version: 66.04
glider: 512
mission: 1
dive: 471
start: 1 23 111 10 12 13
data:
$ID,512
$MISSION,1
$DIVE,471
$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,-15170.618
$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,66
$R_STBD_OVSHOOT,26
$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
$GPS1,100254,2253.811,-15759.029,32,1.7,50,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.6
$GPS2,101120,2253.846,-15758.988,15,1.6,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.245,0.098
$KALMAN_X,-170881.9,1372.0,364.1,189845.9,-1572.0
$KALMAN_Y,-455844.5,168.0,338.4,591598.8,-3677.7
$MHEAD_RNG_PITCHd_Wd,58.0,5986,-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,-155.7,0.0,0.0,0,64,0.00,0.00,-46.10,0.000,2,0.000,0.000,43,2656,3208
$GC,67,-0.84,-155.7,3.8,-5.3,6,99,11.52,2.00,-12.90,0.000,4,0.251,0.069,2608,3882,3963
$GC,178,-0.84,-155.7,40.5,-15.7,20,182,0.00,1.83,0.00,0.000,6,0.000,0.028,2612,2662,3965
$GC,448,-0.84,-155.7,102.0,-25.4,45,451,0.00,2.08,0.00,0.000,4,0.000,0.030,2622,1257,3966
$GC,505,-0.84,-155.7,112.7,-13.5,50,509,0.00,2.30,0.00,0.000,6,0.000,0.068,2612,2648,3967
$GC,767,-0.84,-155.7,153.4,-15.3,74,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2648,3968
$GC,1022,-0.84,-155.7,189.7,-13.5,98,1026,0.00,2.05,0.00,0.000,4,0.000,0.027,2620,1249,3969
$GC,1061,-0.84,-155.7,194.5,-10.6,101,1068,0.00,2.35,0.00,0.000,6,0.000,0.069,2619,2652,3969
$GC,1334,-0.84,-155.7,222.6,-10.7,113,1337,0.00,2.10,0.00,0.000,4,0.000,0.087,2608,3890,3970
$GC,1367,-0.84,-155.7,226.1,-9.9,113,1371,0.00,1.85,0.00,0.000,6,0.000,0.028,2614,2634,3970
$GC,1623,-0.84,-155.7,250.3,-9.5,120,1627,0.00,2.00,0.00,0.000,4,0.000,0.026,2624,1250,3970
$GC,1670,-0.84,-155.7,254.0,-6.4,121,1674,0.00,2.25,0.00,0.000,6,0.000,0.061,2619,2659,3970
$GC,1959,-0.84,-155.7,277.7,-8.1,128,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2659,3969
$GC,2203,-0.84,-155.7,297.1,-8.1,134,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2659,3969
$GC,2447,-0.84,-155.7,316.6,-8.0,140,2451,0.00,2.08,0.00,0.000,4,0.000,0.028,2627,1246,3968
$GC,2481,-0.84,-155.7,319.3,-7.3,140,2485,0.00,2.25,0.00,0.000,6,0.000,0.058,2619,2649,3968
$GC,2733,-0.84,-155.7,337.7,-7.3,146,2736,0.00,2.08,0.00,0.000,4,0.000,0.081,2608,3896,3967
$GC,2761,-0.84,-155.7,340.1,-7.7,146,2765,0.00,1.85,0.00,0.000,6,0.000,0.031,2614,2644,3967
$GC,3023,-0.84,-155.7,359.6,-7.6,153,3027,0.00,2.03,0.00,0.000,4,0.000,0.028,2624,1254,3966
$GC,3056,-0.84,-155.7,362.4,-7.5,153,3061,0.00,2.25,0.00,0.000,6,0.000,0.058,2619,2661,3966
$GC,3307,-0.84,-155.7,384.6,-9.4,159,3311,0.00,2.08,0.00,0.000,4,0.000,0.029,2630,1255,3965
$GC,3565,-0.84,-155.7,408.8,-10.0,164,3569,0.00,2.28,0.00,0.000,6,0.000,0.061,2629,2657,3964
$GC,3822,-0.84,-155.7,431.4,-9.3,171,3826,0.00,2.05,0.00,0.000,4,0.000,0.028,2638,1260,3962
$GC,4080,-0.84,-155.7,456.4,-8.5,176,4084,0.00,2.25,0.00,0.000,6,0.000,0.056,2634,2658,3961
$GC,4336,-0.84,-155.7,480.6,-9.6,183,4341,0.00,2.12,-0.05,0.000,4,0.000,0.042,2638,1251,3978
$GC,4593,-0.84,-155.7,503.8,-9.6,188,4599,0.00,2.30,0.00,0.000,6,0.000,0.066,2633,2649,3976
$GC,4844,-0.84,-155.7,524.6,-8.7,195,4847,0.00,2.05,0.00,0.000,4,0.000,0.030,2643,1267,3975
$GC,5079,-0.84,-155.7,547.1,-10.7,200,5083,0.00,2.28,0.00,0.000,6,0.000,0.063,2642,2657,3974
