version: 66.04
glider: 512
mission: 1
dive: 875
start: 3 5 111 15 55 7
data:
$ID,512
$MISSION,1
$DIVE,875
$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,-24807.656
$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,21
$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
$GPS1,154746,2251.264,-15805.367,11,2.4,31,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.9
$GPS2,155414,2251.249,-15805.470,12,2.0,12,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.245,0.080
$KALMAN_X,-341234.8,295.3,205.2,350281.9,-3025.6
$KALMAN_Y,-627525.0,965.1,81.6,757925.3,-4031.9
$MHEAD_RNG_PITCHd_Wd,61.8,4169,-16.8,-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,-45.12,0.000,2,0.000,0.000,40,2620,2757
$GC,70,-0.85,-146.0,3.1,-4.4,6,110,11.25,2.08,-18.85,0.000,4,0.236,0.041,2604,1264,3638
$GC,152,-0.85,-146.0,21.6,-23.6,18,160,0.00,2.30,0.00,0.000,6,0.000,0.064,2595,2629,3640
$GC,420,-0.85,-146.0,86.1,-22.3,46,423,0.00,2.12,0.00,0.000,4,0.000,0.077,2585,3886,3640
$GC,467,-0.85,-146.0,95.4,-18.0,50,470,0.00,1.80,0.00,0.000,6,0.000,0.025,2592,2658,3640
$GC,738,-0.85,-146.0,146.9,-18.9,75,742,0.00,2.08,0.00,0.000,4,0.000,0.026,2602,1233,3642
$GC,767,-0.85,-146.0,153.3,-18.8,77,775,0.00,2.35,0.00,0.000,6,0.000,0.063,2593,2649,3642
$GC,1031,-0.85,-146.0,198.9,-17.1,102,1035,0.00,2.08,0.00,0.000,4,0.000,0.025,2601,1233,3643
$GC,1079,-0.85,-146.0,206.2,-13.1,104,1083,0.00,2.33,0.00,0.000,6,0.000,0.063,2591,2644,3643
$GC,1365,-0.85,-146.0,247.8,-14.7,111,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2645,3643
$GC,1607,-0.85,-146.0,282.7,-14.1,117,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2645,3644
$GC,1851,-0.85,-146.0,313.3,-12.3,123,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2644,3644
$GC,2097,-0.85,-146.0,341.0,-11.2,129,2100,0.00,2.10,0.00,0.000,4,0.000,0.027,2600,1220,3643
$GC,2145,-0.85,-146.0,345.8,-8.1,130,2149,0.00,2.30,0.00,0.000,6,0.000,0.051,2590,2651,3643
$GC,2432,-0.85,-146.0,378.3,-11.9,137,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2650,3642
$GC,2673,-0.85,-146.0,407.1,-11.8,143,2677,0.00,2.10,0.00,0.000,4,0.000,0.027,2599,1232,3641
$GC,2715,-0.85,-146.0,411.5,-10.0,143,2721,0.00,2.28,0.00,0.000,6,0.000,0.050,2590,2652,3641
$GC,2967,-0.85,-146.0,438.3,-10.9,150,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2652,3639
$GC,3211,-0.85,-146.0,464.6,-10.6,156,3215,0.00,2.12,0.00,0.000,4,0.000,0.028,2598,1234,3637
$GC,3264,-0.85,-146.0,469.7,-8.1,157,3268,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2638,3637
$GC,3544,-0.85,-146.0,496.6,-9.7,164,3548,0.00,2.10,0.00,0.000,4,0.000,0.071,2579,3897,3635
$GC,3585,-0.85,-146.0,500.7,-9.8,164,3591,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2627,3635
$GC,3838,-0.85,-146.0,523.9,-9.2,171,3841,0.00,2.05,0.00,0.000,4,0.000,0.028,2596,1236,3633
$GC,3873,-0.85,-146.0,527.4,-9.0,171,3877,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2638,3633
$GC,4126,-0.85,-146.0,549.1,-8.7,177,4129,0.00,2.10,0.00,0.000,4,0.000,0.071,2580,3898,3630
$GC,4161,-0.85,-146.0,552.3,-8.9,177,4165,0.00,1.88,0.00,0.000,6,0.000,0.028,2587,2634,3630
$GC,4419,-0.85,-146.0,573.1,-8.1,184,4423,0.00,2.08,0.00,0.000,4,0.000,0.029,2587,1235,3628
$GC,4472,-0.85,-146.0,577.4,-7.6,185,4476,0.00,2.33,0.00,0.000,6,0.000,0.059,2578,2639,3628
$STATE,4749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4749,begin apogee
