version: 66.04
glider: 512
mission: 1
dive: 876
start: 3 5 111 18 41 49
data:
$ID,512
$MISSION,1
$DIVE,876
$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,-24823.611
$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,54
$R_STBD_OVSHOOT,53
$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
$GPS1,183436,2251.247,-15804.861,31,0.9,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.1
$GPS2,184056,2251.279,-15804.898,15,1.5,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.071,0.246
$KALMAN_X,-343328.5,447.4,141.2,353272.0,-3385.4
$KALMAN_Y,-628872.8,1132.8,524.5,758708.2,-3990.5
$MHEAD_RNG_PITCHd_Wd,6.1,4240,-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,-45.20,0.000,2,0.000,0.000,51,2683,2759
$GC,70,-0.85,-146.0,3.1,-4.0,6,110,11.77,1.98,-18.77,0.000,4,0.252,0.079,2582,3854,3638
$GC,178,-0.85,-146.0,28.1,-21.0,23,187,0.00,1.83,0.00,0.000,6,0.000,0.024,2589,2635,3640
$GC,453,-0.85,-146.0,99.5,-24.6,49,456,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,1239,3641
$GC,515,-0.85,-146.0,113.5,-15.4,54,523,0.00,2.28,0.00,0.000,6,0.000,0.061,2590,2605,3641
$GC,781,-0.85,-146.0,161.9,-17.8,79,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2605,3642
$GC,1044,-0.85,-146.0,207.8,-17.2,101,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2605,3643
$GC,1286,-0.85,-146.0,247.3,-15.7,107,1289,0.00,2.17,0.00,0.000,4,0.000,0.075,2580,3901,3644
$GC,1315,-0.85,-146.0,252.1,-16.0,107,1319,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2632,3644
$GC,1578,-0.85,-146.0,289.2,-14.2,114,1582,0.00,2.05,0.00,0.000,4,0.000,0.026,2598,1224,3643
$GC,1626,-0.85,-146.0,295.1,-10.8,115,1630,0.00,2.33,0.00,0.000,6,0.000,0.059,2588,2638,3644
$GC,1911,-0.85,-146.0,329.1,-11.8,122,1914,0.00,2.08,0.00,0.000,4,0.000,0.070,2578,3901,3644
$GC,1963,-0.85,-146.0,335.0,-10.0,123,1967,0.00,1.85,0.00,0.000,6,0.000,0.025,2586,2631,3643
$GC,2248,-0.85,-146.0,367.9,-11.9,130,2252,0.00,2.05,0.00,0.000,4,0.000,0.027,2596,1230,3643
$GC,2317,-0.85,-146.0,374.9,-9.1,131,2322,0.00,2.33,0.00,0.000,6,0.000,0.056,2588,2661,3642
$GC,2581,-0.85,-146.0,402.6,-10.7,138,2585,0.00,2.03,0.00,0.000,4,0.000,0.068,2578,3888,3640
$GC,2650,-0.85,-146.0,409.6,-9.3,139,2654,0.00,1.88,0.00,0.000,6,0.000,0.026,2585,2634,3640
$GC,2920,-0.85,-146.0,436.4,-10.0,146,2923,0.00,2.05,0.00,0.000,4,0.000,0.028,2596,1239,3638
$GC,2972,-0.85,-146.0,441.3,-7.4,147,2976,0.00,2.30,0.00,0.000,6,0.000,0.061,2588,2645,3637
$GC,3252,-0.85,-146.0,468.0,-9.8,154,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2645,3636
$GC,3495,-0.85,-146.0,491.8,-9.7,160,3499,0.00,2.10,0.00,0.000,4,0.000,0.075,2578,3896,3634
$GC,3544,-0.85,-146.0,496.4,-8.8,161,3548,0.00,1.88,0.00,0.000,6,0.000,0.028,2585,2642,3633
$GC,3835,-0.85,-146.0,525.5,-10.1,168,3839,0.00,2.08,0.00,0.000,4,0.000,0.029,2587,1242,3631
$GC,3883,-0.85,-146.0,530.1,-9.1,169,3887,0.00,2.30,0.00,0.000,6,0.000,0.059,2588,2639,3631
$GC,4171,-0.85,-146.0,556.0,-8.9,176,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2639,3629
$GC,4412,-0.85,-146.0,577.0,-8.5,182,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2639,3627
$GC,4656,-0.85,-146.0,597.9,-8.6,188,4660,0.00,2.08,0.00,0.000,4,0.000,0.031,2597,1242,3626
