version: 66.04
glider: 512
mission: 1
dive: 782
start: 2 22 111 22 27 59
data:
$ID,512
$MISSION,1
$DIVE,782
$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,-22823.531
$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,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3120
$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
$GPS1,221906,2255.830,-15803.449,30,1.2,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.5
$GPS2,222707,2255.850,-15803.366,15,1.4,20,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.256,-0.013
$KALMAN_X,-248729.8,282.3,83.9,261528.0,-1364.1
$KALMAN_Y,-517168.7,184.5,561.7,656396.5,-3583.9
$MHEAD_RNG_PITCHd_Wd,82.8,14109,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.85,-146.0,0.0,0.0,0,67,0.00,0.00,-45.20,0.000,2,0.000,0.000,44,2674,2852
$GC,72,-0.85,-146.0,3.2,-4.5,6,113,11.82,1.98,-17.60,0.000,4,0.252,0.073,2577,3868,3718
$GC,123,-0.85,-146.0,17.1,-28.6,12,130,0.00,1.83,0.00,0.000,6,0.000,0.024,2585,2643,3718
$GC,388,-0.85,-146.0,95.2,-26.6,40,392,0.00,2.08,0.00,0.000,4,0.000,0.026,2596,1225,3719
$GC,406,-0.85,-146.0,100.3,-26.5,41,413,0.00,2.28,0.00,0.000,6,0.000,0.057,2587,2615,3720
$GC,670,-0.85,-146.0,159.9,-22.0,66,673,0.00,2.10,0.00,0.000,4,0.000,0.065,2577,3907,3721
$GC,705,-0.85,-146.0,168.4,-24.4,69,709,0.00,1.85,0.00,0.000,6,0.000,0.023,2584,2640,3721
$GC,970,-0.85,-146.0,216.1,-18.8,88,974,0.00,2.05,0.00,0.000,4,0.000,0.025,2594,1223,3722
$GC,1010,-0.85,-146.0,222.8,-14.5,88,1017,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2642,3723
$GC,1262,-0.85,-146.0,261.8,-16.2,95,1265,0.00,2.05,0.00,0.000,4,0.000,0.067,2580,3906,3722
$GC,1332,-0.85,-146.0,270.7,-11.2,96,1336,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2624,3722
$GC,1600,-0.85,-146.0,301.9,-11.5,103,1604,0.00,2.03,0.00,0.000,4,0.000,0.025,2597,1228,3722
$GC,1642,-0.85,-146.0,306.5,-10.2,103,1648,0.00,2.30,0.00,0.000,6,0.000,0.055,2589,2656,3723
$GC,1894,-0.85,-146.0,336.2,-12.4,110,1898,0.00,2.00,0.00,0.000,4,0.000,0.065,2580,3891,3722
$GC,1929,-0.85,-146.0,340.9,-12.6,110,1933,0.00,1.83,0.00,0.000,6,0.000,0.023,2587,2629,3722
$GC,2186,-0.85,-146.0,371.1,-12.0,117,2190,0.00,2.03,0.00,0.000,4,0.000,0.025,2597,1238,3720
$GC,2238,-0.85,-146.0,376.6,-8.8,118,2242,0.00,2.25,0.00,0.000,6,0.000,0.054,2589,2640,3720
$GC,2523,-0.85,-146.0,407.3,-10.8,125,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2639,3719
$GC,2770,-0.85,-146.0,432.8,-10.4,131,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3717
$GC,3011,-0.85,-146.0,457.2,-9.9,137,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2640,3716
$GC,3255,-0.85,-146.0,479.9,-9.2,143,3259,0.00,2.10,0.00,0.000,4,0.000,0.028,2598,1240,3714
$GC,3279,-0.85,-146.0,482.3,-9.3,143,3283,0.00,2.28,0.00,0.000,6,0.000,0.057,2589,2649,3714
$GC,3543,-0.85,-146.0,505.2,-9.0,150,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3712
$GC,3786,-0.85,-146.0,528.0,-9.3,156,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3710
$GC,4030,-0.85,-146.0,551.1,-9.5,162,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2649,3708
$GC,4273,-0.85,-146.0,574.6,-9.6,168,4277,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,1240,3707
$GC,4302,-0.85,-146.0,577.4,-9.1,168,4306,0.00,2.28,0.00,0.000,6,0.000,0.057,2589,2645,3706
$GC,4560,-0.85,-146.0,598.5,-8.1,175,4563,0.00,2.08,0.00,0.000,4,0.000,0.072,2580,3893,3704
