version: 66.04
glider: 512
mission: 1
dive: 877
start: 3 5 111 21 18 55
data:
$ID,512
$MISSION,1
$DIVE,877
$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,-24837.379
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,211131,2252.094,-15804.843,8,1.7,9,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.1
$GPS2,211802,2252.100,-15804.854,13,1.8,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.063,0.248
$KALMAN_X,-344210.2,561.3,252.3,353993.8,-2935.7
$KALMAN_Y,-630339.8,991.6,747.8,761618.1,-4712.3
$MHEAD_RNG_PITCHd_Wd,4.0,2818,-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,-45.10,0.000,2,0.000,0.000,47,2665,2780
$GC,70,-0.85,-146.0,3.0,-4.1,6,102,11.73,0.00,-17.98,0.000,6,0.252,0.000,2592,2665,3638
$GC,367,-0.85,-146.0,83.4,-25.5,41,370,0.00,2.12,0.00,0.000,4,0.000,0.028,2602,1239,3640
$GC,440,-0.85,-146.0,98.5,-17.2,47,444,0.00,2.30,0.00,0.000,6,0.000,0.064,2592,2626,3640
$GC,705,-0.85,-146.0,152.2,-20.0,71,709,0.00,2.10,0.00,0.000,4,0.000,0.070,2582,3901,3642
$GC,732,-0.85,-146.0,157.4,-19.7,73,736,0.00,1.88,0.00,0.000,6,0.000,0.025,2590,2635,3642
$GC,1020,-0.85,-146.0,208.1,-17.3,97,1024,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,1231,3643
$GC,1061,-0.85,-146.0,215.1,-15.5,97,1067,0.00,2.30,0.00,0.000,6,0.000,0.058,2590,2637,3643
$GC,1313,-0.85,-146.0,252.7,-15.1,104,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2638,3644
$GC,1557,-0.85,-146.0,286.2,-13.7,110,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2638,3644
$GC,1801,-0.85,-146.0,316.6,-12.3,116,1805,0.00,2.08,0.00,0.000,4,0.000,0.027,2599,1232,3644
$GC,1853,-0.85,-146.0,322.3,-9.5,117,1858,0.00,2.30,0.00,0.000,6,0.000,0.053,2589,2659,3644
$GC,2134,-0.85,-146.0,354.5,-11.9,124,2137,0.00,2.00,0.00,0.000,4,0.000,0.064,2579,3890,3643
$GC,2197,-0.85,-146.0,361.8,-10.6,125,2201,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2623,3643
$GC,2471,-0.85,-146.0,394.5,-12.2,132,2475,0.00,2.03,0.00,0.000,4,0.000,0.028,2597,1241,3641
$GC,2506,-0.85,-146.0,398.4,-10.0,132,2510,0.00,2.28,0.00,0.000,6,0.000,0.056,2589,2648,3641
$GC,2760,-0.85,-146.0,423.7,-10.1,138,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2648,3639
$GC,3002,-0.85,-146.0,449.0,-10.4,144,3005,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1235,3638
$GC,3037,-0.85,-146.0,452.7,-9.5,144,3041,0.00,2.28,0.00,0.000,6,0.000,0.053,2589,2641,3637
$GC,3289,-0.85,-146.0,478.2,-10.5,150,3293,0.00,2.05,0.00,0.000,4,0.000,0.066,2578,3894,3636
$GC,3325,-0.85,-146.0,482.1,-10.6,150,3329,0.00,1.85,0.00,0.000,6,0.000,0.028,2586,2642,3635
$GC,3582,-0.85,-146.0,508.9,-10.6,157,3586,0.00,2.08,0.00,0.000,4,0.000,0.029,2596,1239,3633
$GC,3630,-0.85,-146.0,513.7,-9.2,158,3634,0.00,2.28,0.00,0.000,6,0.000,0.054,2590,2638,3633
$GC,3915,-0.85,-146.0,544.5,-11.0,165,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2638,3631
$GC,4160,-0.85,-146.0,568.9,-9.8,171,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2638,3629
$GC,4403,-0.85,-146.0,590.9,-9.0,177,4406,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,1236,3627
$GC,4432,-0.85,-146.0,593.7,-8.8,177,4436,0.00,2.30,0.00,0.000,6,0.000,0.057,2590,2638,3627
