version: 66.04
glider: 512
mission: 1
dive: 870
start: 3 5 111 2 25 29
data:
$ID,512
$MISSION,1
$DIVE,870
$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,-24685.203
$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,48
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3040
$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
$GPS1,020330,2249.057,-15803.705,37,1.2,43,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.7
$GPS2,022432,2248.805,-15803.955,10,1.7,10,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.048,0.252
$KALMAN_X,-332335.3,-410.1,-319.4,345239.2,-100.3
$KALMAN_Y,-617934.1,584.9,212.8,744058.2,-4776.5
$MHEAD_RNG_PITCHd_Wd,0.8,9086,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.85,-146.0,0.0,0.0,0,73,0.00,0.00,-52.72,0.000,2,0.000,0.000,39,2684,2991
$GC,78,-0.85,-146.0,3.7,-5.9,7,110,11.40,0.00,-12.25,0.000,6,0.239,0.000,2592,2684,3636
$GC,378,-0.85,-146.0,86.0,-23.0,40,381,0.00,2.17,0.00,0.000,4,0.000,0.028,2597,1225,3638
$GC,425,-0.85,-146.0,96.7,-18.6,44,429,0.00,2.30,0.00,0.000,6,0.000,0.074,2587,2589,3638
$GC,689,-0.85,-146.0,145.3,-18.6,68,692,0.00,2.10,0.00,0.000,4,0.000,0.074,2577,3846,3639
$GC,714,-0.85,-146.0,150.2,-19.5,70,718,0.00,1.77,0.00,0.000,6,0.000,0.024,2584,2621,3639
$GC,985,-0.85,-146.0,197.3,-17.9,95,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2613,3639
$GC,1247,-0.85,-146.0,239.1,-15.5,103,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2613,3639
$GC,1491,-0.85,-146.0,273.2,-13.2,109,1495,0.00,2.03,0.00,0.000,4,0.000,0.027,2595,1234,3639
$GC,1543,-0.85,-146.0,279.8,-10.9,110,1547,0.00,2.25,0.00,0.000,6,0.000,0.069,2586,2592,3639
$GC,1823,-0.85,-146.0,312.4,-12.0,117,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2592,3639
$GC,2066,-0.85,-146.0,343.4,-12.9,123,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2592,3638
$GC,2309,-0.85,-146.0,375.6,-13.2,129,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2592,3637
$GC,2553,-0.85,-146.0,406.2,-12.5,135,2557,0.00,2.03,0.00,0.000,4,0.000,0.028,2594,1241,3635
$GC,2593,-0.85,-146.0,411.1,-10.9,135,2601,0.00,2.35,0.00,0.000,6,0.000,0.063,2589,2637,3635
$GC,2845,-0.85,-146.0,439.5,-11.4,142,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2637,3633
$GC,3089,-0.85,-146.0,466.6,-11.0,148,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2637,3631
$GC,3335,-0.85,-146.0,489.4,-9.0,154,3338,0.00,2.08,0.00,0.000,4,0.000,0.030,2597,1245,3628
$GC,3410,-0.85,-146.0,495.2,-7.1,155,3414,0.00,2.35,0.00,0.000,6,0.000,0.066,2588,2649,3628
$GC,3667,-0.85,-146.0,514.9,-7.7,162,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2649,3626
$GC,3911,-0.85,-146.0,535.4,-8.6,168,3914,0.00,2.10,0.00,0.000,4,0.000,0.029,2597,1244,3624
$GC,3951,-0.85,-146.0,539.2,-8.2,168,3958,0.00,2.33,0.00,0.000,6,0.000,0.064,2589,2648,3624
$GC,4204,-0.85,-146.0,563.2,-9.8,175,4207,0.00,2.10,0.00,0.000,4,0.000,0.077,2579,3893,3622
$GC,4256,-0.85,-146.0,568.7,-10.2,176,4259,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2635,3621
$GC,4543,-0.85,-146.0,597.3,-10.1,183,4546,0.00,2.08,0.00,0.000,4,0.000,0.029,2596,1239,3619