$GC,4759,-0.32,0.0,603.3,9.7,192,4886,0.68,0.00,123.45,1.065,6,0.153,0.000,2770,2496,3040
$STATE,4887,end apogee,CONTROL_FINISHED_OK
$STATE,4887,begin climb
$GC,4891,0.85,146.0,609.6,0.0,195,5034,1.12,0.00,132.62,1.042,6,0.073,0.000,3156,2496,2444
$GC,5278,0.85,146.0,569.5,21.0,205,5281,0.00,2.22,0.00,0.000,4,0.000,0.031,3167,1029,2434
$GC,5358,0.85,146.0,553.5,19.9,206,5362,0.00,2.33,0.00,0.000,6,0.000,0.048,3163,2475,2433
$GC,5609,0.85,146.0,502.7,20.4,212,5613,0.00,2.25,0.00,0.000,4,0.000,0.056,3163,3873,2430
$GC,5622,0.85,146.0,499.8,20.6,212,5627,0.00,2.17,0.00,0.000,6,0.000,0.026,3171,2426,2430
$GC,5897,0.85,146.0,444.4,19.9,219,5901,0.00,2.33,0.00,0.000,4,0.000,0.052,3163,3876,2428
$GC,5926,0.85,146.0,438.8,20.1,219,5930,0.00,2.12,0.00,0.000,6,0.000,0.028,3172,2459,2427
$GC,6184,0.85,146.0,393.3,17.6,226,6188,0.00,2.10,0.00,0.000,4,0.000,0.030,3183,1049,2426
$GC,6355,0.85,146.0,364.3,15.9,229,6359,0.00,2.25,0.00,0.000,6,0.000,0.049,3177,2460,2426
$GC,6607,0.85,146.0,331.6,12.5,235,6610,0.00,2.12,0.00,0.000,4,0.000,0.030,3185,1041,2424
$GC,6636,0.85,146.0,327.9,12.6,235,6640,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2464,2424
$GC,6894,0.85,146.0,291.0,15.0,242,6898,0.00,2.28,0.00,0.000,4,0.000,0.052,3176,3882,2424
$GC,7075,0.85,146.0,266.7,12.6,246,7080,0.15,2.15,0.00,0.000,6,0.296,0.027,3161,2446,2423
$GC,7366,0.86,151.0,239.3,9.4,253,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2445,2422
$GC,7609,0.89,176.5,218.1,8.5,259,7639,0.00,2.15,24.20,0.788,4,0.000,0.029,3170,1040,2320
$GC,7720,0.89,176.5,205.3,14.3,261,7724,0.00,2.25,0.00,0.000,6,0.000,0.042,3163,2468,2317
$GC,7983,0.89,176.5,165.8,14.7,282,7986,0.00,2.10,0.00,0.000,4,0.000,0.027,3172,1050,2314
$GC,8182,0.89,176.5,138.9,14.8,299,8186,0.00,2.25,0.00,0.000,6,0.000,0.045,3163,2458,2315
$GC,8448,0.89,176.5,107.9,9.6,323,8451,0.00,2.12,0.00,0.000,4,0.000,0.028,3172,1045,2314
$GC,8529,0.90,185.8,99.8,9.2,330,8544,0.00,2.28,8.98,0.615,6,0.000,0.045,3163,2476,2282
$GC,8800,0.90,185.8,74.1,10.7,355,8804,0.00,2.25,0.00,0.000,4,0.000,0.056,3163,3870,2280
$GC,8821,0.90,185.8,71.4,11.4,356,8825,0.00,2.10,0.00,0.000,6,0.000,0.024,3172,2446,2280
$GC,9092,0.94,221.5,50.9,8.0,381,9131,0.00,2.30,31.67,0.624,4,0.000,0.048,3163,3875,2137
$GC,9345,0.94,221.5,11.5,20.3,411,9353,0.00,2.12,0.00,0.000,6,0.000,0.024,3172,2459,2135
$STATE,9385,end climb,SURFACE_DEPTH_REACHED
$STATE,9385,begin surface coast
$FINISH,0.7,1.016295
$STATE,9403,end surface coast,CONTROL_FINISHED_OK
$STATE,9403,begin surface
$SM_CCo,9428,62.15,0.583,0,0,1613,350.04
$SM_GC,1.39,0.00,0.00,62.15,0.000,0.000,0.583,53,2682,1613,-8.84,1.19,350.04
$IRIDIUM_FIX,2244.02,-15804.53,290500,131349
$TT8_MAMPS,0.023777
$HUMID,1854
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.6,115.119
$10V_AH,10.6,67.664
$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,22.000,96.050,320.925,62.150,0.000,30.738,37.199,166.274,0.250,0.000,0.000,12.469,875.144,6411.451,434.750,1536.499,623.766,33.361,1073.291,0.000,1538.285,0.000,0.542,0.000
$DEVICE_MAMPS,296.062,76.700,1064.596,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,284.737,658.229,680.539,152.374,621.449,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35030,421
$CAP_FILE_SIZE,78867,0
$CFSIZE,260165632,226693120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,050311,183436,2251.247,-15804.861,31,0.9,32,10.1