version: 66.04
glider: 512
mission: 4
dive: 432
start: 12 12 113 15 10 55
data:
$ID,512
$MISSION,4
$DIVE,432
$D_SURF,3
$D_FLARE,2
$D_TGT,400
$D_ABORT,490
$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,133
$T_MISSION,300
$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,-116114.11
$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,68
$R_STBD_OVSHOOT,48
$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
$GPS1,145412,2145.692,-15808.332,10,1.2,15,9.9
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-82.4
$GPS2,151001,2145.770,-15808.384,14,1.8,14,9.9
$SPEED_LIMITS,0.236,0.244
$TGT_NAME,SIXM
$TGT_LATLONG,2141.000,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.134,-0.203
$KALMAN_X,157075.0,343.5,-232.5,-171416.5,790.7
$KALMAN_Y,-29710.0,194.1,-180.7,-78293.2,728.6
$MHEAD_RNG_PITCHd_Wd,203.5,9262,-19.0,-10.025
$D_GRID,400
$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,-0.59,-126.5,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,2,0.000,0.000,10,2556,2649
$GC,85,-0.59,-126.5,2.0,-1.4,8,125,9.45,1.55,-20.20,0.000,4,0.199,0.039,2497,1466,3376
$GC,266,-0.59,-126.5,35.6,-20.1,36,269,0.00,1.60,0.00,0.000,6,0.000,0.038,2491,2542,3376
$GC,537,-0.59,-126.5,97.1,-20.6,61,541,0.00,1.58,0.00,0.000,4,0.000,0.041,2483,3593,3376
$GC,598,-0.59,-126.5,108.3,-17.2,66,606,0.00,1.48,0.00,0.000,6,0.000,0.019,2487,2560,3376
$GC,866,-0.59,-126.5,153.7,-16.4,91,869,0.00,1.48,0.00,0.000,4,0.000,0.019,2488,1467,3377
$GC,968,-0.59,-126.5,169.6,-12.3,100,972,0.00,1.55,0.00,0.000,6,0.000,0.035,2482,2501,3378
$GC,1258,-0.59,-126.5,212.9,-14.3,121,1262,0.00,1.62,0.00,0.000,4,0.000,0.044,2473,3600,3378
$GC,1316,-0.59,-126.5,222.4,-15.0,122,1320,0.08,1.55,0.00,0.000,6,0.128,0.018,2509,2486,3377
$GC,1598,-0.59,-126.5,256.6,-11.8,129,1602,0.00,1.67,0.00,0.000,4,0.000,0.042,2503,3594,3377
$GC,1651,-0.59,-126.5,263.0,-11.3,130,1654,0.00,1.50,0.00,0.000,6,0.000,0.019,2509,2528,3377
$GC,1939,-0.59,-126.5,292.0,-10.0,137,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2521,3376
$GC,2182,-0.59,-126.5,318.0,-11.1,143,2186,0.00,1.62,0.00,0.000,4,0.000,0.044,2502,3598,3374
$GC,2223,-0.59,-126.5,323.4,-12.2,143,2232,0.00,1.52,0.00,0.000,6,0.000,0.020,2508,2517,3374
$GC,2479,-0.59,-126.5,350.8,-10.8,150,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2516,3372
$GC,2722,-0.59,-126.5,375.0,-9.7,156,2725,0.00,1.62,0.00,0.000,4,0.000,0.044,2501,3588,3370
$GC,2807,-0.59,-126.5,383.7,-9.6,157,2816,0.00,1.48,0.00,0.000,6,0.000,0.021,2507,2551,3370
$STATE,3016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3016,begin apogee
$GC,3028,-0.20,0.0,402.7,8.8,163,3138,0.38,0.00,104.68,0.841,6,0.097,0.000,2637,2222,2858
$STATE,3139,end apogee,CONTROL_FINISHED_OK
$STATE,3139,begin climb
