version: 66.04
glider: 512
mission: 1
dive: 871
start: 3 5 111 5 9 32
data:
$ID,512
$MISSION,1
$DIVE,871
$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,-24718.574
$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,26
$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
$GPS1,050120,2249.379,-15804.310,13,2.0,26,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.9
$GPS2,050840,2249.348,-15804.418,12,2.6,31,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.114,0.230
$KALMAN_X,-334193.6,-172.3,-173.9,345912.6,-1104.9
$KALMAN_Y,-619488.0,-3.4,355.7,747055.1,-4158.4
$MHEAD_RNG_PITCHd_Wd,16.2,7908,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,75,0.00,0.00,-52.75,0.000,2,0.000,0.000,36,2613,2997
$GC,81,-0.85,-146.0,3.4,-5.1,7,113,11.48,2.10,-12.20,0.000,4,0.242,0.039,2602,1223,3637
$GC,124,-0.85,-146.0,18.1,-31.3,12,132,0.00,2.42,0.00,0.000,6,0.000,0.076,2594,2630,3638
$GC,391,-0.85,-146.0,91.2,-23.8,40,394,0.00,2.15,0.00,0.000,4,0.000,0.079,2584,3900,3639
$GC,420,-0.85,-146.0,99.1,-24.9,42,427,0.00,1.88,0.00,0.000,6,0.000,0.025,2591,2642,3639
$GC,685,-0.85,-146.0,153.4,-19.0,67,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2634,3640
$GC,950,-0.85,-146.0,200.9,-17.0,92,953,0.00,2.08,0.00,0.000,4,0.000,0.027,2601,1219,3641
$GC,1007,-0.85,-146.0,209.5,-11.5,93,1011,0.00,2.40,0.00,0.000,6,0.000,0.070,2592,2653,3641
$GC,1281,-0.85,-146.0,250.7,-15.7,100,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2653,3642
$GC,1525,-0.85,-146.0,286.2,-14.3,106,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2653,3642
$GC,1768,-0.85,-146.0,320.3,-13.5,112,1771,0.00,2.10,0.00,0.000,4,0.000,0.027,2600,1223,3642
$GC,1831,-0.85,-146.0,327.6,-9.5,113,1835,0.00,2.30,0.00,0.000,6,0.000,0.058,2591,2643,3642
$GC,2100,-0.85,-146.0,358.2,-11.6,120,2103,0.00,2.08,0.00,0.000,4,0.000,0.070,2581,3898,3641
$GC,2148,-0.85,-146.0,363.5,-10.4,121,2152,0.00,1.90,0.00,0.000,6,0.000,0.026,2588,2621,3641
$GC,2439,-0.85,-146.0,395.0,-10.8,128,2442,0.00,2.03,0.00,0.000,4,0.000,0.028,2598,1235,3639
$GC,2519,-0.85,-146.0,402.1,-8.1,129,2524,0.00,2.35,0.00,0.000,6,0.000,0.069,2589,2636,3639
$GC,2771,-0.85,-146.0,427.4,-10.3,135,2775,0.00,2.12,0.00,0.000,4,0.000,0.080,2579,3893,3638
$GC,2812,-0.85,-146.0,431.7,-9.9,135,2819,0.00,1.88,0.00,0.000,6,0.000,0.027,2586,2639,3637
$GC,3063,-0.85,-146.0,456.9,-10.3,142,3067,0.00,2.05,0.00,0.000,4,0.000,0.029,2596,1241,3636
$GC,3112,-0.85,-146.0,461.6,-8.8,143,3116,0.00,2.30,0.00,0.000,6,0.000,0.058,2587,2650,3636
$GC,3397,-0.85,-146.0,490.1,-10.1,150,3400,0.00,2.10,0.00,0.000,4,0.000,0.028,2587,1240,3633
$GC,3455,-0.85,-146.0,495.9,-9.4,151,3459,0.00,2.30,0.00,0.000,6,0.000,0.062,2587,2639,3633
$GC,3729,-0.85,-146.0,522.1,-9.7,158,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2639,3631
$GC,3974,-0.85,-146.0,545.9,-9.8,164,3978,0.00,2.10,0.00,0.000,4,0.000,0.030,2597,1236,3629
$GC,4021,-0.85,-146.0,550.2,-8.4,165,4025,0.00,2.30,0.00,0.000,6,0.000,0.058,2588,2642,3629
$GC,4307,-0.85,-146.0,577.3,-9.6,172,4311,0.00,2.08,0.00,0.000,4,0.000,0.071,2577,3898,3626
$GC,4342,-0.85,-146.0,580.8,-9.1,172,4346,0.00,1.88,0.00,0.000,6,0.000,0.029,2585,2634,3626