$STATE,4573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4573,begin apogee
$GC,4585,-0.32,0.0,600.1,8.3,175,4712,0.55,0.00,123.07,1.039,6,0.140,0.000,2758,2518,3120
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4717,0.85,146.0,605.0,0.0,178,4856,1.15,2.35,130.50,1.040,4,0.082,0.058,3148,3904,2522
$GC,4886,0.85,146.0,609.8,15.0,182,4890,0.00,2.10,0.00,0.000,6,0.000,0.026,3158,2524,2520
$GC,5148,0.85,146.0,561.0,18.5,189,5152,0.00,2.10,0.00,0.000,4,0.000,0.029,3169,1107,2513
$GC,5177,0.85,146.0,555.9,17.2,189,5182,0.00,2.22,0.00,0.000,6,0.000,0.044,3162,2524,2513
$GC,5436,0.85,146.0,511.3,17.7,196,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2524,2510
$GC,5680,0.85,146.0,476.0,14.0,202,5683,0.00,2.10,0.00,0.000,4,0.000,0.030,3171,1117,2509
$GC,5922,0.85,146.0,442.7,12.4,207,5926,0.00,2.22,0.00,0.000,6,0.000,0.048,3163,2525,2507
$GC,6190,0.85,146.0,409.6,12.4,214,6194,0.00,2.10,0.00,0.000,4,0.000,0.030,3172,1114,2505
$GC,6247,0.85,146.0,402.6,12.5,215,6251,0.00,2.22,0.00,0.000,6,0.000,0.047,3163,2527,2506
$GC,6520,0.85,146.0,368.9,12.1,222,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2527,2505
$GC,6765,0.85,146.0,342.4,10.6,228,6769,0.00,2.10,0.00,0.000,4,0.000,0.030,3172,1119,2505
$GC,6862,0.88,169.1,333.4,8.6,230,6886,0.00,2.20,18.17,0.862,6,0.000,0.043,3163,2529,2430
$GC,7146,0.88,169.1,298.2,12.8,237,7149,0.00,2.17,0.00,0.000,4,0.000,0.053,3163,3898,2427
$GC,7238,0.88,169.1,283.6,16.2,239,7242,0.00,2.05,0.00,0.000,6,0.000,0.026,3171,2518,2426
$GC,7529,0.88,169.1,250.8,10.6,246,7533,0.00,2.22,0.00,0.000,4,0.000,0.051,3164,3904,2425
$GC,7637,0.88,169.1,239.6,10.0,248,7641,0.00,2.08,0.00,0.000,6,0.000,0.028,3172,2510,2424
$GC,7912,0.90,182.4,215.3,9.0,255,7936,0.00,2.22,14.52,0.671,4,0.000,0.050,3163,3901,2376
$GC,7966,0.90,182.4,209.0,13.2,256,7969,0.00,2.08,0.00,0.000,6,0.000,0.027,3172,2515,2376
$GC,8234,0.90,182.4,169.2,15.3,276,8238,0.00,2.08,0.00,0.000,4,0.000,0.027,3183,1097,2374
$GC,8431,0.90,182.4,147.9,9.6,293,8435,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2531,2374
$GC,8697,0.98,247.6,128.3,6.7,317,8759,0.00,2.22,57.25,0.708,4,0.000,0.027,3184,1104,2109
$GC,9012,0.98,247.6,68.6,19.6,344,9020,0.00,2.22,0.00,0.000,6,0.000,0.039,3176,2515,2102
$GC,9281,0.98,247.6,18.2,20.3,374,9289,0.00,2.10,0.00,0.000,4,0.000,0.026,3185,1104,2102
$GC,9304,0.98,247.6,12.4,20.7,377,9312,0.00,2.22,0.00,0.000,6,0.000,0.040,3176,2518,2102
$STATE,9350,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,0.3,1.023698
$STATE,9362,end surface coast,CONTROL_FINISHED_OK
$STATE,9362,begin surface
$SM_CCo,9387,56.17,0.598,0,0,1692,350.04
$SM_GC,2.29,0.00,0.00,56.17,0.000,0.000,0.598,47,2672,1692,-8.82,0.88,350.04
$IRIDIUM_FIX,2246.36,-15800.62,180500,191943
$TT8_MAMPS,0.023777
$HUMID,1858
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,103.195
$10V_AH,10.7,59.149
$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,22.300,93.500,343.525,56.175,0.000,29.999,43.222,256.211,0.000,0.000,0.000,20.252,824.443,6551.298,439.590,1434.855,677.374,33.368,1082.165,0.000,1417.212,0.000,0.543,0.000
$DEVICE_MAMPS,251.576,72.865,1040.052,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,261.406,559.435,575.362,118.694,482.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32019,387
$CAP_FILE_SIZE,78460,0
$CFSIZE,260165632,230596608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,230211,010636,2255.153,-15802.553,11,1.9,29,10.1