version: 66.04
glider: 512
mission: 1
dive: 467
start: 1 22 111 22 29 53
data:
$ID,512
$MISSION,1
$DIVE,467
$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,160
$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,-15085.581
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2900
$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,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3367
$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
$GPS1,222207,2253.132,-15802.031,38,1.7,38,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.4
$GPS2,222902,2253.181,-15801.989,15,1.9,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.246,0.096
$KALMAN_X,-166361.6,-1308.0,-159.9,183378.1,54.0
$KALMAN_Y,-449196.7,635.8,689.2,582883.6,-3739.4
$MHEAD_RNG_PITCHd_Wd,58.5,11087,-16.2,-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,15,-0.84,-155.7,0.0,0.0,0,56,0.00,0.00,-38.67,0.000,2,0.000,0.000,48,2673,2947
$GC,60,-0.84,-155.7,3.3,-6.6,5,100,11.43,2.05,-19.48,0.000,4,0.249,0.088,2609,3870,3961
$GC,120,-0.84,-155.7,21.5,-31.9,13,127,0.00,1.80,0.00,0.000,6,0.000,0.026,2615,2675,3961
$GC,392,-0.84,-155.7,86.6,-22.8,41,396,0.00,2.12,0.00,0.000,4,0.000,0.028,2627,1230,3963
$GC,449,-0.84,-155.7,96.1,-10.5,46,453,0.00,2.33,0.00,0.000,6,0.000,0.069,2618,2632,3963
$GC,712,-0.84,-155.7,130.6,-15.1,70,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2633,3965
$GC,968,-0.84,-155.7,162.9,-11.9,94,971,0.00,2.05,0.00,0.000,4,0.000,0.026,2626,1228,3966
$GC,992,-0.84,-155.7,165.7,-11.0,96,996,0.00,2.33,0.00,0.000,6,0.000,0.063,2619,2656,3966
$GC,1256,-0.84,-155.7,192.8,-11.7,120,1260,0.00,2.05,0.00,0.000,4,0.000,0.081,2610,3888,3966
$GC,1280,-0.84,-155.7,195.8,-11.9,122,1284,0.00,1.83,0.00,0.000,6,0.000,0.028,2613,2628,3967
$GC,1568,-0.84,-155.7,228.3,-11.2,132,1572,0.00,2.00,0.00,0.000,4,0.000,0.026,2623,1249,3967
$GC,1597,-0.84,-155.7,231.1,-9.4,132,1601,0.00,2.28,0.00,0.000,6,0.000,0.064,2619,2656,3967
$GC,1854,-0.84,-155.7,253.7,-9.0,139,1857,0.00,2.05,0.00,0.000,4,0.000,0.081,2610,3884,3967
$GC,1887,-0.84,-155.7,257.0,-9.0,139,1891,0.00,1.83,0.00,0.000,6,0.000,0.029,2613,2648,3967
$GC,2147,-0.84,-155.7,280.5,-9.5,146,2151,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1256,3966
$GC,2175,-0.84,-155.7,283.6,-9.0,146,2179,0.00,2.22,0.00,0.000,6,0.000,0.058,2609,2653,3966
$GC,2431,-0.84,-155.7,306.7,-9.2,153,2435,0.00,2.05,0.00,0.000,4,0.000,0.079,2599,3880,3966
$GC,2465,-0.84,-155.7,309.9,-9.2,153,2469,0.00,1.80,0.00,0.000,6,0.000,0.029,2606,2641,3966
$GC,2721,-0.84,-155.7,332.9,-9.2,160,2725,0.00,2.03,0.00,0.000,4,0.000,0.028,2617,1249,3965
$GC,2761,-0.84,-155.7,336.5,-7.6,160,2768,0.00,2.28,0.00,0.000,6,0.000,0.061,2607,2646,3964
$GC,3011,-0.84,-155.7,359.7,-9.4,167,3015,0.00,2.08,0.00,0.000,4,0.000,0.082,2597,3885,3963
$GC,3039,-0.84,-155.7,362.5,-9.8,167,3043,0.00,1.83,0.00,0.000,6,0.000,0.029,2605,2651,3963
$GC,3301,-0.84,-155.7,387.4,-9.7,174,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2645,3962
$GC,3544,-0.84,-155.7,410.7,-9.5,180,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2645,3961
