version: 66.04
glider: 512
mission: 1
dive: 777
start: 2 22 111 8 36 55
data:
$ID,512
$MISSION,1
$DIVE,777
$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,-22729.039
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2870
$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,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3140
$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
$GPS1,083000,2254.014,-15807.410,39,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.1
$GPS2,083602,2254.094,-15807.407,15,1.6,15,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.248,0.065
$KALMAN_X,-244132.5,379.6,116.9,249858.5,-2440.2
$KALMAN_Y,-510525.2,128.3,427.8,646674.8,-2573.2
$MHEAD_RNG_PITCHd_Wd,65.3,3436,-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,-45.20,0.000,2,0.000,0.000,51,2711,2898
$GC,69,-0.85,-146.0,3.0,-4.4,6,103,11.57,1.92,-17.17,0.000,4,0.249,0.071,2574,3869,3738
$GC,171,-0.85,-146.0,32.2,-25.1,22,175,0.00,1.85,0.00,0.000,6,0.000,0.025,2578,2643,3739
$GC,441,-0.85,-146.0,114.3,-32.1,47,445,0.00,2.03,0.00,0.000,4,0.000,0.063,2570,3868,3741
$GC,481,-0.85,-146.0,127.2,-26.5,50,489,0.00,1.85,0.00,0.000,6,0.000,0.025,2577,2633,3741
$GC,745,-0.85,-146.0,182.3,-22.5,75,748,0.00,2.03,0.00,0.000,4,0.000,0.060,2569,3869,3742
$GC,773,-0.85,-146.0,189.2,-22.3,77,780,0.00,1.83,0.00,0.000,6,0.000,0.023,2574,2644,3742
$GC,1037,-0.85,-146.0,237.5,-17.8,88,1041,0.00,2.08,0.00,0.000,4,0.000,0.026,2580,1222,3744
$GC,1089,-0.85,-146.0,245.0,-12.0,89,1093,0.00,2.25,0.00,0.000,6,0.000,0.056,2573,2617,3744
$GC,1369,-0.85,-146.0,287.8,-16.2,96,1373,0.00,2.08,0.00,0.000,4,0.000,0.064,2562,3895,3744
$GC,1404,-0.85,-146.0,293.5,-14.4,96,1408,0.10,1.85,0.00,0.000,6,0.160,0.023,2589,2605,3745
$GC,1660,-0.85,-146.0,324.7,-12.4,103,1664,0.00,1.98,0.00,0.000,4,0.000,0.025,2596,1249,3745
$GC,1729,-0.85,-146.0,332.0,-9.2,104,1734,0.00,2.22,0.00,0.000,6,0.000,0.051,2589,2645,3744
$GC,2000,-0.85,-146.0,361.9,-11.3,111,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3743
$GC,2241,-0.85,-146.0,388.3,-10.9,117,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3743
$GC,2485,-0.85,-146.0,414.2,-10.6,123,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2645,3741
$GC,2731,-0.85,-146.0,438.8,-10.0,129,2735,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3902,3740
$GC,2760,-0.85,-146.0,442.1,-10.1,129,2764,0.00,1.85,0.00,0.000,6,0.000,0.025,2587,2654,3740
$GC,3024,-0.85,-146.0,467.1,-9.8,136,3027,0.00,2.08,0.00,0.000,4,0.000,0.028,2587,1243,3739
$GC,3065,-0.85,-146.0,471.0,-8.2,136,3071,0.00,2.25,0.00,0.000,6,0.000,0.053,2578,2641,3739
$GC,3318,-0.85,-146.0,496.3,-10.3,143,3322,0.00,2.05,0.00,0.000,4,0.000,0.067,2568,3894,3737
$GC,3375,-0.85,-146.0,502.4,-9.3,144,3379,0.00,1.85,0.00,0.000,6,0.000,0.025,2574,2632,3736
$GC,3658,-0.85,-146.0,530.4,-10.2,151,3662,0.00,2.05,0.00,0.000,4,0.000,0.028,2583,1235,3734
$GC,3699,-0.85,-146.0,534.7,-8.7,151,3705,0.00,2.30,0.00,0.000,6,0.000,0.055,2576,2648,3734
$GC,3951,-0.85,-146.0,558.9,-9.9,158,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2648,3732
$GC,4194,-0.85,-146.0,582.8,-9.7,164,4198,0.00,2.05,0.00,0.000,4,0.000,0.068,2566,3895,3730
$GC,4228,-0.85,-146.0,586.3,-10.2,164,4232,0.00,1.88,0.00,0.000,6,0.000,0.026,2574,2631,3730
