version: 66.04
glider: 512
mission: 1
dive: 872
start: 3 5 111 7 53 31
data:
$ID,512
$MISSION,1
$DIVE,872
$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,-24731.977
$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,73
$R_STBD_OVSHOOT,20
$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
$GPS1,074601,2249.866,-15804.466,42,1.4,43,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.8
$GPS2,075238,2249.867,-15804.552,12,1.8,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.192,0.170
$KALMAN_X,-336185.3,-22.9,-17.6,347363.7,-1991.0
$KALMAN_Y,-621110.3,-249.1,455.4,749786.9,-3787.2
$MHEAD_RNG_PITCHd_Wd,38.4,6920,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-52.70,0.000,2,0.000,0.000,41,2611,3005
$GC,77,-0.85,-146.0,3.4,-5.5,7,110,11.50,2.05,-11.90,0.000,4,0.243,0.041,2605,1257,3637
$GC,153,-0.85,-146.0,28.5,-27.8,18,161,0.00,2.40,0.00,0.000,6,0.000,0.081,2595,2638,3639
$GC,419,-0.85,-146.0,91.2,-21.5,43,423,0.00,2.15,0.00,0.000,4,0.000,0.081,2585,3902,3639
$GC,469,-0.85,-146.0,102.7,-21.7,47,472,0.00,1.83,0.00,0.000,6,0.000,0.025,2593,2660,3640
$GC,738,-0.85,-146.0,150.6,-17.5,72,742,0.00,2.10,0.00,0.000,4,0.000,0.026,2603,1216,3641
$GC,775,-0.85,-146.0,156.4,-15.2,75,779,0.00,2.35,0.00,0.000,6,0.000,0.060,2593,2651,3641
$GC,1039,-0.85,-146.0,198.5,-16.2,99,1042,0.00,2.10,0.00,0.000,4,0.000,0.026,2602,1217,3641
$GC,1063,-0.85,-146.0,202.5,-15.4,100,1067,0.00,2.33,0.00,0.000,6,0.000,0.059,2592,2644,3642
$GC,1327,-0.85,-146.0,240.2,-15.1,107,1331,0.00,2.08,0.00,0.000,4,0.000,0.072,2582,3896,3642
$GC,1375,-0.85,-146.0,247.1,-12.4,108,1379,0.00,1.85,0.00,0.000,6,0.000,0.025,2590,2622,3642
$GC,1666,-0.85,-146.0,286.0,-13.3,115,1670,0.00,2.03,0.00,0.000,4,0.000,0.026,2600,1229,3642
$GC,1715,-0.85,-146.0,291.3,-10.0,116,1719,0.00,2.28,0.00,0.000,6,0.000,0.055,2591,2643,3642
$GC,2006,-0.85,-146.0,324.8,-11.4,123,2010,0.00,2.08,0.00,0.000,4,0.000,0.071,2580,3899,3642
$GC,2041,-0.85,-146.0,328.7,-10.9,123,2045,0.00,1.85,0.00,0.000,6,0.000,0.026,2588,2628,3641
$GC,2299,-0.85,-146.0,357.1,-11.3,130,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2621,3641
$GC,2544,-0.85,-146.0,384.7,-11.3,136,2547,0.00,2.03,0.00,0.000,4,0.000,0.028,2598,1242,3639
$GC,2607,-0.85,-146.0,391.4,-9.2,137,2611,0.00,2.28,0.00,0.000,6,0.000,0.059,2589,2642,3639
$GC,2875,-0.85,-146.0,421.2,-11.3,144,2879,0.00,2.08,0.00,0.000,4,0.000,0.072,2579,3893,3637
$GC,2916,-0.85,-146.0,425.7,-10.8,144,2922,0.00,1.85,0.00,0.000,6,0.000,0.027,2587,2631,3636
$GC,3169,-0.85,-146.0,451.6,-10.4,151,3173,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,1234,3636
$GC,3217,-0.85,-146.0,456.0,-7.8,152,3221,0.00,2.30,0.00,0.000,6,0.000,0.055,2589,2651,3635
$GC,3504,-0.85,-146.0,481.2,-8.8,159,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2652,3633
$GC,3747,-0.85,-146.0,501.2,-8.1,165,3750,0.00,2.12,0.00,0.000,4,0.000,0.028,2597,1237,3631
$GC,3788,-0.85,-146.0,504.3,-6.9,165,3795,0.00,2.30,0.00,0.000,6,0.000,0.057,2589,2635,3631
$GC,4040,-0.85,-146.0,525.7,-9.0,172,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2635,3629
$GC,4283,-0.85,-146.0,550.3,-10.2,178,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2635,3627
