version: 66.04
glider: 512
mission: 4
dive: 12
start: 9 19 113 17 32 28
data:
$ID,512
$MISSION,4
$DIVE,12
$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,-106598.26
$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,2600
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,39
$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
$GPS1,172505,2245.964,-15755.489,35,1.2,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-81.1
$GPS2,173136,2245.986,-15755.504,15,1.5,20,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,TEMP1
$TGT_LATLONG,2246.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,0.142
$KALMAN_X,-6411.2,418.8,139.5,13611.9,-2334.5
$KALMAN_Y,-3775.4,-590.4,133.0,7755.5,-1530.9
$MHEAD_RNG_PITCHd_Wd,45.5,1282,-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,18,-0.66,-136.3,0.0,0.0,0,117,0.00,0.00,-90.93,0.000,6,0.000,0.000,11,2627,2956
$GC,123,-0.66,-136.3,2.9,-4.3,12,141,9.35,1.55,0.00,0.000,4,0.210,0.030,2489,3671,2956
$GC,207,-0.66,-136.3,29.0,-27.0,24,216,0.00,1.60,0.00,0.000,6,0.000,0.023,2492,2585,2957
$GC,473,-0.66,-136.3,84.5,-16.5,49,477,0.00,1.65,0.00,0.000,4,0.000,0.040,2486,3658,2958
$GC,526,-0.66,-136.3,93.0,-15.0,53,534,0.00,1.50,0.00,0.000,6,0.000,0.021,2486,2605,2958
$GC,791,-0.66,-136.3,134.1,-15.6,78,795,0.00,1.60,0.00,0.000,4,0.000,0.040,2478,3678,2959
$GC,833,-0.66,-136.3,141.3,-16.7,81,841,0.00,1.45,0.00,0.000,6,0.000,0.021,2478,2650,2959
$GC,1100,-0.66,-136.3,182.4,-13.9,106,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2651,2960
$GC,1390,-0.66,-136.3,223.6,-13.5,122,1393,0.00,1.52,0.00,0.000,4,0.000,0.041,2471,3657,2960
$GC,1485,-0.66,-136.3,236.2,-13.0,124,1489,0.00,1.38,0.00,0.000,6,0.000,0.021,2472,2685,2960
$GC,1779,-0.66,-136.3,271.6,-11.5,131,1783,0.00,1.55,0.00,0.000,4,0.000,0.024,2472,1566,2960
$GC,1883,-0.66,-136.3,283.2,-9.5,133,1887,0.10,1.65,0.00,0.000,6,0.166,0.037,2494,2662,2959
$GC,2165,-0.66,-136.3,309.2,-9.4,140,2168,0.00,1.58,0.00,0.000,4,0.000,0.024,2502,1557,2958
$GC,2261,-0.66,-136.3,317.7,-8.2,142,2264,0.00,1.60,0.00,0.000,6,0.000,0.037,2496,2641,2958
$GC,2555,-0.66,-136.3,344.7,-9.1,149,2558,0.00,1.55,0.00,0.000,4,0.000,0.024,2501,1554,2957
$GC,2695,-0.66,-136.3,358.1,-8.7,152,2699,0.00,1.62,0.00,0.000,6,0.000,0.038,2496,2626,2956
$GC,2989,-0.66,-136.3,389.0,-10.4,159,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2627,2954
$GC,3233,-0.66,-136.3,411.8,-9.2,165,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2628,2953
$GC,3477,-0.66,-136.3,432.0,-8.0,171,3480,0.00,1.52,0.00,0.000,4,0.000,0.026,2501,1564,2951
$GC,3642,-0.66,-136.3,446.2,-8.1,174,3645,0.00,1.58,0.00,0.000,6,0.000,0.041,2495,2602,2951
$GC,3909,-0.66,-136.3,467.9,-8.5,181,3912,0.00,1.60,0.00,0.000,4,0.000,0.048,2487,3680,2948
$GC,3995,-0.66,-136.3,476.5,-9.4,182,4003,0.00,1.50,0.00,0.000,6,0.000,0.026,2493,2636,2948
$GC,4249,-0.66,-136.3,497.3,-7.9,189,4251,0.00,0.00,-0.08,0.000,6,0.000,0.000,2493,2635,2972
$GC,4493,-0.66,-136.3,518.0,-8.7,195,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2634,2972
