version: 66.04
glider: 512
mission: 4
dive: 429
start: 12 12 113 7 16 35
data:
$ID,512
$MISSION,4
$DIVE,429
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$D_ABORT,990
$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,333
$T_MISSION,670
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,23
$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,390
$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,-116047.84
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2530
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$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
$GPS1,070305,2147.963,-15806.919,38,1.1,38,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-82.1
$GPS2,071537,2148.011,-15806.841,13,1.9,13,9.9
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,TENMILE
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.148,-0.183
$KALMAN_X,153536.5,1.7,228.2,-165367.6,1101.6
$KALMAN_Y,-32288.6,-161.3,130.1,-71522.4,1330.3
$MHEAD_RNG_PITCHd_Wd,208.9,5952,-17.2,-9.009
$D_GRID,900
$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,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,88,0.00,0.00,-67.25,0.000,2,0.000,0.000,7,2535,2734
$GC,93,-0.54,-126.5,2.1,-1.7,9,126,9.65,1.48,-16.40,0.000,4,0.196,0.040,2516,1469,3373
$GC,322,-0.54,-126.5,45.2,-18.8,42,326,0.00,1.60,0.00,0.000,6,0.000,0.040,2510,2529,3374
$GC,594,-0.54,-126.5,99.4,-15.9,67,598,0.00,1.62,0.00,0.000,4,0.000,0.044,2503,3597,3374
$GC,654,-0.54,-126.5,109.0,-16.3,72,657,0.00,1.50,0.00,0.000,6,0.000,0.018,2508,2530,3374
$GC,925,-0.54,-126.5,152.3,-14.9,97,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2522,3375
$GC,1192,-0.54,-126.5,192.0,-13.7,122,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2522,3375
$GC,1459,-0.54,-126.5,224.8,-11.8,133,1462,0.00,1.62,0.00,0.000,4,0.000,0.042,2502,3602,3375
$GC,1500,-0.54,-126.5,230.0,-12.3,133,1508,0.00,1.52,0.00,0.000,6,0.000,0.018,2507,2522,3375
$GC,1756,-0.54,-126.5,260.7,-12.4,140,1760,0.00,1.62,0.00,0.000,4,0.000,0.042,2501,3593,3374
$GC,1814,-0.54,-126.5,268.3,-12.0,141,1818,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2532,3374
$GC,2097,-0.54,-126.5,298.3,-10.5,148,2100,0.00,1.62,0.00,0.000,4,0.000,0.043,2500,3599,3373
$GC,2148,-0.54,-126.5,303.7,-10.5,149,2152,0.00,1.50,0.00,0.000,6,0.000,0.019,2505,2540,3373
$GC,2442,-0.54,-126.5,336.0,-11.0,156,2446,0.00,1.62,0.00,0.000,4,0.000,0.045,2499,3602,3371
$GC,2506,-0.54,-126.5,343.3,-10.5,157,2509,0.00,1.45,0.00,0.000,6,0.000,0.020,2504,2584,3371
$GC,2783,-0.54,-126.5,373.2,-10.9,164,2787,0.00,1.50,0.00,0.000,4,0.000,0.021,2512,1486,3369
$GC,2826,-0.54,-126.5,377.6,-9.7,164,2834,0.00,1.65,0.00,0.000,6,0.000,0.038,2506,2572,3369
$GC,3083,-0.54,-126.5,402.3,-9.9,171,3086,0.00,1.58,0.00,0.000,4,0.000,0.049,2498,3590,3365
$GC,3151,-0.54,-126.5,410.2,-10.8,172,3155,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2583,3365
$GC,3423,-0.54,-126.5,437.5,-10.1,179,3427,0.00,1.60,-0.08,0.000,4,0.000,0.064,2498,3598,3387
$GC,3447,-0.54,-126.5,440.2,-9.7,179,3451,0.00,1.45,0.00,0.000,6,0.000,0.021,2504,2586,3387
$GC,3719,-0.54,-126.5,466.7,-9.9,186,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2578,3385
$GC,3962,-0.54,-126.5,490.2,-9.6,192,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2577,3383
$GC,4206,-0.54,-126.5,513.3,-9.4,198,4209,0.00,1.52,0.00,0.000,4,0.000,0.022,2511,1484,3381
$GC,4258,-0.54,-126.5,517.8,-8.5,199,4262,0.00,1.65,0.00,0.000,6,0.000,0.041,2506,2576,3381
$GC,4552,-0.54,-126.5,531.2,-1.0,206,4556,0.00,1.58,0.00,0.000,4,0.000,0.048,2498,3594,3378
$STATE,4666,end dive,NO_VERTICAL_VELOCITY
$STATE,4666,begin apogee
