version: 66.04
glider: 512
mission: 1
dive: 776
start: 2 22 111 5 50 16
data:
$ID,512
$MISSION,1
$DIVE,776
$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,-22712.467
$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,2680
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$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
$GPS1,054228,2253.331,-15807.863,11,3.9,30,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.0
$GPS2,054924,2253.372,-15807.905,33,1.6,43,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY5
$TGT_LATLONG,2253.500,-15805.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.211,0.145
$KALMAN_X,-242383.3,404.8,143.8,247193.7,-1324.6
$KALMAN_Y,-510111.5,308.8,137.9,645044.0,-3497.0
$MHEAD_RNG_PITCHd_Wd,45.5,4112,-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,16,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.25,0.000,2,0.000,0.000,51,2719,2902
$GC,69,-0.85,-146.0,3.4,-5.0,6,102,11.70,1.95,-16.50,0.000,4,0.251,0.078,2576,3868,3758
$GC,203,-0.85,-146.0,39.5,-19.7,24,207,0.00,1.77,0.00,0.000,6,0.000,0.024,2582,2678,3760
$GC,474,-0.85,-146.0,116.8,-27.6,49,478,0.00,2.05,0.00,0.000,4,0.000,0.028,2593,1275,3762
$GC,536,-0.85,-146.0,129.9,-15.1,54,544,0.00,2.28,0.00,0.000,6,0.000,0.059,2583,2649,3761
$GC,801,-0.85,-146.0,182.7,-20.8,79,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2649,3763
$GC,1056,-0.85,-146.0,229.4,-16.9,92,1059,0.00,2.03,0.00,0.000,4,0.000,0.025,2589,1263,3764
$GC,1118,-0.85,-146.0,238.0,-11.6,93,1122,0.00,2.33,0.00,0.000,6,0.000,0.061,2589,2684,3764
$GC,1386,-0.85,-146.0,273.8,-13.7,100,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2685,3765
$GC,1630,-0.85,-146.0,307.5,-13.3,106,1634,0.00,2.08,0.00,0.000,4,0.000,0.026,2598,1273,3765
$GC,1670,-0.85,-146.0,312.5,-10.6,106,1677,0.00,2.28,0.00,0.000,6,0.000,0.054,2589,2686,3764
$GC,1922,-0.85,-146.0,342.7,-12.5,113,1925,0.00,2.08,0.00,0.000,4,0.000,0.026,2598,1274,3764
$GC,1985,-0.85,-146.0,349.4,-9.0,114,1989,0.00,2.28,0.00,0.000,6,0.000,0.054,2590,2686,3764
$GC,2254,-0.85,-146.0,379.6,-11.6,121,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2686,3763
$GC,2497,-0.85,-146.0,406.5,-10.8,127,2501,0.00,2.10,0.00,0.000,4,0.000,0.027,2598,1264,3761
$GC,2544,-0.85,-146.0,411.0,-8.1,128,2549,0.00,2.28,0.00,0.000,6,0.000,0.053,2589,2692,3761
$GC,2830,-0.85,-146.0,438.8,-9.8,135,2834,0.00,1.95,0.00,0.000,4,0.000,0.067,2580,3892,3760
$GC,2870,-0.85,-146.0,442.8,-9.4,135,2878,0.00,1.80,0.00,0.000,6,0.000,0.025,2587,2668,3760
$GC,3122,-0.85,-146.0,466.7,-9.7,142,3125,0.00,2.03,0.00,0.000,4,0.000,0.027,2597,1286,3759
$GC,3174,-0.85,-146.0,471.8,-8.9,143,3178,0.00,2.22,0.00,0.000,6,0.000,0.052,2590,2682,3759
$GC,3454,-0.85,-146.0,497.5,-9.2,150,3458,0.00,1.98,0.00,0.000,4,0.000,0.066,2580,3896,3756
$GC,3482,-0.85,-146.0,500.4,-9.6,150,3486,0.00,1.77,0.00,0.000,6,0.000,0.026,2587,2683,3756
$GC,3745,-0.85,-146.0,523.6,-9.0,157,3749,0.00,2.05,0.00,0.000,4,0.000,0.028,2588,1282,3754
$GC,3786,-0.85,-146.0,527.2,-8.7,157,3793,0.00,2.25,0.00,0.000,6,0.000,0.055,2587,2679,3754
$GC,4038,-0.85,-146.0,549.7,-9.0,164,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2678,3752
$GC,4282,-0.85,-146.0,572.5,-9.5,170,4286,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1280,3749
