version: 66.04
glider: 512
mission: 1
dive: 874
start: 3 5 111 13 16 22
data:
$ID,512
$MISSION,1
$DIVE,874
$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,-24794.557
$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,57
$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,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
$GPS1,130832,2250.642,-15804.798,9,1.6,10,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.1
$GPS2,131530,2250.607,-15804.895,41,1.4,46,10.1
$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,-339564.0,153.5,181.5,349764.9,-2735.4
$KALMAN_Y,-625181.2,513.1,35.0,754895.4,-3644.7
$MHEAD_RNG_PITCHd_Wd,0.6,5456,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.12,0.000,2,0.000,0.000,45,2660,2756
$GC,69,-0.85,-146.0,3.1,-4.2,6,110,11.50,2.08,-18.33,0.000,4,0.245,0.087,2585,3870,3639
$GC,196,-0.85,-146.0,34.7,-20.0,25,204,0.00,1.83,0.00,0.000,6,0.000,0.025,2592,2651,3640
$GC,460,-0.85,-146.0,103.1,-24.9,50,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2645,3641
$GC,726,-0.85,-146.0,157.7,-18.2,75,729,0.00,2.08,0.00,0.000,4,0.000,0.027,2602,1230,3642
$GC,789,-0.85,-146.0,168.0,-13.0,80,796,0.00,2.35,0.00,0.000,6,0.000,0.068,2593,2614,3642
$GC,1080,-0.85,-146.0,214.5,-16.6,102,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2614,3643
$GC,1324,-0.85,-146.0,253.2,-15.5,108,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2614,3644
$GC,1569,-0.85,-146.0,287.4,-13.3,114,1573,0.00,2.15,0.00,0.000,4,0.000,0.073,2583,3901,3644
$GC,1593,-0.85,-146.0,290.8,-13.0,114,1597,0.00,1.90,0.00,0.000,6,0.000,0.026,2590,2622,3644
$GC,1863,-0.85,-146.0,323.8,-12.7,121,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2615,3644
$GC,2106,-0.85,-146.0,355.5,-13.1,127,2109,0.00,2.03,0.00,0.000,4,0.000,0.029,2601,1242,3644
$GC,2140,-0.85,-146.0,359.6,-10.3,127,2145,0.00,2.30,0.00,0.000,6,0.000,0.060,2591,2655,3643
$GC,2393,-0.85,-146.0,387.3,-11.2,133,2396,0.00,2.05,0.00,0.000,4,0.000,0.070,2582,3896,3642
$GC,2422,-0.85,-146.0,390.9,-11.1,133,2426,0.00,1.85,0.00,0.000,6,0.000,0.027,2589,2636,3642
$GC,2685,-0.85,-146.0,419.3,-11.2,140,2689,0.00,2.08,0.00,0.000,4,0.000,0.029,2600,1232,3640
$GC,2754,-0.85,-146.0,426.6,-10.1,141,2758,0.00,2.28,0.00,0.000,6,0.000,0.055,2590,2649,3639
$GC,3025,-0.85,-146.0,454.5,-10.4,148,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2649,3637
$GC,3267,-0.85,-146.0,478.3,-9.7,154,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2649,3636
$GC,3510,-0.85,-146.0,502.0,-9.6,160,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2649,3634
$GC,3756,-0.85,-146.0,524.9,-9.3,166,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2649,3632
$GC,3999,-0.85,-146.0,547.5,-9.2,172,4003,0.00,2.10,0.00,0.000,4,0.000,0.033,2599,1248,3630
$GC,4046,-0.85,-146.0,551.7,-7.8,173,4050,0.00,2.30,0.00,0.000,6,0.000,0.064,2589,2648,3630
$GC,4338,-0.85,-146.0,578.9,-9.6,180,4342,0.00,2.12,0.00,0.000,4,0.000,0.030,2598,1238,3627
$GC,4373,-0.85,-146.0,582.6,-9.6,180,4377,0.00,2.30,0.00,0.000,6,0.000,0.058,2590,2647,3627
$STATE,4580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4580,begin apogee