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4540,-0.32,0.0,602.2,8.8,180,4666,0.62,0.00,123.50,1.071,6,0.148,0.000,2770,2492,3040
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4672,0.85,146.0,608.2,0.0,183,4819,1.10,2.40,132.45,1.042,4,0.081,0.059,3150,3878,2442
$GC,4904,0.85,146.0,596.1,23.9,188,4908,0.00,2.20,0.00,0.000,6,0.000,0.028,3160,2432,2437
$GC,5172,0.85,146.0,534.9,22.8,195,5176,0.00,2.35,0.00,0.000,4,0.000,0.055,3151,3875,2432
$GC,5246,0.85,146.0,518.2,22.9,196,5250,0.00,2.15,0.00,0.000,6,0.000,0.028,3159,2454,2431
$GC,5498,0.85,146.0,468.7,19.3,202,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2448,2429
$GC,5741,0.85,146.0,422.7,18.6,208,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2448,2428
$GC,5987,0.85,146.0,378.9,17.6,214,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2448,2427
$GC,6229,0.85,146.0,339.9,15.7,220,6233,0.00,2.33,0.00,0.000,4,0.000,0.055,3151,3877,2425
$GC,6315,0.85,146.0,326.2,16.1,222,6319,0.00,2.15,0.00,0.000,6,0.000,0.029,3159,2456,2425
$GC,6608,0.85,146.0,285.6,13.4,229,6612,0.00,2.10,0.00,0.000,4,0.000,0.029,3170,1038,2424
$GC,6746,0.87,158.1,271.2,9.1,232,6760,0.00,2.28,8.38,0.755,6,0.000,0.046,3163,2472,2396
$GC,7036,0.87,158.1,238.9,11.0,239,7040,0.00,2.25,0.00,0.000,4,0.000,0.054,3162,3872,2392
$GC,7285,0.89,174.7,212.0,8.9,244,7306,0.00,2.12,15.82,0.768,6,0.000,0.027,3172,2444,2327
$GC,7561,0.89,174.7,176.3,15.9,263,7564,0.00,2.05,0.00,0.000,4,0.000,0.028,3182,1061,2325
$GC,7642,0.89,174.7,163.2,15.0,270,7646,0.00,2.22,0.00,0.000,6,0.000,0.043,3176,2463,2324
$GC,7913,0.89,174.7,126.8,13.1,295,7917,0.00,2.10,0.00,0.000,4,0.000,0.028,3185,1056,2323
$GC,8084,0.89,174.7,107.2,10.1,310,8088,0.00,2.20,0.00,0.000,6,0.000,0.041,3176,2463,2323
$GC,8349,0.91,190.8,85.1,8.9,334,8374,0.00,2.33,15.25,0.644,4,0.000,0.050,3176,3893,2261
$GC,8390,0.91,190.8,81.2,10.7,337,8394,0.00,2.12,0.00,0.000,6,0.000,0.023,3185,2453,2261
$GC,8661,0.91,190.8,46.4,12.0,362,8665,0.00,2.05,0.00,0.000,4,0.000,0.026,3195,1055,2259
$GC,8766,0.91,190.8,36.1,10.0,371,8774,0.00,2.22,0.00,0.000,6,0.000,0.041,3192,2455,2259
$STATE,9029,end climb,SURFACE_DEPTH_REACHED
$STATE,9030,begin surface coast
$FINISH,0.4,1.023771
$STATE,9052,end surface coast,CONTROL_FINISHED_OK
$STATE,9052,begin surface
$SM_CCo,9079,82.22,0.588,0,0,1612,350.04
$SM_GC,1.43,0.00,0.00,82.22,0.000,0.000,0.588,45,2678,1612,-8.86,1.07,350.04
$IRIDIUM_FIX,2241.69,-15802.37,290500,181847
$TT8_MAMPS,0.023777
$HUMID,1860
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.6,115.342
$10V_AH,10.6,67.842
$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,22.350,82.475,295.400,82.225,0.000,28.261,40.531,167.963,0.250,0.000,0.000,13.140,869.437,6110.877,425.533,1552.422,597.097,33.364,1044.305,0.000,1545.282,0.000,0.543,0.000
$DEVICE_MAMPS,251.576,69.797,1070.732,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,284.155,670.057,689.133,156.116,639.491,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35141,419
$CAP_FILE_SIZE,75053,0
$CFSIZE,260165632,226615296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,050311,235306,2252.654,-15804.977,37,1.0,43,10.1