version: 66.04
glider: 512
mission: 1
dive: 474
start: 1 23 111 18 58 5
data:
$ID,512
$MISSION,1
$DIVE,474
$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,-15216.814
$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,54
$R_STBD_OVSHOOT,19
$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
$GPS1,185125,2254.311,-15758.206,84,1.0,84,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.4
$GPS2,185714,2254.370,-15758.197,15,1.0,15,10.1
$SPEED_LIMITS,0.167,0.264
$TGT_NAME,WAY6
$TGT_LATLONG,2253.500,-15755.500
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.222,0.143
$KALMAN_X,-172947.5,-448.6,98.4,195362.7,-1368.1
$KALMAN_Y,-461259.6,-147.1,22.7,598613.9,-2273.0
$MHEAD_RNG_PITCHd_Wd,47.0,4876,-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,-38.65,0.000,2,0.000,0.000,46,2654,2940
$GC,60,-0.84,-155.7,3.2,-5.1,5,100,11.57,2.08,-19.67,0.000,4,0.252,0.080,2606,3890,3961
$GC,141,-0.84,-155.7,26.7,-25.5,17,149,0.00,1.88,0.00,0.000,6,0.000,0.028,2613,2662,3963
$GC,407,-0.84,-155.7,79.5,-19.8,43,411,0.00,2.12,0.00,0.000,4,0.000,0.028,2623,1224,3965
$GC,486,-0.84,-155.7,89.3,-8.4,50,490,0.00,2.38,0.00,0.000,6,0.000,0.069,2619,2660,3965
$GC,748,-0.84,-155.7,124.4,-13.9,74,752,0.00,2.08,0.00,0.000,4,0.000,0.084,2609,3891,3966
$GC,794,-0.84,-155.7,130.4,-11.7,78,798,0.00,1.85,0.00,0.000,6,0.000,0.027,2613,2615,3966
$GC,1063,-0.84,-155.7,165.1,-14.0,103,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2609,3966
$GC,1318,-0.84,-155.7,196.2,-10.7,127,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2607,3968
$GC,1600,-0.84,-155.7,224.9,-10.0,137,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2608,3968
$GC,1844,-0.84,-155.7,247.8,-9.4,143,1848,0.00,2.15,0.00,0.000,4,0.000,0.079,2605,3889,3968
$GC,1873,-0.84,-155.7,250.5,-9.6,143,1877,0.00,1.80,0.00,0.000,6,0.000,0.028,2613,2642,3968
$GC,2135,-0.84,-155.7,273.3,-8.6,150,2139,0.00,2.00,0.00,0.000,4,0.000,0.027,2617,1259,3968
$GC,2163,-0.84,-155.7,275.8,-8.2,150,2167,0.00,2.25,0.00,0.000,6,0.000,0.060,2616,2663,3968
$GC,2418,-0.84,-155.7,298.3,-9.1,157,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2663,3967
$GC,2662,-0.84,-155.7,322.4,-10.0,163,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2663,3967
$GC,2905,-0.84,-155.7,346.8,-9.9,169,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2664,3966
$GC,3149,-0.84,-155.7,368.7,-8.8,175,3153,0.00,2.08,0.00,0.000,4,0.000,0.029,2618,1259,3965
$GC,3189,-0.84,-155.7,372.1,-8.2,175,3196,0.00,2.28,0.00,0.000,6,0.000,0.064,2618,2646,3965
$GC,3440,-0.84,-155.7,392.0,-8.3,182,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2646,3963
$GC,3685,-0.84,-155.7,412.4,-8.4,188,3689,0.00,2.05,0.00,0.000,4,0.000,0.029,2618,1256,3961
$GC,3943,-0.84,-155.7,436.3,-8.8,193,3948,0.00,2.25,-0.03,0.000,6,0.000,0.056,2617,2656,3970
$GC,4194,-0.84,-155.7,460.1,-9.9,199,4197,0.00,2.08,0.00,0.000,4,0.000,0.028,2621,1245,3969
$GC,4452,-0.84,-155.7,485.6,-8.2,204,4456,0.00,2.30,0.00,0.000,6,0.000,0.064,2619,2651,3968
$GC,4710,-0.84,-155.7,507.1,-8.4,211,4713,0.00,2.08,0.00,0.000,4,0.000,0.029,2628,1253,3967
$GC,4970,-0.84,-155.7,530.2,-7.9,216,4974,0.00,2.28,0.00,0.000,6,0.000,0.061,2628,2653,3965