$GC,4529,-0.85,-146.0,574.8,-10.0,184,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2635,3626
$GC,4771,-0.85,-146.0,597.0,-8.9,190,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2634,3624
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4808,begin apogee
$GC,4818,-0.32,0.0,600.3,8.7,191,4945,0.62,0.00,123.35,1.070,6,0.150,0.000,2769,2484,3040
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4950,0.85,146.0,605.6,0.0,194,5096,1.12,2.28,133.20,1.044,4,0.074,0.031,3164,1021,2443
$GC,5299,0.85,146.0,568.7,21.1,202,5303,0.00,2.33,0.00,0.000,6,0.000,0.051,3162,2457,2436
$GC,5562,0.85,146.0,514.8,20.6,209,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2457,2431
$GC,5805,0.85,146.0,463.7,20.9,215,5808,0.00,2.15,0.00,0.000,4,0.000,0.031,3171,1022,2430
$GC,6036,0.85,146.0,421.2,19.6,220,6041,0.00,2.33,0.00,0.000,6,0.000,0.052,3163,2458,2429
$GC,6317,0.85,146.0,371.5,17.3,227,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2458,2426
$GC,6560,0.85,146.0,333.8,14.6,233,6564,0.00,2.15,0.00,0.000,4,0.000,0.031,3171,1023,2425
$GC,6702,0.85,146.0,312.9,15.0,236,6706,0.00,2.35,0.00,0.000,6,0.000,0.054,3163,2474,2425
$GC,6982,0.85,146.0,274.1,13.8,243,6986,0.00,2.30,0.00,0.000,4,0.000,0.064,3162,3875,2424
$GC,6994,0.85,146.0,272.3,13.5,243,6998,0.00,2.17,0.00,0.000,6,0.000,0.028,3171,2437,2424
$GC,7268,0.85,146.0,244.4,9.8,250,7272,0.00,2.35,0.00,0.000,4,0.000,0.058,3163,3872,2423
$GC,7517,0.88,169.0,222.9,8.6,255,7539,0.00,2.15,17.60,0.784,6,0.000,0.029,3173,2430,2351
$GC,7792,0.88,169.0,188.6,13.2,266,7796,0.00,2.35,0.00,0.000,4,0.000,0.055,3163,3872,2348
$GC,7826,0.88,169.0,184.2,14.9,268,7830,0.00,2.10,0.00,0.000,6,0.000,0.028,3172,2469,2346
$GC,8095,0.88,169.0,148.7,13.1,293,8099,0.00,2.10,0.00,0.000,4,0.000,0.028,3183,1045,2346
$GC,8355,0.97,236.9,123.5,6.6,316,8421,0.00,2.25,59.00,0.719,6,0.000,0.045,3176,2469,2074
$GC,8687,0.97,236.9,64.2,18.4,346,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2470,2068
$GC,8952,0.97,236.9,12.0,22.1,379,8961,0.00,2.30,0.00,0.000,4,0.000,0.058,3175,3870,2067
$GC,8987,0.97,236.9,3.7,23.8,384,8995,0.00,2.12,0.00,0.000,6,0.000,0.027,3184,2471,2065
$STATE,9001,end climb,SURFACE_DEPTH_REACHED
$STATE,9001,begin surface coast
$FINISH,0.4,1.023745
$STATE,9014,end surface coast,CONTROL_FINISHED_OK
$STATE,9014,begin surface
$SM_CCo,9039,58.17,0.601,0,0,1612,350.04
$SM_GC,1.56,0.00,0.00,58.17,0.000,0.000,0.601,44,2672,1612,-8.86,0.90,350.04
$IRIDIUM_FIX,2241.69,-15829.72,290500,050532
$TT8_MAMPS,0.023777
$HUMID,1915
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.6,114.783
$10V_AH,10.6,67.393
$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,22.000,82.750,333.150,58.175,0.000,23.758,33.979,185.236,0.000,0.000,0.000,12.772,820.603,6169.848,435.162,1469.169,603.162,33.368,1070.811,0.000,1460.520,0.000,0.543,0.000
$DEVICE_MAMPS,243.139,81.302,1069.965,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,262.129,584.660,599.969,125.738,514.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31792,388
$CAP_FILE_SIZE,75195,0
$CFSIZE,260165632,226824192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,050311,102637,2250.160,-15804.079,40,0.9,40,10.1