version: 66.04
glider: 512
mission: 4
dive: 430
start: 12 12 113 10 25 45
data:
$ID,512
$MISSION,4
$DIVE,430
$D_SURF,3
$D_FLARE,2
$D_TGT,500
$D_ABORT,590
$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,166
$T_MISSION,370
$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,-116083.02
$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,77
$R_STBD_OVSHOOT,28
$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
$GPS1,100924,2147.044,-15807.233,43,1.3,44,9.9
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-80.6
$GPS2,102448,2147.004,-15807.274,17,1.6,34,9.9
$SPEED_LIMITS,0.237,0.244
$TGT_NAME,EIGTM
$TGT_LATLONG,2144.000,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.170,-0.174
$KALMAN_X,155595.5,386.6,23.1,-168354.1,1372.5
$KALMAN_Y,-30621.5,173.5,-65.3,-75198.0,1346.6
$MHEAD_RNG_PITCHd_Wd,214.5,7276,-19.0,-10.040
$D_GRID,500
$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,-0.59,-126.5,0.0,0.0,0,102,0.00,0.00,-82.22,0.000,2,0.000,0.000,10,2624,2982
$GC,108,-0.59,-126.5,2.2,-1.8,11,132,9.48,1.60,-8.57,0.000,4,0.196,0.037,2500,1471,3373
$GC,276,-0.59,-126.5,44.3,-20.9,33,279,0.00,1.60,0.00,0.000,6,0.000,0.038,2494,2542,3373
$GC,547,-0.59,-126.5,100.5,-19.1,58,550,0.00,1.58,0.00,0.000,4,0.000,0.041,2486,3591,3374
$GC,586,-0.59,-126.5,108.4,-18.8,61,594,0.00,1.50,0.00,0.000,6,0.000,0.018,2491,2522,3374
$GC,852,-0.59,-126.5,153.9,-17.2,86,856,0.00,1.62,0.00,0.000,4,0.000,0.040,2485,3604,3375
$GC,879,-0.59,-126.5,158.7,-17.9,88,882,0.00,1.48,0.00,0.000,6,0.000,0.018,2490,2554,3375
$GC,1152,-0.59,-126.5,198.6,-14.5,113,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2544,3375
$GC,1408,-0.59,-126.5,233.9,-13.9,120,1411,0.00,1.60,0.00,0.000,4,0.000,0.042,2484,3611,3375
$GC,1476,-0.59,-126.5,243.5,-12.9,121,1480,0.00,1.48,0.00,0.000,6,0.000,0.019,2488,2564,3374
$GC,1747,-0.59,-126.5,279.4,-13.7,128,1751,0.00,1.48,0.00,0.000,4,0.000,0.020,2488,1476,3373
$GC,1799,-0.59,-126.5,285.7,-11.7,129,1803,0.00,1.60,0.00,0.000,6,0.000,0.036,2483,2538,3374
$GC,2093,-0.59,-126.5,323.2,-13.3,136,2096,0.00,1.60,0.00,0.000,4,0.000,0.046,2474,3611,3371
$GC,2233,-0.59,-126.5,341.7,-12.9,139,2237,0.08,1.50,0.00,0.000,6,0.133,0.020,2500,2555,3370
$GC,2527,-0.59,-126.5,373.1,-10.1,146,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2548,3368
$GC,2771,-0.59,-126.5,396.4,-9.7,152,2774,0.00,1.48,0.00,0.000,4,0.000,0.021,2507,1478,3366
$GC,2801,-0.59,-126.5,399.8,-9.8,152,2805,0.00,1.65,0.00,0.000,6,0.000,0.038,2502,2586,3366
$GC,3067,-0.59,-126.5,426.1,-10.2,159,3071,0.00,1.55,-0.08,0.000,4,0.000,0.065,2494,3595,3387
$GC,3136,-0.59,-126.5,433.2,-10.1,160,3140,0.00,1.42,0.00,0.000,6,0.000,0.021,2499,2599,3386
$GC,3408,-0.59,-126.5,459.5,-10.0,167,3411,0.00,1.55,0.00,0.000,4,0.000,0.048,2494,3580,3385
$GC,3460,-0.59,-126.5,464.5,-10.5,168,3464,0.00,1.42,0.00,0.000,6,0.000,0.022,2499,2590,3384
$GC,3754,-0.59,-126.5,491.9,-9.2,175,3758,0.00,1.52,0.00,0.000,4,0.000,0.022,2507,1484,3381
$GC,3805,-0.59,-126.5,496.2,-8.3,176,3808,0.00,1.70,0.00,0.000,6,0.000,0.041,2501,2590,3381
$STATE,3841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3841,begin apogee
$GC,3853,-0.20,0.0,500.1,8.3,176,3965,0.38,0.00,109.60,0.930,6,0.101,0.000,2632,2229,2858
$STATE,3966,end apogee,CONTROL_FINISHED_OK
$STATE,3966,begin climb