$GC,4737,-0.66,-136.3,537.8,-8.0,201,4740,0.00,1.52,0.00,0.000,4,0.000,0.029,2500,1564,2970
$GC,4877,-0.66,-136.3,548.3,-7.3,204,4881,0.00,1.62,0.00,0.000,6,0.000,0.044,2494,2641,2969
$GC,5172,-0.66,-136.3,571.1,-7.7,211,5176,0.00,1.58,0.00,0.000,4,0.000,0.029,2500,1555,2967
$GC,5410,-0.66,-136.3,589.6,-7.4,216,5414,0.00,1.60,0.00,0.000,6,0.000,0.044,2495,2598,2966
$STATE,5568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5568,begin apogee
$GC,5579,-0.23,0.0,602.3,8.2,220,5703,0.45,0.00,120.82,1.025,6,0.139,0.000,2636,2421,2400
$STATE,5704,end apogee,CONTROL_FINISHED_OK
$STATE,5704,begin climb
$GC,5709,0.66,136.3,604.2,0.0,223,5840,0.82,1.67,118.32,0.982,4,0.068,0.030,2935,1350,1842
$GC,5865,0.66,136.3,572.9,27.0,226,5868,0.00,1.70,0.00,0.000,6,0.000,0.041,2933,2421,1839
$GC,6136,0.66,136.3,499.2,27.7,233,6140,0.00,1.62,0.00,0.000,4,0.000,0.031,2940,1358,1834
$GC,6322,0.66,136.3,451.7,25.5,237,6325,0.00,1.58,0.00,0.000,6,0.000,0.042,2940,2363,1833
$GC,6616,0.66,136.3,371.0,28.1,244,6620,0.00,1.50,0.00,0.000,4,0.000,0.032,2946,1366,1831
$GC,6652,0.66,136.3,360.3,26.3,244,6655,0.00,1.52,0.00,0.000,6,0.000,0.042,2947,2351,1831
$GC,6912,0.66,136.3,287.3,29.2,251,6916,0.00,1.48,0.00,0.000,4,0.000,0.031,2954,1358,1831
$GC,7015,0.66,136.3,259.8,24.8,253,7019,0.00,1.45,0.00,0.000,6,0.000,0.041,2954,2300,1830
$GC,7278,0.66,136.3,194.8,24.1,261,7282,0.00,1.40,0.00,0.000,4,0.000,0.030,2963,1355,1830
$GC,7340,0.66,136.3,181.8,20.3,266,7344,0.10,1.42,0.00,0.000,6,0.154,0.042,2932,2282,1830
$GC,7616,0.66,136.3,125.7,21.4,291,7620,0.00,1.80,0.00,0.000,4,0.000,0.047,2931,3474,1829
$GC,7669,0.66,136.3,112.3,20.8,295,7677,0.00,1.77,0.00,0.000,6,0.000,0.029,2938,2277,1828
$GC,7935,0.66,136.3,65.0,15.2,320,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2270,1828
$GC,8209,0.66,136.3,21.4,17.2,349,8218,0.00,1.33,0.00,0.000,4,0.000,0.029,2945,1337,1829
$GC,8242,0.66,136.3,15.4,18.1,353,8251,0.00,1.48,0.00,0.000,6,0.000,0.038,2945,2317,1829
$STATE,8307,end climb,SURFACE_DEPTH_REACHED
$STATE,8308,begin surface coast
$FINISH,-0.0,1.010418
$STATE,8328,end surface coast,CONTROL_FINISHED_OK
$STATE,8328,begin surface
$SM_CCo,8353,107.03,0.561,0,0,767,400.08
$SM_GC,0.99,0.00,0.00,107.03,0.000,0.000,0.561,35,2633,767,-8.36,0.93,400.08
$IRIDIUM_FIX,2239.35,-15757.16,141202,151536
$TT8_MAMPS,0.023777
$HUMID,2361
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,24.4,1.683
$10V_AH,10.8,1.481
$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,18.075,56.700,239.150,107.025,0.000,27.739,35.217,176.785,0.750,0.000,0.000,20.782,792.079,5070.792,410.919,1995.743,586.407,33.337,1056.591,0.000,1996.309,0.000,0.545,0.000
$DEVICE_MAMPS,210.158,47.554,1025.479,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,247.863,1205.830,1241.830,149.961,875.662,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32094,366
$CAP_FILE_SIZE,71804,0
$CFSIZE,260165632,257286144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190913,195431,2246.528,-15754.538,14,1.6,15,10.1