version: 66.04
glider: 512
mission: 1
dive: 873
start: 3 5 111 10 33 37
data:
$ID,512
$MISSION,1
$DIVE,873
$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,-24747.207
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,102637,2250.160,-15804.079,40,0.9,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.6
$GPS2,103244,2250.136,-15804.133,14,1.3,14,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.009,0.256
$KALMAN_X,-338077.6,50.2,140.5,349740.4,-2677.1
$KALMAN_Y,-622720.1,-5.5,333.8,751774.9,-3453.8
$MHEAD_RNG_PITCHd_Wd,351.8,6652,-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,-52.67,0.000,2,0.000,0.000,41,2673,3013
$GC,77,-0.85,-146.0,3.8,-6.0,7,110,11.32,2.08,-11.35,0.000,4,0.239,0.093,2586,3864,3638
$GC,147,-0.85,-146.0,30.7,-39.0,17,150,0.00,1.83,0.00,0.000,6,0.000,0.026,2593,2641,3639
$GC,417,-0.85,-146.0,104.0,-26.5,42,420,0.00,2.10,0.00,0.000,4,0.000,0.028,2603,1213,3641
$GC,445,-0.85,-146.0,111.6,-24.7,44,453,0.00,2.38,0.00,0.000,6,0.000,0.070,2593,2612,3641
$GC,709,-0.85,-146.0,163.0,-19.1,69,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2612,3642
$GC,981,-0.85,-146.0,208.6,-16.9,92,985,0.00,2.05,0.00,0.000,4,0.000,0.026,2602,1215,3643
$GC,1028,-0.85,-146.0,215.2,-12.1,93,1032,0.00,2.38,0.00,0.000,6,0.000,0.067,2592,2640,3643
$GC,1313,-0.85,-146.0,255.1,-13.9,100,1316,0.00,2.10,0.00,0.000,4,0.000,0.077,2582,3889,3644
$GC,1362,-0.85,-146.0,260.8,-11.1,101,1366,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2623,3644
$GC,1653,-0.85,-146.0,293.7,-11.5,108,1656,0.00,2.03,0.00,0.000,4,0.000,0.027,2600,1241,3644
$GC,1688,-0.85,-146.0,297.8,-11.0,108,1692,0.00,2.30,0.00,0.000,6,0.000,0.058,2590,2652,3645
$GC,1945,-0.85,-146.0,327.1,-11.6,115,1949,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3899,3644
$GC,1986,-0.85,-146.0,332.0,-11.2,115,1993,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2637,3643
$GC,2238,-0.85,-146.0,359.0,-10.6,122,2242,0.00,2.05,0.00,0.000,4,0.000,0.027,2597,1238,3642
$GC,2279,-0.85,-146.0,363.0,-8.3,122,2285,0.00,2.28,0.00,0.000,6,0.000,0.055,2589,2649,3642
$GC,2531,-0.85,-146.0,386.9,-9.8,129,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3641
$GC,2774,-0.85,-146.0,410.5,-9.7,135,2778,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1241,3639
$GC,2831,-0.85,-146.0,415.3,-6.9,136,2835,0.00,2.30,0.00,0.000,6,0.000,0.057,2589,2648,3639
$GC,3105,-0.85,-146.0,439.8,-9.0,143,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3637
$GC,3350,-0.85,-146.0,461.6,-8.9,149,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3636
$GC,3593,-0.85,-146.0,484.1,-9.4,155,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2648,3634
$GC,3837,-0.85,-146.0,506.9,-9.4,161,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2648,3632
$GC,4080,-0.85,-146.0,530.1,-9.6,167,4084,0.00,2.12,0.00,0.000,4,0.000,0.030,2598,1232,3630
$GC,4128,-0.85,-146.0,534.4,-7.9,168,4132,0.00,2.30,0.00,0.000,6,0.000,0.055,2589,2642,3630
$GC,4413,-0.85,-146.0,562.4,-9.8,175,4416,0.00,2.08,0.00,0.000,4,0.000,0.068,2579,3893,3627
$GC,4442,-0.85,-146.0,565.5,-10.3,175,4446,0.00,1.88,0.00,0.000,6,0.000,0.030,2587,2638,3627
$GC,4705,-0.85,-146.0,590.8,-9.7,182,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2632,3626