$GC,3144,0.59,126.5,406.3,0.0,166,3262,0.68,1.50,111.47,0.820,4,0.055,0.021,2894,1220,2342
$GC,3409,0.59,126.5,382.8,12.2,172,3413,0.00,1.60,0.00,0.000,6,0.000,0.035,2891,2280,2335
$GC,3698,0.59,126.5,347.6,12.6,179,3701,0.00,1.55,0.00,0.000,4,0.000,0.042,2891,3301,2331
$GC,3722,0.59,126.5,344.1,12.8,179,3726,0.00,1.48,0.00,0.000,6,0.000,0.021,2896,2267,2330
$GC,3994,0.59,126.5,310.3,12.6,186,3997,0.00,1.50,0.00,0.000,4,0.000,0.023,2905,1202,2329
$GC,4089,0.59,126.5,299.1,11.4,188,4093,0.00,1.58,0.00,0.000,6,0.000,0.037,2904,2230,2328
$GC,4383,0.59,126.5,265.6,10.9,195,4387,0.00,1.62,0.00,0.000,4,0.000,0.044,2904,3317,2326
$GC,4464,0.59,126.5,255.1,12.6,196,4467,0.00,1.58,0.00,0.000,6,0.000,0.023,2910,2219,2325
$GC,4724,0.59,126.5,228.1,10.2,203,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2214,2325
$GC,4967,0.60,138.7,204.6,9.4,209,4982,0.00,1.73,8.98,0.665,4,0.000,0.043,2906,3312,2292
$GC,5211,0.60,138.7,178.0,10.3,228,5214,0.00,1.60,0.00,0.000,6,0.000,0.022,2911,2204,2290
$GC,5484,0.61,173.9,154.8,8.1,253,5525,0.00,1.45,31.42,0.687,4,0.000,0.024,2919,1199,2147
$GC,5544,0.62,183.8,149.4,9.5,258,5558,0.00,1.48,10.00,0.618,6,0.000,0.035,2918,2157,2107
$GC,5824,0.62,183.8,120.4,10.9,283,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2157,2102
$GC,6090,0.62,200.4,93.0,9.1,308,6115,0.00,1.80,15.00,0.607,4,0.000,0.042,2918,3317,2038
$GC,6229,0.63,216.0,78.5,9.2,320,6248,0.00,1.73,14.40,0.592,6,0.000,0.021,2925,2097,1977
$GC,6514,0.63,216.0,51.6,10.0,345,6518,0.00,1.85,0.00,0.000,4,0.000,0.041,2925,3318,1973
$GC,6596,0.63,216.0,42.7,10.8,352,6599,0.00,1.67,0.00,0.000,6,0.000,0.021,2933,2134,1972
$GC,6865,0.63,216.0,15.9,10.3,389,6873,0.12,0.00,0.00,0.000,6,0.158,0.000,2902,2129,1972
$STATE,7010,end climb,SURFACE_DEPTH_REACHED
$STATE,7010,begin surface coast
$FINISH,0.4,1.022630
$STATE,7053,end surface coast,CONTROL_FINISHED_OK
$STATE,7053,begin surface
$SM_CCo,7078,71.53,0.538,0,0,1267,390.02
$SM_GC,1.30,0.00,0.00,71.53,0.000,0.000,0.538,20,2555,1267,-8.36,0.65,390.02
$IRIDIUM_FIX,2136.49,-15809.76,080303,151541
$TT8_MAMPS,0.023777
$HUMID,2310
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.20
$XPDR_PINGS,17
$24V_AH,24.2,72.187
$10V_AH,10.6,87.775
$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,17.875,48.525,295.950,71.525,0.000,76.021,109.651,472.910,4.250,0.000,0.000,14.835,824.050,4037.254,396.304,1828.527,1018.930,33.368,996.238,0.000,1821.095,0.000,0.548,0.000
$DEVICE_MAMPS,198.653,65.962,840.632,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,283.182,1393.113,543.462,288.969,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31902,423
$CAP_FILE_SIZE,74135,0
$CFSIZE,260165632,229462016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121213,171130,2145.305,-15808.338,36,1.6,36,9.9