$GC,5354,-0.84,-155.7,575.5,-10.6,207,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2657,3972
$STATE,5593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5593,begin apogee
$GC,5600,-0.32,0.0,603.1,11.3,213,5729,0.47,0.00,125.43,1.110,6,0.106,0.000,2798,2577,3367
$STATE,5729,end apogee,CONTROL_FINISHED_OK
$STATE,5729,begin climb
$GC,5733,0.84,155.7,614.4,0.0,216,5875,1.05,2.25,134.60,1.094,4,0.070,0.057,3162,3891,2731
$GC,6133,0.86,167.2,620.0,9.1,225,6148,0.00,2.03,10.15,0.946,6,0.000,0.029,3171,2532,2685
$GC,6405,0.86,167.2,592.9,10.5,232,6409,0.00,2.20,0.00,0.000,4,0.000,0.054,3163,3903,2681
$GC,6663,0.91,212.0,570.0,7.8,237,6708,0.00,2.00,39.90,1.073,6,0.000,0.031,3172,2553,2502
$GC,6959,0.91,212.0,523.1,17.8,245,6963,0.00,2.17,0.00,0.000,4,0.000,0.056,3164,3898,2495
$GC,7217,0.91,212.0,476.1,18.2,250,7221,0.00,2.00,0.00,0.000,6,0.000,0.030,3172,2556,2494
$GC,7473,0.91,212.0,434.3,16.2,257,7477,0.00,2.15,0.00,0.000,4,0.000,0.053,3164,3894,2492
$GC,7731,0.91,212.0,391.9,15.8,262,7735,0.00,2.00,0.00,0.000,6,0.000,0.030,3172,2549,2492
$GC,7988,0.91,212.0,357.4,13.2,269,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2543,2490
$GC,8230,0.91,212.0,326.8,12.7,275,8234,0.00,2.08,0.00,0.000,4,0.000,0.031,3183,1140,2489
$GC,8423,0.91,212.0,302.3,14.3,279,8428,0.00,2.25,0.00,0.000,6,0.000,0.053,3176,2545,2489
$GC,8699,0.91,212.0,266.3,12.6,286,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2545,2488
$GC,8940,0.91,212.0,239.0,10.8,292,8943,0.00,2.10,0.00,0.000,4,0.000,0.031,3185,1133,2488
$GC,9197,0.95,244.1,217.5,8.3,297,9229,0.00,2.28,26.62,0.848,6,0.000,0.051,3176,2564,2372
$GC,9488,0.95,244.1,179.3,13.2,313,9491,0.00,2.12,0.00,0.000,4,0.000,0.030,3185,1139,2367
$GC,9745,0.95,244.1,144.4,15.4,336,9749,0.00,2.25,0.00,0.000,6,0.000,0.048,3176,2557,2366
$GC,10007,0.95,244.1,106.5,13.2,360,10011,0.00,2.12,0.00,0.000,4,0.000,0.054,3176,3904,2365
$GC,10075,0.95,244.1,98.3,12.1,366,10079,0.00,2.00,0.00,0.000,6,0.000,0.028,3184,2541,2365
$GC,10345,1.03,311.3,75.6,6.8,391,10409,0.15,2.25,56.78,0.719,4,0.116,0.055,3231,3892,2097
$GC,10440,1.03,311.3,61.1,25.0,400,10444,0.00,2.00,0.00,0.000,6,0.000,0.026,3239,2561,2095
$STATE,10666,end climb,SURFACE_DEPTH_REACHED
$STATE,10666,begin surface coast
$FINISH,0.1,1.024115
$STATE,10679,end surface coast,CONTROL_FINISHED_OK
$STATE,10679,begin surface
$SM_CCo,10700,21.55,0.629,0,0,1940,350.04
$SM_GC,3.51,0.00,0.00,21.55,0.000,0.000,0.629,52,2662,1940,-8.90,0.37,350.04
$IRIDIUM_FIX,2246.36,-15758.45,180400,101038
$TT8_MAMPS,0.024544
$HUMID,1837
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.7,61.594
$10V_AH,10.7,35.671
$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,22.200,89.225,393.475,21.550,0.000,56.690,77.390,182.515,0.250,0.000,0.000,15.402,979.056,7329.067,422.700,1921.984,580.124,33.367,1240.109,0.000,1897.520,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,86.671,1109.849,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,293.569,625.128,641.279,124.541,517.491,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35202,433
$CAP_FILE_SIZE,91466,0
$CFSIZE,260165632,242577408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,230111,131237,2253.428,-15758.260,62,1.1,62,10.1