version: 66.04
glider: 512
mission: 4
dive: 9
start: 9 19 113 9 48 17
data:
$ID,512
$MISSION,4
$DIVE,9
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$D_ABORT,900
$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,200
$T_MISSION,630
$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,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$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,400
$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,-106526.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,30
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,2
$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,0.004340203
$SEABIRD_T_H,0.00063076179
$SEABIRD_T_I,2.430566e-05
$SEABIRD_T_J,2.6124515e-06
$SEABIRD_C_G,-9.8985863
$SEABIRD_C_H,1.1020875
$SEABIRD_C_I,-0.0015707363
$SEABIRD_C_J,0.00019845086
$GPS1,094131,2245.027,-15757.824,12,1.8,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.7
$GPS2,094724,2245.013,-15757.824,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,TEMP1
$TGT_LATLONG,2246.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.125
$KALMAN_X,-2497.3,-240.2,-46.1,6584.0,-1591.3
$KALMAN_Y,-664.2,265.7,-191.8,2318.5,-915.4
$MHEAD_RNG_PITCHd_Wd,50.1,5553,-18.2,-10.000
$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,17,-0.66,-136.3,0.0,0.0,0,117,0.00,0.00,-93.03,0.000,6,0.000,0.000,28,2823,2955
$GC,123,-0.66,-136.3,2.5,-3.3,12,141,9.20,1.52,0.00,0.000,4,0.210,0.031,2482,3850,2956
$GC,154,-0.66,-136.3,12.5,-26.4,15,163,0.00,1.58,0.00,0.000,6,0.000,0.021,2482,2762,2957
$GC,434,-0.66,-136.3,85.2,-20.0,44,437,0.00,1.42,0.00,0.000,4,0.000,0.022,2484,1718,2957
$GC,451,-0.66,-136.3,88.0,-17.8,45,454,0.00,1.55,0.00,0.000,6,0.000,0.035,2477,2757,2957
$GC,722,-0.66,-136.3,129.1,-13.7,70,725,0.00,1.45,0.00,0.000,4,0.000,0.021,2478,1726,2958
$GC,987,-0.66,-136.3,163.2,-12.2,93,991,0.00,1.55,0.00,0.000,6,0.000,0.035,2471,2766,2958
$GC,1260,-0.66,-136.3,201.0,-14.3,118,1264,0.12,1.45,0.00,0.000,4,0.203,0.021,2508,1706,2958
$GC,1367,-0.66,-136.3,215.0,-12.3,120,1371,0.00,1.52,0.00,0.000,6,0.000,0.038,2502,2732,2958
$GC,1645,-0.66,-136.3,243.4,-9.5,127,1649,0.00,1.62,0.00,0.000,4,0.000,0.044,2493,3830,2957
$GC,1825,-0.66,-136.3,260.7,-9.8,130,1833,0.00,1.50,0.00,0.000,6,0.000,0.021,2499,2773,2956
$GC,2080,-0.66,-136.3,284.7,-9.6,137,2084,0.00,1.45,0.00,0.000,4,0.000,0.025,2507,1731,2955
$GC,2341,-0.66,-136.3,310.6,-10.2,142,2344,0.00,1.50,0.00,0.000,6,0.000,0.040,2502,2734,2954
$GC,2601,-0.66,-136.3,335.9,-9.5,149,2605,0.00,1.40,0.00,0.000,4,0.000,0.025,2507,1738,2952
$GC,2791,-0.66,-136.3,351.9,-8.5,153,2795,0.00,1.48,0.00,0.000,6,0.000,0.040,2502,2719,2951
$GC,3086,-0.66,-136.3,379.6,-9.3,160,3090,0.00,1.40,0.00,0.000,4,0.000,0.026,2507,1733,2949
$GC,3155,-0.66,-136.3,386.6,-9.7,161,3159,0.00,1.48,0.00,0.000,6,0.000,0.041,2502,2709,2948
$GC,3427,-0.66,-136.3,409.6,-8.5,168,3429,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2709,2970
$GC,3671,-0.66,-136.3,430.9,-8.9,174,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2709,2969
$GC,3914,-0.66,-136.3,451.3,-8.1,180,3918,0.00,1.40,0.00,0.000,4,0.000,0.028,2507,1736,2967