$STATE,4677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4677,begin apogee
$GC,4690,-0.32,0.0,600.2,9.4,188,4816,0.57,0.00,122.68,1.059,6,0.143,0.000,2764,2467,3040
$STATE,4816,end apogee,CONTROL_FINISHED_OK
$STATE,4816,begin climb
$GC,4821,0.85,146.0,605.5,0.0,191,4966,1.17,2.20,132.50,1.037,4,0.088,0.029,3162,1055,2443
$GC,5109,0.85,146.0,584.4,20.7,198,5113,0.00,2.25,0.00,0.000,6,0.000,0.044,3162,2473,2436
$GC,5371,0.85,146.0,527.5,21.3,205,5375,0.00,2.12,0.00,0.000,4,0.000,0.028,3171,1050,2432
$GC,5430,0.85,146.0,516.8,18.0,206,5434,0.00,2.25,0.00,0.000,6,0.000,0.048,3171,2460,2433
$GC,5704,0.85,146.0,464.9,18.7,213,5708,0.00,2.30,0.00,0.000,4,0.000,0.055,3162,3882,2430
$GC,5795,0.85,146.0,445.9,20.7,215,5799,0.00,2.12,0.00,0.000,6,0.000,0.027,3172,2472,2428
$GC,6081,0.85,146.0,392.3,18.3,222,6084,0.00,2.12,0.00,0.000,4,0.000,0.029,3182,1038,2426
$GC,6149,0.85,146.0,380.0,16.8,223,6154,0.00,2.25,0.00,0.000,6,0.000,0.044,3176,2471,2427
$GC,6418,0.85,146.0,335.7,16.3,230,6422,0.00,2.25,0.00,0.000,4,0.000,0.053,3176,3872,2425
$GC,6470,0.85,146.0,326.3,17.3,231,6474,0.00,2.12,0.00,0.000,6,0.000,0.026,3184,2453,2425
$GC,6755,0.85,146.0,281.5,14.9,238,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2447,2424
$GC,6999,0.85,146.0,255.5,10.3,244,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2447,2423
$GC,7243,0.92,196.4,236.2,7.4,250,7298,0.00,2.20,43.53,0.794,4,0.000,0.028,3195,1036,2238
$GC,7324,0.92,196.4,226.6,16.7,251,7330,0.00,2.28,0.00,0.000,6,0.000,0.044,3192,2465,2236
$GC,7582,0.92,196.4,176.5,21.7,264,7586,0.00,2.12,0.00,0.000,4,0.000,0.027,3200,1039,2232
$GC,7608,0.92,196.4,170.9,20.8,266,7612,0.00,2.25,0.00,0.000,6,0.000,0.042,3200,2471,2232
$GC,7873,0.92,196.4,121.9,18.2,290,7876,0.00,2.10,0.00,0.000,4,0.000,0.027,3211,1046,2231
$GC,8023,0.92,196.4,98.6,13.0,303,8031,0.00,2.25,0.00,0.000,6,0.000,0.042,3205,2457,2231
$GC,8289,0.92,196.4,65.6,13.7,328,8293,0.00,2.25,0.00,0.000,4,0.000,0.050,3205,3875,2231
$GC,8315,0.92,196.4,61.7,14.5,330,8320,0.17,2.10,0.00,0.000,6,0.259,0.025,3182,2451,2231
$GC,8585,0.92,196.4,32.9,12.7,355,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2445,2230
$STATE,8800,end climb,SURFACE_DEPTH_REACHED
$STATE,8800,begin surface coast
$FINISH,0.4,1.023795
$STATE,8823,end surface coast,CONTROL_FINISHED_OK
$STATE,8823,begin surface
$SM_CCo,8848,77.80,0.598,0,0,1611,350.04
$SM_GC,1.32,0.00,0.00,77.80,0.000,0.000,0.598,47,2665,1611,-8.85,0.71,350.04
$IRIDIUM_FIX,2241.69,-15804.53,290500,161605
$TT8_MAMPS,0.023777
$HUMID,1867
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.5,115.230
$10V_AH,10.6,67.751
$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,22.425,85.400,298.700,77.800,0.000,24.998,38.280,156.432,0.250,0.000,0.000,15.327,827.872,6000.625,443.918,1461.971,575.299,33.366,1044.916,0.000,1455.852,0.000,0.543,0.000
$DEVICE_MAMPS,259.246,79.001,1059.227,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.348,616.104,634.682,147.759,604.748,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31853,398
$CAP_FILE_SIZE,73145,0
$CFSIZE,260165632,226664448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,1
$GPS,050311,211131,2252.094,-15804.843,8,1.7,9,10.1