$GC,4591,-0.32,0.0,603.3,10.1,185,4717,0.62,0.00,123.47,1.065,6,0.145,0.000,2771,2479,3040
$STATE,4718,end apogee,CONTROL_FINISHED_OK
$STATE,4718,begin climb
$GC,4723,0.85,146.0,610.3,0.0,188,4872,1.10,2.28,132.60,1.043,4,0.079,0.029,3161,1028,2443
$GC,4942,0.85,146.0,605.4,19.9,193,4946,0.00,2.30,0.00,0.000,6,0.000,0.048,3160,2459,2437
$GC,5221,0.85,146.0,544.9,21.5,200,5225,0.00,2.15,0.00,0.000,4,0.000,0.029,3171,1020,2433
$GC,5346,0.85,146.0,520.4,19.7,202,5350,0.00,2.30,0.00,0.000,6,0.000,0.047,3163,2472,2432
$GC,5604,0.85,146.0,470.2,19.9,209,5607,0.00,2.28,0.00,0.000,4,0.000,0.058,3163,3872,2430
$GC,5741,0.85,146.0,441.4,21.3,212,5745,0.00,2.15,0.00,0.000,6,0.000,0.026,3171,2432,2427
$GC,6026,0.85,146.0,388.8,17.8,219,6030,0.00,2.05,0.00,0.000,4,0.000,0.028,3182,1039,2426
$GC,6286,0.85,146.0,343.6,15.4,224,6290,0.00,2.25,0.00,0.000,6,0.000,0.045,3176,2461,2426
$GC,6538,0.85,146.0,310.2,12.8,230,6542,0.00,2.10,0.00,0.000,4,0.000,0.029,3184,1049,2424
$GC,6646,0.85,146.0,295.5,14.4,232,6650,0.00,2.25,0.00,0.000,6,0.000,0.048,3176,2458,2425
$GC,6914,0.85,146.0,263.8,11.2,239,6918,0.00,2.30,0.00,0.000,4,0.000,0.058,3176,3875,2423
$GC,6937,0.85,146.0,261.0,11.0,239,6941,0.00,2.12,0.00,0.000,6,0.000,0.028,3185,2458,2423
$GC,7202,0.90,179.5,238.1,8.1,246,7243,0.00,2.35,28.70,0.771,4,0.000,0.054,3176,3872,2307
$GC,7494,0.90,179.5,193.8,17.0,254,7498,0.00,2.12,0.00,0.000,6,0.000,0.026,3185,2453,2304
$GC,7765,0.90,179.5,146.7,19.1,279,7769,0.00,2.08,0.00,0.000,4,0.000,0.028,3196,1032,2302
$GC,7902,0.90,179.5,124.6,15.4,291,7907,0.00,2.25,0.00,0.000,6,0.000,0.041,3192,2470,2302
$GC,8168,0.90,179.5,88.8,14.2,315,8172,0.00,2.10,0.00,0.000,4,0.000,0.027,3200,1043,2302
$GC,8195,0.90,179.5,84.8,14.0,317,8200,0.15,2.22,0.00,0.000,6,0.234,0.042,3172,2464,2302
$GC,8470,0.90,184.8,55.4,9.4,342,8484,0.00,2.28,5.05,0.495,4,0.000,0.047,3163,3875,2288
$GC,8576,0.94,217.2,45.3,8.2,351,8615,0.00,2.10,29.60,0.628,6,0.000,0.024,3173,2438,2154
$GC,8875,0.94,217.2,3.7,19.1,392,8883,0.00,2.35,0.00,0.000,4,0.000,0.054,3163,3866,2149
$STATE,8889,end climb,SURFACE_DEPTH_REACHED
$STATE,8889,begin surface coast
$FINISH,0.4,1.023632
$STATE,8907,end surface coast,CONTROL_FINISHED_OK
$STATE,8907,begin surface
$SM_CCo,8934,69.85,0.596,0,0,1613,350.04
$SM_GC,1.37,0.00,0.00,69.85,0.000,0.000,0.596,47,2621,1613,-8.85,-0.54,350.04
$IRIDIUM_FIX,2239.35,-15804.53,290500,101045
$TT8_MAMPS,0.023777
$HUMID,1881
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.5,115.007
$10V_AH,10.6,67.573
$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,22.200,82.275,319.425,69.850,0.000,31.692,33.880,165.904,0.000,0.000,0.000,46.720,829.946,6010.993,438.374,1557.026,588.223,33.367,1075.644,0.000,1517.884,0.000,0.543,0.000
$DEVICE_MAMPS,244.673,86.671,1064.596,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.671,620.608,639.490,147.921,604.756,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31984,397
$CAP_FILE_SIZE,73976,0
$CFSIZE,260165632,226742272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,2,0
$GPS,050311,154746,2251.264,-15805.367,11,2.4,31,10.1