483
$GC,2385,-0.76,-146.0,316.7,-11.3,155,2389,0.00,2.08,0.00,0.000,4,0.000,0.060,2599,3905,3483
$GC,2495,-0.76,-146.0,327.5,-9.0,157,2499,0.00,1.90,0.00,0.000,6,0.000,0.023,2607,2641,3482
$GC,2771,-0.76,-146.0,352.3,-9.0,164,2775,0.00,2.08,0.00,0.000,4,0.000,0.026,2617,1242,3481
$GC,2830,-0.76,-146.0,357.6,-8.0,165,2834,0.00,2.28,0.00,0.000,6,0.000,0.048,2608,2647,3480
$GC,3105,-0.76,-146.0,385.0,-10.1,172,3109,0.00,2.08,0.00,0.000,4,0.000,0.059,2599,3902,3480
$GC,3146,-0.76,-146.0,389.5,-11.3,172,3152,0.00,1.90,0.00,0.000,6,0.000,0.023,2605,2644,3479
$GC,3398,-0.76,-146.0,414.5,-9.9,179,3402,0.00,2.10,0.00,0.000,4,0.000,0.027,2614,1237,3478
$GC,3448,-0.76,-146.0,418.6,-7.5,180,3452,0.00,2.30,0.00,0.000,6,0.000,0.052,2606,2638,3478
$GC,3734,-0.76,-146.0,443.3,-8.7,187,3738,0.00,2.10,0.00,0.000,4,0.000,0.062,2596,3899,3476
$GC,3798,-0.76,-146.0,449.3,-8.8,188,3803,0.10,1.88,0.00,0.000,6,0.129,0.025,2632,2635,3475
$GC,4074,-0.76,-146.0,468.4,-6.9,195,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2629,3474
$GC,4318,-0.76,-146.0,485.3,-6.9,201,4321,0.00,2.17,0.00,0.000,4,0.000,0.065,2629,3898,3473
$GC,4366,-0.76,-146.0,488.9,-6.9,202,4370,0.00,1.90,0.00,0.000,6,0.000,0.025,2629,2636,3472
$GC,4660,-0.76,-146.0,509.9,-7.1,209,4663,0.00,2.10,0.00,0.000,4,0.000,0.031,2629,1248,3471
$GC,4741,-0.76,-146.0,515.9,-7.3,210,4746,0.00,2.33,0.00,0.000,6,0.000,0.056,2619,2639,3470
$GC,4995,-0.76,-146.0,532.3,-6.5,216,4999,0.00,2.15,0.00,0.000,4,0.000,0.066,2610,3908,3468
$GC,5054,-0.76,-146.0,536.1,-6.3,217,5058,0.00,1.92,0.00,0.000,6,0.000,0.027,2610,2652,3468
$GC,5337,-0.76,-146.0,553.9,-6.5,224,5341,0.00,2.15,0.00,0.000,4,0.000,0.031,2617,1239,3466
$GC,5373,-0.76,-146.0,556.6,-6.6,224,5377,0.00,2.35,0.00,0.000,6,0.000,0.055,2609,2648,3466
$GC,5632,-0.76,-146.0,575.2,-7.6,231,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2647,3464
$GC,5875,-0.76,-146.0,593.0,-7.2,237,5879,0.00,2.12,0.00,0.000,4,0.000,0.067,2599,3897,3463
$GC,5905,-0.76,-146.0,595.2,-7.1,237,5909,0.10,1.90,0.00,0.000,6,0.123,0.027,2632,2640,3462
$GC,6168,-0.76,-146.0,607.4,-4.4,244,6172,0.00,2.15,0.00,0.000,4,0.000,0.033,2633,1241,3460
$GC,6233,-0.76,-146.0,610.7,-5.0,245,6237,0.00,2.35,0.00,0.000,6,0.000,0.057,2633,2638,3459
$GC,6508,-0.76,-146.0,624.8,-5.3,252,6512,0.00,2.15,0.00,0.000,4,0.000,0.031,2633,1241,3459
$GC,6539,-0.76,-146.0,626.5,-5.4,252,6543,0.00,2.35,0.00,0.000,6,0.000,0.058,2633,2640,3459
$GC,6797,-0.76,-146.0,640.7,-5.6,259,6800,0.00,2.15,0.00,0.000,4,0.000,0.070,2633,3897,3457
$GC,6839,-0.76,-146.0,643.6,-6.5,259,6845,0.00,1.92,0.00,0.000,6,0.000,0.028,2633,2622,3457
$GC,7093,-0.76,-146.0,661.3,-7.3,266,7096,0.00,2.22,0.00,0.000,4,0.000,0.069,2632,3897,3456
$GC,7355,-0.76,-146.0,680.0,-8.1,271,7359,0.00,1.90,0.00,0.000,6,0.000,0.027,2634,2643,3455
$GC,7613,-0.76,-146.0,693.7,-5.2,278,7617,0.00,2.15,0.00,0.000,4,0.000,0.034,2640,1248,3454
$GC,7876,-0.76,-146.0,707.6,-6.0,283,7880,0.00,2.38,0.00,0.000,6,0.000,0.056,2640,2651,3453
$GC,8128,-0.76,-146.0,721.0,-5.7,289,8132,0.00,2.15,0.00,0.000,4,0.000,0.070,2636,3904,3452
$GC,8391,-0.76,-146.0,737.9,-5.5,294,8394,0.00,1.92,0.00,0.000,6,0.000,0.028,2643,2640,3451
$GC,8650,-0.76,-146.0,752.2,-5.4,301,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2632,3451
$GC,8894,-0.76,-146.0,763.8,-4.6,307,8897,0.00,2.17,0.00,0.000,4,0.000,0.035,2643,1235,3450
$GC,9155,-0.76,-146.0,776.9,-4.4,312,9160,0.00,2.40,0.00,0.000,6,0.000,0.058,2643,2640,3449