$STATE,4822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4822,begin apogee
$GC,4833,-0.32,0.0,602.1,9.5,185,4960,0.62,0.00,123.75,1.075,6,0.149,0.000,2769,2479,3040
$STATE,4961,end apogee,CONTROL_FINISHED_OK
$STATE,4961,begin climb
$GC,4966,0.85,146.0,608.2,0.0,188,5105,1.12,2.40,131.25,1.059,4,0.081,0.058,3150,3876,2443
$GC,5367,0.85,146.0,552.7,24.2,197,5371,0.00,2.17,0.00,0.000,6,0.000,0.029,3159,2438,2435
$GC,5647,0.85,146.0,492.4,21.0,204,5651,0.00,2.08,0.00,0.000,4,0.000,0.031,3170,1050,2431
$GC,5728,0.85,146.0,476.0,20.4,205,5732,0.00,2.28,0.00,0.000,6,0.000,0.051,3163,2455,2430
$GC,5981,0.85,146.0,427.2,19.3,211,5985,0.00,2.33,0.00,0.000,4,0.000,0.061,3163,3875,2428
$GC,6089,0.85,146.0,405.2,19.9,213,6092,0.00,2.15,0.00,0.000,6,0.000,0.029,3171,2451,2427
$GC,6358,0.85,146.0,360.5,16.5,220,6361,0.00,2.10,0.00,0.000,4,0.000,0.031,3183,1041,2426
$GC,6617,0.85,146.0,322.7,12.9,225,6622,0.00,2.25,0.00,0.000,6,0.000,0.046,3176,2465,2425
$GC,6871,0.85,146.0,289.7,13.2,231,6874,0.00,2.12,0.00,0.000,4,0.000,0.029,3185,1039,2424
$GC,6911,0.85,146.0,284.0,13.3,231,6917,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2469,2424
$GC,7163,0.85,146.0,255.4,9.8,238,7167,0.00,2.28,0.00,0.000,4,0.000,0.054,3176,3874,2424
$GC,7249,0.91,187.2,248.0,7.8,239,7289,0.00,2.12,34.05,0.834,6,0.000,0.027,3185,2444,2275
$GC,7542,0.91,187.2,203.7,17.6,247,7546,0.00,2.30,0.00,0.000,4,0.000,0.049,3176,3872,2268
$GC,7555,0.91,187.2,201.5,17.6,247,7559,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2466,2268
$GC,7826,0.91,187.2,155.2,15.8,270,7830,0.00,2.10,0.00,0.000,4,0.000,0.028,3195,1046,2267
$GC,7940,0.91,187.2,137.5,14.2,280,7944,0.00,2.22,0.00,0.000,6,0.000,0.042,3192,2462,2267
$GC,8204,0.91,187.2,100.9,14.6,304,8208,0.00,2.25,0.00,0.000,4,0.000,0.051,3192,3876,2267
$GC,8466,0.91,187.2,66.9,12.7,327,8469,0.00,2.10,0.00,0.000,6,0.000,0.025,3201,2452,2266
$GC,8737,0.91,187.2,41.9,10.2,352,8741,0.00,2.30,0.00,0.000,4,0.000,0.051,3201,3881,2266
$GC,8825,0.91,187.2,31.9,11.6,359,8834,0.15,2.12,0.00,0.000,6,0.250,0.024,3179,2458,2267
$GC,9092,0.91,187.2,3.3,12.0,407,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2458,2267
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,0.3,1.011471
$STATE,9130,end surface coast,CONTROL_FINISHED_OK
$STATE,9130,begin surface
$SM_CCo,9155,83.68,0.594,0,0,1612,350.04
$SM_GC,1.48,0.00,0.00,83.68,0.000,0.000,0.594,46,2660,1612,-8.86,0.57,350.04
$IRIDIUM_FIX,2239.35,-15804.53,290500,070712
$TT8_MAMPS,0.023777
$HUMID,1848
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,23.5,114.894
$10V_AH,10.6,67.484
$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,22.175,86.675,289.050,83.675,0.000,23.621,35.939,149.430,0.500,0.000,0.000,14.602,866.505,6140.526,430.394,1593.806,578.359,33.366,1078.786,0.000,1582.713,0.000,0.542,0.000
$DEVICE_MAMPS,250.042,92.807,1074.567,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,279.776,645.217,665.666,155.393,639.498,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35023,413
$CAP_FILE_SIZE,77304,0
$CFSIZE,260165632,226779136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,050311,130832,2250.642,-15804.798,9,1.6,10,10.1