$GC,5222,-0.84,-155.7,552.7,-9.5,222,5226,0.00,2.08,0.00,0.000,4,0.000,0.030,2630,1260,3963
$GC,5363,-0.84,-155.7,566.3,-8.9,225,5367,0.00,2.30,0.00,0.000,6,0.000,0.065,2625,2661,3962
$GC,5642,-0.84,-155.7,592.1,-9.6,232,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2662,3960
$STATE,5760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5760,begin apogee
$GC,5767,-0.32,0.0,603.5,9.4,235,5893,0.50,0.00,123.10,1.114,6,0.091,0.000,2794,2574,3367
$STATE,5894,end apogee,CONTROL_FINISHED_OK
$STATE,5894,begin climb
$GC,5897,0.84,155.7,612.2,0.0,238,6040,1.08,2.35,134.65,1.105,4,0.073,0.030,3178,1125,2731
$GC,6298,0.86,171.8,618.5,8.9,247,6317,0.00,2.28,14.05,1.026,6,0.000,0.047,3178,2550,2667
$GC,6580,0.86,171.8,587.2,11.1,254,6583,0.00,2.15,0.00,0.000,4,0.000,0.031,3187,1123,2663
$GC,6838,0.93,225.2,565.3,7.4,259,6892,0.00,2.28,47.70,1.108,6,0.000,0.049,3187,2564,2448
$GC,7134,0.93,225.2,510.3,21.2,267,7137,0.00,2.17,0.00,0.000,4,0.000,0.030,3197,1123,2441
$GC,7319,0.93,225.2,473.9,19.4,271,7323,0.00,2.30,0.00,0.000,6,0.000,0.051,3192,2555,2439
$GC,7602,0.93,225.2,419.7,18.9,278,7606,0.00,2.15,0.00,0.000,4,0.000,0.031,3200,1112,2437
$GC,7837,0.93,225.2,380.1,15.8,283,7842,0.00,2.30,0.00,0.000,6,0.000,0.053,3201,2561,2437
$GC,8110,0.93,225.2,333.8,16.9,290,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2561,2435
$GC,8355,0.93,225.2,298.5,14.3,296,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2561,2435
$GC,8599,0.93,225.2,265.1,13.3,302,8603,0.00,2.15,0.00,0.000,4,0.000,0.059,3201,3905,2434
$GC,8857,0.93,225.2,228.8,14.3,307,8861,0.00,2.05,0.00,0.000,6,0.000,0.030,3211,2526,2434
$GC,9113,0.93,225.2,197.5,12.2,314,9116,0.00,2.20,0.00,0.000,4,0.000,0.056,3205,3900,2434
$GC,9371,0.93,225.2,163.9,12.0,337,9375,0.00,1.98,0.00,0.000,6,0.000,0.028,3214,2543,2433
$GC,9639,0.93,225.2,136.1,10.2,362,9642,0.00,2.17,0.00,0.000,4,0.000,0.057,3214,3898,2433
$GC,9832,0.93,225.2,115.3,10.3,379,9836,0.00,1.98,0.00,0.000,6,0.000,0.027,3223,2537,2433
$GC,10100,1.09,360.4,98.2,4.0,404,10215,0.00,0.00,111.68,0.787,6,0.000,0.000,3223,2531,1897
$STATE,10463,end climb,SURFACE_DEPTH_REACHED
$STATE,10463,begin surface coast
$FINISH,0.2,1.023959
$STATE,10472,end surface coast,CONTROL_FINISHED_OK
$STATE,10472,begin surface
$SM_CCo,10554,0.00,0.000,0,0,1882,364.02
$SM_GC,1.68,8.98,0.00,0.00,0.072,0.000,0.000,51,2668,1882,-8.85,0.51,364.02
$IRIDIUM_FIX,2244.02,-15756.28,180400,151522
$TT8_MAMPS,0.023777
$HUMID,1871
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.6,62.000
$10V_AH,10.7,35.944
$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,22.125,73.150,431.175,0.000,0.000,30.348,34.044,158.020,0.000,0.000,0.000,15.557,954.907,7188.087,421.157,1868.484,469.236,33.369,1207.065,0.000,1850.223,0.000,0.542,0.000
$DEVICE_MAMPS,252.343,84.370,1114.451,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,302.192,672.345,692.515,131.735,549.186,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38408,446
$CAP_FILE_SIZE,84020,0
$CFSIZE,260165632,242446336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,230111,215504,2254.948,-15757.497,8,7.3,27,10.1