$STATE,4555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4555,begin apogee
$GC,4565,-0.32,0.0,600.9,9.4,178,4692,0.65,0.00,123.28,1.069,6,0.154,0.000,2772,2490,3040
$STATE,4692,end apogee,CONTROL_FINISHED_OK
$STATE,4692,begin climb
$GC,4697,0.85,146.0,606.9,0.0,181,4835,1.08,2.28,130.65,1.051,4,0.073,0.029,3160,1028,2443
$GC,5077,0.85,146.0,566.6,18.4,189,5082,0.00,2.33,0.00,0.000,6,0.000,0.053,3160,2460,2435
$GC,5330,0.85,146.0,517.3,19.8,195,5334,0.00,2.15,0.00,0.000,4,0.000,0.030,3170,1021,2432
$GC,5359,0.85,146.0,511.2,20.7,195,5363,0.00,2.33,0.00,0.000,6,0.000,0.048,3162,2475,2432
$GC,5616,0.85,146.0,462.5,18.7,202,5620,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1030,2429
$GC,5719,0.85,146.0,443.5,18.3,204,5723,0.00,2.28,0.00,0.000,6,0.000,0.044,3163,2472,2429
$GC,5994,0.85,146.0,393.4,18.1,211,5998,0.00,2.15,0.00,0.000,4,0.000,0.030,3172,1029,2427
$GC,6086,0.85,146.0,378.7,15.7,213,6090,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2462,2427
$GC,6378,0.85,146.0,334.9,15.2,220,6382,0.00,2.28,0.00,0.000,4,0.000,0.054,3163,3874,2425
$GC,6497,0.85,146.0,317.9,13.4,222,6501,0.00,2.15,0.00,0.000,6,0.000,0.027,3171,2442,2424
$GC,6759,0.85,146.0,287.4,11.0,229,6763,0.00,2.08,0.00,0.000,4,0.000,0.029,3182,1029,2424
$GC,6874,0.86,154.2,275.7,9.3,231,6884,0.00,2.25,4.97,0.636,6,0.000,0.043,3176,2464,2411
$GC,7136,0.86,154.2,242.1,12.8,238,7139,0.00,2.25,0.00,0.000,4,0.000,0.053,3176,3875,2409
$GC,7396,0.86,154.2,211.7,10.7,243,7400,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2441,2408
$GC,7661,0.86,154.2,184.2,9.8,259,7665,0.00,2.30,0.00,0.000,4,0.000,0.048,3176,3873,2408
$GC,7783,0.86,154.2,171.0,9.8,269,7791,0.00,2.12,0.00,0.000,6,0.000,0.025,3185,2456,2408
$GC,8048,0.90,186.6,148.9,8.2,294,8086,0.00,2.12,29.40,0.718,4,0.000,0.028,3195,1066,2279
$GC,8238,0.90,186.6,122.8,15.8,310,8246,0.00,2.22,0.00,0.000,6,0.000,0.047,3192,2452,2276
$GC,8504,0.90,186.6,84.6,12.7,335,8508,0.00,2.28,0.00,0.000,4,0.000,0.054,3192,3869,2275
$GC,8692,0.90,186.6,59.6,11.9,351,8696,0.00,2.08,0.00,0.000,6,0.000,0.023,3201,2457,2275
$GC,8963,0.90,186.6,30.1,9.8,376,8967,0.00,2.28,0.00,0.000,4,0.000,0.047,3201,3878,2275
$STATE,9163,end climb,SURFACE_DEPTH_REACHED
$STATE,9163,begin surface coast
$FINISH,0.4,1.023927
$STATE,9186,end surface coast,CONTROL_FINISHED_OK
$STATE,9186,begin surface
$SM_CCo,9214,85.75,0.589,0,0,1613,350.04
$SM_GC,1.19,0.00,0.00,85.75,0.000,0.000,0.589,50,2612,1613,-8.85,-0.79,350.04
$IRIDIUM_FIX,2239.35,-15805.41,290500,020211
$TT8_MAMPS,0.023777
$HUMID,1864
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,23.6,114.667
$10V_AH,10.6,67.309
$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,22.450,95.400,288.300,85.750,0.000,24.101,38.279,204.571,0.500,0.000,0.000,32.743,881.000,6123.346,432.708,1670.827,633.471,33.365,1111.394,0.000,1640.390,0.000,0.543,0.000
$DEVICE_MAMPS,242.372,79.768,1069.198,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,281.505,656.144,675.331,147.857,607.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35152,416
$CAP_FILE_SIZE,79983,0
$CFSIZE,260165632,226861056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,050311,074601,2249.866,-15804.466,42,1.4,43,10.1