$GC,9408,-0.76,-146.0,788.6,-4.5,318,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2640,3449
$STATE,9648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9648,begin apogee
$GC,9660,-0.27,0.0,801.1,5.3,324,9789,0.45,0.00,125.78,1.233,6,0.075,0.000,2797,2464,2880
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9796,0.76,146.0,807.0,0.0,327,9998,0.93,2.58,154.48,1.110,4,0.045,0.058,3132,3872,2282
$GC,10204,0.76,146.0,728.5,30.2,336,10208,0.00,2.22,0.00,0.000,6,0.000,0.031,3142,2450,2276
$GC,10473,0.76,146.0,654.5,27.1,343,10477,0.00,2.15,0.00,0.000,4,0.000,0.035,3153,1045,2272
$GC,10613,0.76,146.0,618.6,25.6,346,10617,0.00,2.33,0.00,0.000,6,0.000,0.053,3151,2461,2269
$GC,10901,0.76,146.0,542.6,26.5,353,10905,0.00,2.17,0.00,0.000,4,0.000,0.033,3159,1048,2268
$GC,11106,0.76,146.0,494.8,21.8,357,11110,0.15,2.33,0.00,0.000,6,0.217,0.051,3130,2460,2267
$GC,11369,0.76,146.0,437.7,22.0,364,11373,0.00,2.35,0.00,0.000,4,0.000,0.055,3124,3880,2267
$GC,11433,0.76,146.0,423.4,21.9,365,11437,0.00,2.20,0.00,0.000,6,0.000,0.030,3133,2460,2266
$GC,11698,0.76,146.0,367.2,21.4,372,11702,0.00,2.40,0.00,0.000,4,0.000,0.058,3134,3886,2266
$GC,11762,0.76,146.0,352.1,23.2,373,11766,0.00,2.22,0.00,0.000,6,0.000,0.030,3143,2444,2265
$GC,12025,0.76,146.0,300.7,19.0,380,12029,0.00,2.15,0.00,0.000,4,0.000,0.031,3154,1038,2264
$GC,12085,0.76,146.0,289.8,18.0,381,12089,0.00,2.33,0.00,0.000,6,0.000,0.047,3151,2465,2264
$GC,12360,0.76,146.0,239.3,18.7,388,12364,0.00,2.17,0.00,0.000,4,0.000,0.029,3159,1043,2264
$GC,12390,0.76,146.0,234.0,16.6,388,12395,0.15,2.33,0.00,0.000,6,0.211,0.046,3130,2467,2264
$GC,12648,0.76,146.0,193.9,14.9,395,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2468,2264
$GC,12904,0.76,146.0,158.6,12.7,419,12908,0.00,2.17,0.00,0.000,4,0.000,0.029,3140,1044,2264
$GC,12968,0.76,146.0,150.1,14.1,424,12975,0.00,2.35,0.00,0.000,6,0.000,0.046,3137,2460,2264
$GC,13234,0.76,146.0,115.4,10.4,449,13238,0.00,2.15,0.00,0.000,4,0.000,0.028,3146,1040,2264
$GC,13276,0.80,175.2,111.3,8.7,452,13310,0.00,2.33,22.80,0.701,6,0.000,0.044,3146,2457,2164
$GC,13566,0.80,175.2,68.3,15.2,479,13570,0.00,2.33,0.00,0.000,4,0.000,0.054,3146,3875,2162
$GC,13585,0.80,175.2,65.9,14.7,480,13589,0.00,2.17,0.00,0.000,6,0.000,0.026,3156,2444,2161
$GC,13857,0.80,175.2,25.6,12.9,507,13865,0.00,2.38,0.00,0.000,4,0.000,0.047,3154,3867,2161
$STATE,13993,end climb,SURFACE_DEPTH_REACHED
$STATE,13993,begin surface coast
$FINISH,0.4,1.012646
$STATE,14015,end surface coast,CONTROL_FINISHED_OK
$STATE,14015,begin surface
$SM_CCo,14044,100.35,0.607,0,0,1329,380.21
$SM_GC,1.17,0.00,0.00,100.35,0.000,0.000,0.607,37,2625,1329,-8.88,-0.42,380.21
$IRIDIUM_FIX,2218.34,-15801.53,160600,212119
$TT8_MAMPS,0.023777
$HUMID,1908
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,21.0,137.639
$10V_AH,10.5,82.693
$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,21.450,151.550,303.050,100.350,0.000,29.303,42.599,366.315,0.750,0.000,0.000,13.407,1213.562,9822.776,512.209,2181.191,1037.343,33.369,1466.098,0.000,2153.594,0.000,0.542,0.000
$DEVICE_MAMPS,228.566,69.797,1232.569,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,363.918,726.341,744.632,152.329,629.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44538,535
$CAP_FILE_SIZE,120637,0
$CFSIZE,260165632,219795456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,7,0
$GPS,240311,050136,2223.865,-15802.314,39,1.4,39,10.0