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4410,-0.32,0.0,602.4,9.2,169,4538,0.65,0.00,124.05,1.042,6,0.149,0.000,2764,2516,3140
$STATE,4538,end apogee,CONTROL_FINISHED_OK
$STATE,4538,begin climb
$GC,4543,0.85,146.0,607.7,0.0,172,4679,1.10,2.15,129.45,1.029,4,0.076,0.029,3157,1124,2544
$GC,4943,0.85,146.0,577.4,17.0,181,4947,0.00,2.20,0.00,0.000,6,0.000,0.044,3150,2523,2536
$GC,5233,0.85,146.0,531.9,14.7,188,5237,0.00,2.10,0.00,0.000,4,0.000,0.030,3159,1107,2532
$GC,5375,0.85,146.0,513.1,12.8,191,5379,0.00,2.25,0.00,0.000,6,0.000,0.048,3159,2529,2531
$GC,5659,0.85,146.0,476.1,12.9,198,5663,0.00,2.10,0.00,0.000,4,0.000,0.029,3168,1111,2528
$GC,5677,0.85,146.0,473.9,12.2,198,5681,0.00,2.22,0.00,0.000,6,0.000,0.044,3163,2529,2528
$GC,5945,0.85,146.0,440.2,12.8,205,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2528,2527
$GC,6190,0.85,146.0,410.1,12.3,211,6194,0.00,2.17,0.00,0.000,4,0.000,0.054,3163,3898,2526
$GC,6309,0.85,146.0,396.1,11.0,213,6313,0.00,2.05,0.00,0.000,6,0.000,0.028,3171,2518,2525
$GC,6571,0.85,146.0,367.6,10.7,220,6575,0.00,2.22,0.00,0.000,4,0.000,0.050,3163,3904,2525
$GC,6831,0.85,146.0,339.5,10.5,225,6835,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2511,2524
$GC,7088,0.88,166.6,317.1,8.7,232,7117,0.00,2.25,17.90,0.756,4,0.000,0.049,3163,3896,2460
$GC,7253,0.88,166.6,296.5,13.5,235,7257,0.00,2.05,0.00,0.000,6,0.000,0.026,3171,2518,2458
$GC,7516,0.88,166.6,265.6,10.6,242,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2512,2457
$GC,7761,0.90,182.1,243.9,8.9,248,7781,0.00,2.25,14.90,0.763,4,0.000,0.049,3163,3910,2397
$GC,8036,0.90,182.1,206.1,15.2,254,8039,0.00,2.08,0.00,0.000,6,0.000,0.026,3172,2513,2395
$GC,8306,0.95,226.0,177.4,7.7,274,8354,0.00,2.15,39.42,0.739,4,0.000,0.028,3182,1112,2217
$GC,8424,0.95,226.0,161.8,16.6,284,8429,0.00,2.22,0.00,0.000,6,0.000,0.042,3176,2523,2214
$GC,8688,0.95,226.0,115.5,16.9,308,8692,0.00,2.20,0.00,0.000,4,0.000,0.053,3176,3903,2211
$GC,8748,0.95,226.0,105.5,16.7,313,8752,0.00,2.05,0.00,0.000,6,0.000,0.026,3185,2518,2210
$GC,9019,0.95,226.0,70.4,14.3,338,9023,0.00,2.20,0.00,0.000,4,0.000,0.049,3177,3899,2210
$GC,9142,0.95,226.0,49.5,17.4,349,9146,0.00,2.05,0.00,0.000,6,0.000,0.025,3186,2510,2210
$GC,9410,0.95,226.0,7.6,15.9,386,9418,0.00,2.22,0.00,0.000,4,0.000,0.046,3177,3890,2210
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9435,begin surface coast
$FINISH,0.3,1.023844
$STATE,9452,end surface coast,CONTROL_FINISHED_OK
$STATE,9452,begin surface
$SM_CCo,9478,66.40,0.587,0,0,1712,350.04
$SM_GC,1.84,0.00,0.00,66.40,0.000,0.000,0.587,53,2618,1712,-8.81,-0.65,350.04
$IRIDIUM_FIX,2246.36,-15808.88,180500,050536
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.5,102.606
$10V_AH,10.7,58.715
$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,22.300,91.650,325.725,66.400,0.000,30.380,32.447,148.788,0.000,0.000,0.000,15.944,857.951,6495.397,434.890,1564.232,559.581,33.373,1107.685,0.000,1551.036,0.000,0.541,0.000
$DEVICE_MAMPS,248.508,70.564,1041.586,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,266.013,572.897,588.912,127.383,521.351,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31994,393
$CAP_FILE_SIZE,79059,0
$CFSIZE,260165632,230801408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,1
$GPS,220211,111656,2254.304,-15806.405,10,1.8,11,10.1