$GC,4079,-0.66,-136.3,464.4,-7.9,183,4083,0.00,1.42,0.00,0.000,6,0.000,0.043,2502,2676,2966
$GC,4346,-0.66,-136.3,484.2,-7.6,190,4350,0.00,1.35,0.00,0.000,4,0.000,0.028,2507,1734,2964
$GC,4578,-0.66,-136.3,502.7,-7.4,195,4581,0.00,1.38,0.00,0.000,6,0.000,0.044,2502,2635,2963
$GC,4867,-0.66,-136.3,525.8,-8.3,202,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2635,2961
$GC,5112,-0.66,-136.3,546.2,-8.3,208,5115,0.00,1.27,0.00,0.000,4,0.000,0.029,2507,1744,2959
$GC,5254,-0.66,-136.3,557.5,-7.3,211,5257,0.00,1.38,0.00,0.000,6,0.000,0.045,2502,2642,2958
$GC,5542,-0.66,-136.3,578.8,-7.5,218,5546,0.00,1.30,0.00,0.000,4,0.000,0.028,2507,1736,2957
$GC,5653,-0.66,-136.3,586.8,-7.4,220,5656,0.00,1.35,0.00,0.000,6,0.000,0.045,2502,2619,2956
$STATE,5844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5844,begin apogee
$GC,5855,-0.23,0.0,600.1,7.0,225,5977,0.43,0.00,119.35,1.031,6,0.143,0.000,2634,2425,2400
$STATE,5978,end apogee,CONTROL_FINISHED_OK
$STATE,5978,begin climb
$GC,5983,0.66,136.3,600.7,0.0,228,6111,0.82,0.00,117.90,0.984,6,0.070,0.000,2928,2425,1845
$GC,6357,0.66,136.3,509.9,27.4,237,6361,0.00,1.60,0.00,0.000,4,0.000,0.031,2935,1326,1839
$GC,6477,0.66,136.3,478.3,24.0,239,6481,0.00,1.60,0.00,0.000,6,0.000,0.043,2934,2372,1837
$GC,6743,0.66,136.3,407.9,27.2,246,6747,0.00,1.52,0.00,0.000,4,0.000,0.031,2939,1355,1836
$GC,6839,0.66,136.3,382.6,25.5,248,6842,0.00,1.50,0.00,0.000,6,0.000,0.042,2939,2326,1835
$GC,7133,0.66,136.3,306.2,26.2,255,7136,0.00,1.45,0.00,0.000,4,0.000,0.031,2946,1346,1835
$GC,7197,0.66,136.3,290.3,22.6,256,7200,0.00,1.48,0.00,0.000,6,0.000,0.044,2946,2304,1834
$GC,7473,0.66,136.3,222.2,24.9,263,7477,0.00,1.40,0.00,0.000,4,0.000,0.031,2952,1353,1833
$GC,7497,0.66,136.3,216.2,21.9,263,7501,0.00,1.48,0.00,0.000,6,0.000,0.042,2952,2315,1833
$GC,7766,0.66,136.3,151.8,25.6,281,7769,0.00,1.75,0.00,0.000,4,0.000,0.048,2953,3476,1833
$GC,7816,0.66,136.3,139.5,26.0,285,7821,0.10,1.75,0.00,0.000,6,0.172,0.029,2931,2313,1832
$GC,8092,0.66,136.3,84.2,18.8,310,8096,0.00,1.38,0.00,0.000,4,0.000,0.030,2936,1342,1832
$GC,8340,0.66,136.3,45.3,10.7,330,8349,0.00,1.40,0.00,0.000,6,0.000,0.041,2934,2266,1832
$STATE,8617,end climb,SURFACE_DEPTH_REACHED
$STATE,8617,begin surface coast
$FINISH,-0.1,1.023219
$STATE,8637,end surface coast,CONTROL_FINISHED_OK
$STATE,8637,begin surface
$SM_CCo,8663,105.65,0.562,0,0,768,400.08
$SM_GC,0.84,0.00,0.00,105.65,0.000,0.000,0.562,39,2796,768,-8.35,0.45,400.08
$IRIDIUM_FIX,2237.01,-15757.16,141202,080841
$TT8_MAMPS,0.023777
$HUMID,2459
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.80
$XPDR_PINGS,26
$24V_AH,24.5,1.337
$10V_AH,10.8,1.103
$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,18.000,54.075,237.250,105.650,0.000,33.164,35.101,142.691,6.500,0.000,0.000,12.248,831.159,5210.627,401.562,2114.036,574.216,33.321,1068.838,0.000,2119.948,0.000,0.544,0.000
$DEVICE_MAMPS,210.158,67.496,1030.848,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,251.542,1218.991,1260.576,146.359,874.982,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31931,370
$CAP_FILE_SIZE,73955,0
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190913,121553,2245.174,-15756.954,39,1.5,40,10.1