$GC,3789,-0.84,-155.7,431.7,-8.4,186,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2645,3960
$GC,4032,-0.84,-155.7,450.7,-7.8,192,4033,0.00,0.00,-0.05,0.000,6,0.000,0.000,2605,2645,3977
$GC,4276,-0.84,-155.7,470.6,-8.2,198,4279,0.00,2.05,0.00,0.000,4,0.000,0.029,2615,1253,3976
$GC,4310,-0.84,-155.7,473.3,-7.2,198,4314,0.00,2.25,0.00,0.000,6,0.000,0.057,2606,2660,3976
$GC,4560,-0.84,-155.7,492.2,-7.5,204,4564,0.00,2.03,0.00,0.000,4,0.000,0.075,2596,3888,3974
$GC,4594,-0.84,-155.7,494.9,-7.6,204,4598,0.00,1.83,0.00,0.000,6,0.000,0.032,2603,2642,3973
$GC,4851,-0.84,-155.7,516.5,-9.1,211,4855,0.00,2.03,0.00,0.000,4,0.000,0.030,2609,1257,3972
$GC,5110,-0.84,-155.7,539.7,-8.1,216,5114,0.00,2.25,0.00,0.000,6,0.000,0.057,2605,2653,3970
$GC,5362,-0.84,-155.7,559.0,-7.9,222,5366,0.00,2.08,0.00,0.000,4,0.000,0.029,2605,1262,3969
$GC,5503,-0.84,-155.7,571.1,-9.1,225,5507,0.00,2.25,0.00,0.000,6,0.000,0.060,2605,2647,3969
$GC,5781,-0.84,-155.7,594.5,-9.0,232,5785,0.00,2.05,0.00,0.000,4,0.000,0.030,2610,1262,3967
$STATE,5834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5834,begin apogee
$GC,5844,-0.32,0.0,600.0,9.2,233,5971,0.52,0.00,123.65,1.079,6,0.080,0.000,2797,2554,3367
$STATE,5971,end apogee,CONTROL_FINISHED_OK
$STATE,5971,begin climb
$GC,5974,0.84,155.7,608.8,0.0,236,6118,1.10,2.20,133.57,1.054,4,0.071,0.028,3184,1151,2732
$GC,6146,1.19,437.6,629.9,-2.1,240,6401,0.32,2.30,245.02,1.025,6,0.097,0.045,3279,2552,1583
$GC,6652,1.19,437.6,410.7,54.0,253,6655,0.00,2.12,0.00,0.000,4,0.000,0.032,3290,1158,1576
$GC,6707,1.19,437.6,381.1,51.1,254,6712,0.00,2.28,0.00,0.000,6,0.000,0.058,3286,2547,1574
$GC,6981,1.19,437.6,239.7,51.3,261,6985,0.00,2.08,0.00,0.000,4,0.000,0.031,3295,1161,1574
$GC,6998,1.19,437.6,229.3,53.9,261,7002,0.00,2.20,0.00,0.000,6,0.000,0.046,3295,2565,1574
$GC,7265,1.19,437.6,93.6,49.4,282,7268,0.00,2.12,0.00,0.000,4,0.000,0.033,3305,1161,1572
$GC,7289,1.19,437.6,81.5,50.8,284,7293,0.00,2.22,0.00,0.000,6,0.000,0.057,3300,2545,1572
$STATE,7459,end climb,SURFACE_DEPTH_REACHED
$STATE,7459,begin surface coast
$FINISH,0.1,1.023908
$STATE,7469,end surface coast,CONTROL_FINISHED_OK
$STATE,7469,begin surface
$SM_CCo,7549,0.00,0.000,0,0,1565,441.78
$SM_GC,1.47,9.30,0.00,0.00,0.083,0.000,0.000,52,2695,1565,-8.86,1.30,441.78
$IRIDIUM_FIX,2246.36,-15801.49,170400,191951
$TT8_MAMPS,0.023777
$HUMID,2025
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.5,61.073
$10V_AH,10.7,35.288
$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,22.675,79.575,502.250,0.000,0.000,29.933,40.636,210.288,0.000,0.000,0.000,15.263,667.206,5167.484,473.433,1154.186,501.611,33.369,1039.490,0.000,1145.110,0.000,0.540,0.000
$DEVICE_MAMPS,248.508,88.205,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,206.965,440.216,453.717,89.651,367.734,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25567,306
$CAP_FILE_SIZE,67235,0
$CFSIZE,260165632,242786304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,230111,003700,2253.153,-15800.817,41,1.3,42,10.1