$STATE,4562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4562,begin apogee
$GC,4575,-0.32,0.0,600.1,10.2,183,4700,0.60,0.00,121.68,1.056,6,0.147,0.000,2769,2470,3040
$STATE,4700,end apogee,CONTROL_FINISHED_OK
$STATE,4700,begin climb
$GC,4705,0.85,146.0,606.2,0.0,186,4843,1.12,2.38,130.43,1.049,4,0.086,0.061,3150,3872,2443
$GC,5106,0.85,146.0,552.4,24.1,195,5110,0.00,2.12,0.00,0.000,6,0.000,0.027,3159,2457,2434
$GC,5391,0.85,146.0,489.2,21.4,202,5395,0.00,2.30,0.00,0.000,4,0.000,0.052,3151,3881,2431
$GC,5444,0.85,146.0,477.8,20.7,203,5448,0.00,2.15,0.00,0.000,6,0.000,0.028,3159,2459,2431
$GC,5718,0.85,146.0,427.1,18.1,210,5722,0.00,2.12,0.00,0.000,4,0.000,0.030,3170,1029,2429
$GC,5742,0.85,146.0,422.9,16.6,210,5746,0.00,2.28,0.00,0.000,6,0.000,0.047,3162,2461,2429
$GC,6005,0.85,146.0,379.9,16.3,217,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2461,2427
$GC,6250,0.85,146.0,345.1,14.7,223,6254,0.00,2.28,0.00,0.000,4,0.000,0.056,3163,3875,2426
$GC,6263,0.85,146.0,343.1,15.0,223,6267,0.00,2.15,0.00,0.000,6,0.000,0.028,3172,2450,2426
$GC,6537,0.85,146.0,306.6,13.1,230,6541,0.00,2.30,0.00,0.000,4,0.000,0.051,3163,3878,2424
$GC,6628,0.85,146.0,294.5,13.8,232,6631,0.00,2.15,0.00,0.000,6,0.000,0.028,3173,2448,2424
$GC,6915,0.85,146.0,262.9,11.3,239,6919,0.00,2.08,0.00,0.000,4,0.000,0.029,3183,1043,2424
$GC,7040,0.85,146.0,249.1,10.3,241,7044,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2466,2424
$GC,7292,0.85,146.0,222.9,10.4,247,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2467,2423
$GC,7538,0.87,155.3,201.7,9.2,253,7549,0.00,2.28,5.80,0.623,4,0.000,0.051,3176,3878,2406
$GC,7807,0.87,155.3,172.9,10.5,274,7811,0.00,2.12,0.00,0.000,6,0.000,0.027,3185,2449,2405
$GC,8078,0.87,158.3,147.5,9.5,299,8091,0.00,2.10,4.55,0.522,4,0.000,0.028,3195,1054,2394
$GC,8297,0.87,158.3,124.3,9.9,318,8306,0.10,2.22,0.00,0.000,6,0.220,0.040,3166,2464,2394
$GC,8567,0.95,221.1,103.2,6.8,343,8629,0.00,2.28,54.47,0.679,4,0.000,0.048,3163,3875,2140
$GC,8868,0.95,221.1,52.0,17.6,369,8872,0.00,2.12,0.00,0.000,6,0.000,0.025,3172,2454,2137
$GC,9136,0.95,221.1,8.9,15.8,405,9144,0.00,2.28,0.00,0.000,4,0.000,0.048,3164,3862,2135
$STATE,9167,end climb,SURFACE_DEPTH_REACHED
$STATE,9167,begin surface coast
$FINISH,0.3,1.023724
$STATE,9184,end surface coast,CONTROL_FINISHED_OK
$STATE,9184,begin surface
$SM_CCo,9212,67.07,0.593,0,0,1612,350.04
$SM_GC,1.36,0.00,0.00,67.07,0.000,0.000,0.593,48,2613,1612,-8.85,-0.76,350.04
$IRIDIUM_FIX,2241.69,-15802.37,290500,020242
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,114.554
$10V_AH,10.6,67.217
$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,22.175,77.775,316.925,67.075,0.000,84.314,108.549,785.597,0.000,0.000,0.000,11.010,848.792,6394.723,422.695,1519.008,1363.081,33.364,1053.073,0.000,1512.872,0.000,0.544,0.000
$DEVICE_MAMPS,239.304,76.700,1056.159,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,279.320,645.378,662.952,137.755,566.558,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35105,413
$CAP_FILE_SIZE,84608,0
$CFSIZE,260165632,226897920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,050311,050120,2249.379,-15804.310,13,2.0,26,10.1