$GC,4680,-0.20,0.0,531.4,0.0,208,4793,0.35,0.00,109.70,0.963,6,0.082,0.000,2636,2266,2858
$STATE,4793,end apogee,CONTROL_FINISHED_OK
$STATE,4794,begin climb
$GC,4799,0.54,126.5,531.3,0.0,211,4929,0.68,1.60,116.90,0.920,4,0.072,0.023,2881,1192,2341
$GC,5139,0.54,126.5,501.2,12.6,218,5142,0.00,1.62,0.00,0.000,6,0.000,0.037,2877,2260,2333
$GC,5404,0.54,126.5,466.5,13.1,225,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2260,2330
$GC,5649,0.54,126.5,436.3,12.6,231,5653,0.00,1.60,0.00,0.000,4,0.000,0.046,2877,3301,2329
$GC,5700,0.54,126.5,429.5,14.0,232,5703,0.00,1.55,0.00,0.000,6,0.000,0.024,2883,2240,2327
$GC,5995,0.54,126.5,394.8,11.4,239,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2234,2326
$GC,6237,0.54,126.5,368.8,10.4,245,6240,0.00,1.65,0.00,0.000,4,0.000,0.044,2878,3309,2324
$GC,6278,0.54,126.5,363.8,12.4,245,6286,0.00,1.58,0.00,0.000,6,0.000,0.024,2884,2228,2325
$GC,6533,0.54,126.5,337.5,10.2,252,6537,0.00,1.48,0.00,0.000,4,0.000,0.027,2891,1184,2324
$GC,6575,0.54,126.5,333.2,9.4,252,6583,0.00,1.58,0.00,0.000,6,0.000,0.038,2891,2207,2323
$GC,6831,0.54,126.5,307.6,10.6,259,6834,0.00,1.67,0.00,0.000,4,0.000,0.047,2891,3314,2323
$GC,7034,0.54,126.5,282.7,10.4,263,7037,0.00,1.50,0.00,0.000,6,0.000,0.025,2896,2280,2322
$GC,7305,0.54,126.5,256.4,9.4,270,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2273,2322
$GC,7549,0.54,126.5,232.0,10.3,276,7552,0.00,1.62,0.00,0.000,4,0.000,0.045,2891,3332,2322
$GC,7656,0.54,126.5,220.9,10.3,278,7660,0.00,1.52,0.00,0.000,6,0.000,0.024,2896,2276,2321
$GC,7914,0.54,133.7,198.2,8.7,286,7918,0.00,1.52,0.00,0.000,4,0.000,0.025,2905,1199,2321
$GC,7987,0.54,133.7,191.4,9.2,292,7996,0.00,1.65,3.92,0.496,6,0.000,0.038,2904,2276,2312
$GC,8258,0.55,151.9,167.3,8.1,317,8288,0.00,1.60,20.23,0.653,4,0.000,0.044,2905,3307,2238
$GC,8310,0.55,151.9,162.6,9.4,321,8314,0.08,1.55,0.00,0.000,6,0.154,0.022,2877,2244,2236
$GC,8587,0.57,185.8,141.7,7.4,346,8626,0.00,1.70,30.15,0.680,4,0.000,0.044,2876,3304,2099
$GC,8667,0.57,185.8,133.5,10.7,352,8675,0.00,1.52,0.00,0.000,6,0.000,0.022,2881,2260,2098
$GC,8932,0.58,224.9,110.1,7.1,377,8971,0.00,0.00,33.97,0.647,6,0.000,0.000,2882,2254,1940
$GC,9229,0.60,261.2,85.0,7.3,405,9268,0.00,1.52,31.27,0.619,4,0.000,0.022,2886,1208,1791
$GC,9318,0.61,307.1,78.3,6.8,412,9361,0.00,1.70,38.50,0.609,6,0.000,0.035,2886,2325,1606
$GC,9622,0.64,378.3,57.4,5.6,439,9686,0.00,1.50,58.45,0.591,4,0.000,0.040,2886,3310,1314
$GC,9703,0.67,452.5,52.8,5.4,445,9768,0.00,1.52,60.80,0.578,6,0.000,0.021,2885,2268,1013
$GC,10028,0.67,452.5,19.5,13.3,481,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2268,1008
$STATE,10162,end climb,SURFACE_DEPTH_REACHED
$STATE,10162,begin surface coast
$FINISH,0.9,1.023346
$STATE,10196,end surface coast,CONTROL_FINISHED_OK
$STATE,10197,begin surface
$SM_CCo,10282,0.00,0.000,0,0,1006,454.29
$SM_GC,1.36,7.28,0.00,0.00,0.026,0.000,0.000,36,2628,1006,-8.24,2.77,454.29
$IRIDIUM_FIX,2138.81,-15807.61,080303,070757
$TT8_MAMPS,0.02301
$HUMID,2304
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.80
$XPDR_PINGS,12
$24V_AH,23.8,71.856
$10V_AH,10.6,87.472
$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,18.025,69.825,503.900,0.000,0.000,55.537,75.589,367.239,3.000,0.000,0.000,13.837,998.482,6281.811,467.183,2304.157,975.541,33.375,1295.675,0.000,2293.954,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,64.428,963.352,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,342.059,1683.382,1226.805,430.585,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38309,511
$CAP_FILE_SIZE,91522,0
$CFSIZE,260165632,229568512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121213,100924,2147.044,-15807.233,43,1.3,44,9.9