$GC,4317,-0.85,-146.0,575.8,-8.9,170,4321,0.00,2.28,0.00,0.000,6,0.000,0.054,2590,2686,3750
$GC,4570,-0.85,-146.0,597.3,-8.6,176,4574,0.00,2.00,0.00,0.000,4,0.000,0.070,2580,3905,3748
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4607,-0.32,0.0,600.3,9.2,176,4733,0.55,0.00,123.40,1.041,6,0.138,0.000,2760,2522,3160
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4738,0.85,146.0,605.9,0.0,179,4876,1.10,2.35,129.20,1.030,4,0.084,0.058,3136,3898,2562
$GC,5139,0.85,146.0,576.2,17.2,188,5142,0.00,2.08,0.00,0.000,6,0.000,0.026,3146,2506,2556
$GC,5430,0.85,146.0,532.1,14.6,195,5434,0.00,2.25,0.00,0.000,4,0.000,0.053,3146,3904,2552
$GC,5688,0.85,146.0,494.7,14.1,200,5692,0.00,2.05,0.00,0.000,6,0.000,0.028,3156,2518,2550
$GC,5945,0.85,146.0,465.1,11.5,207,5949,0.00,2.25,0.00,0.000,4,0.000,0.054,3150,3911,2548
$GC,6134,0.85,146.0,442.7,11.8,211,6138,0.00,2.08,0.00,0.000,6,0.000,0.027,3159,2511,2547
$GC,6420,0.86,148.8,413.7,9.5,218,6424,0.00,2.25,0.00,0.000,4,0.000,0.049,3150,3916,2546
$GC,6679,0.87,160.6,389.3,9.1,223,6695,0.00,2.08,10.90,0.842,6,0.000,0.026,3159,2505,2505
$GC,6976,0.87,160.6,358.8,10.7,231,6980,0.00,2.25,0.00,0.000,4,0.000,0.050,3151,3916,2503
$GC,7235,0.87,160.6,329.2,12.5,236,7239,0.00,2.08,0.00,0.000,6,0.000,0.026,3159,2516,2502
$GC,7495,0.89,176.6,305.2,8.9,243,7515,0.00,2.10,15.40,0.819,4,0.000,0.028,3169,1102,2439
$GC,7758,0.89,176.6,275.5,10.1,249,7763,0.00,2.25,0.00,0.000,6,0.000,0.044,3163,2536,2436
$GC,8046,0.89,176.6,244.6,11.1,256,8050,0.00,2.17,0.00,0.000,4,0.000,0.052,3163,3912,2435
$GC,8307,0.89,176.6,215.1,10.6,261,8311,0.00,2.08,0.00,0.000,6,0.000,0.025,3172,2505,2435
$GC,8569,1.02,281.1,197.0,5.0,271,8672,0.00,2.17,92.82,0.755,4,0.000,0.028,3181,1119,2013
$GC,8699,1.02,281.1,179.1,23.9,283,8703,0.00,2.25,0.00,0.000,6,0.000,0.042,3175,2528,2009
$GC,8964,1.02,281.1,112.6,25.4,307,8968,0.00,2.17,0.00,0.000,4,0.000,0.047,3176,3906,2005
$GC,9071,1.02,281.1,86.7,22.0,316,9079,0.00,2.08,0.00,0.000,6,0.000,0.025,3185,2526,2004
$GC,9336,1.02,281.1,26.2,22.9,342,9344,0.00,2.25,0.00,0.000,4,0.000,0.051,3177,3902,2004
$GC,9375,1.02,281.1,16.9,24.6,348,9384,0.00,2.08,0.00,0.000,6,0.000,0.025,3186,2518,2004
$STATE,9426,end climb,SURFACE_DEPTH_REACHED
$STATE,9427,begin surface coast
$FINISH,0.3,1.023887
$STATE,9439,end surface coast,CONTROL_FINISHED_OK
$STATE,9439,begin surface
$SM_CCo,9463,35.03,0.596,0,0,1732,350.04
$SM_GC,1.49,0.00,0.00,35.03,0.000,0.000,0.596,51,2711,1732,-8.81,0.88,350.04
$IRIDIUM_FIX,2244.02,-15806.70,180500,030303
$TT8_MAMPS,0.023777
$HUMID,1892
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,102.494
$10V_AH,10.6,58.630
$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,22.350,93.550,371.725,35.025,0.000,23.621,42.083,173.797,0.000,0.000,0.000,43.297,820.406,6476.035,440.269,1603.907,577.584,33.367,1162.698,0.000,1553.704,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,78.234,1040.819,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,241.612,485.739,500.660,101.825,420.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28760,359
$CAP_FILE_SIZE,81109,0
$CFSIZE,260165632,230850560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,220211,083000,2254.014,-15807.410,39,1.6,40,10.1