$GC,3971,0.59,126.5,503.6,0.0,179,4100,0.70,1.50,115.53,0.891,4,0.058,0.022,2894,1206,2342
$GC,4226,0.59,126.5,482.0,13.5,184,4230,0.00,1.60,0.00,0.000,6,0.000,0.036,2891,2255,2336
$GC,4486,0.59,126.5,446.7,13.8,191,4490,0.00,1.62,0.00,0.000,4,0.000,0.045,2891,3330,2332
$GC,4560,0.59,126.5,434.9,15.4,192,4564,0.00,1.52,0.00,0.000,6,0.000,0.023,2896,2281,2330
$GC,4827,0.59,126.5,396.5,14.5,199,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2274,2329
$GC,5069,0.59,126.5,362.5,13.6,205,5073,0.00,1.52,0.00,0.000,4,0.000,0.025,2904,1202,2327
$GC,5119,0.59,126.5,356.4,12.2,206,5123,0.00,1.70,0.00,0.000,6,0.000,0.038,2904,2305,2327
$GC,5413,0.59,126.5,320.8,11.9,213,5417,0.00,1.52,0.00,0.000,4,0.000,0.044,2904,3306,2325
$GC,5438,0.59,126.5,317.5,12.2,213,5442,0.00,1.45,0.00,0.000,6,0.000,0.024,2910,2298,2324
$GC,5709,0.59,126.5,285.5,11.9,220,5713,0.00,1.55,0.00,0.000,4,0.000,0.025,2918,1204,2324
$GC,5750,0.59,126.5,279.5,13.0,220,5758,0.00,1.70,0.00,0.000,6,0.000,0.038,2918,2311,2324
$GC,6005,0.59,126.5,249.7,11.3,227,6008,0.00,1.62,0.00,0.000,4,0.000,0.025,2924,1170,2323
$GC,6041,0.59,126.5,245.8,10.5,227,6045,0.00,1.67,0.00,0.000,6,0.000,0.036,2919,2268,2323
$GC,6301,0.59,126.5,218.7,10.7,234,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2268,2322
$GC,6546,0.59,126.5,190.1,13.4,243,6550,0.00,1.60,0.00,0.000,4,0.000,0.047,2918,3309,2322
$GC,6740,0.59,126.5,169.1,10.3,260,6745,0.10,1.55,0.00,0.000,6,0.164,0.023,2894,2236,2321
$GC,7016,0.61,179.9,147.6,7.2,285,7070,0.00,1.48,45.58,0.680,4,0.000,0.025,2899,1215,2123
$GC,7115,0.61,179.9,138.8,10.1,293,7119,0.00,1.62,0.00,0.000,6,0.000,0.036,2899,2272,2119
$GC,7388,0.62,203.6,111.0,8.8,318,7414,0.00,1.55,20.35,0.647,4,0.000,0.042,2899,3307,2029
$GC,7453,0.62,203.6,104.5,11.0,323,7457,0.00,1.52,0.00,0.000,6,0.000,0.021,2906,2254,2028
$GC,7724,0.63,228.5,77.5,8.7,348,7752,0.00,0.00,22.38,0.617,6,0.000,0.000,2907,2247,1925
$GC,8011,0.65,259.2,53.7,8.4,375,8041,0.00,1.65,26.35,0.593,4,0.000,0.041,2905,3321,1800
$GC,8114,0.65,278.1,44.8,9.0,383,8140,0.00,1.48,17.25,0.571,6,0.000,0.021,2911,2292,1722
$GC,8401,0.65,278.1,17.4,10.1,420,8409,0.00,1.55,0.00,0.000,4,0.000,0.024,2912,1211,1718
$GC,8483,0.66,293.2,9.4,9.2,434,8500,0.00,1.65,13.50,0.532,6,0.000,0.035,2912,2295,1662
$STATE,8548,end climb,SURFACE_DEPTH_REACHED
$STATE,8548,begin surface coast
$FINISH,0.4,1.023381
$STATE,8576,end surface coast,CONTROL_FINISHED_OK
$STATE,8576,begin surface
$SM_CCo,8602,40.00,0.536,0,0,1267,390.02
$SM_GC,1.18,0.00,0.00,40.00,0.000,0.000,0.536,37,2557,1267,-8.31,0.82,390.02
$IRIDIUM_FIX,2136.49,-15805.46,080303,101046
$TT8_MAMPS,0.023777
$HUMID,2336
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,24.0,71.978
$10V_AH,10.6,87.580
$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,18.025,66.375,370.525,40.000,0.000,81.930,168.336,366.199,2.750,0.000,0.000,34.544,895.507,5217.326,419.260,2009.796,1028.581,33.369,1117.880,0.000,1982.542,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,65.195,929.604,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,301.436,1478.126,523.037,277.383,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32104,450
$CAP_FILE_SIZE,83259,0
$CFSIZE,260165632,229539840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121213,125105,2146.187,-15807.861,28,1.1,29,9.9