version: 66.04
glider: 512
mission: 4
dive: 433
start: 12 12 113 17 19 19
data:
$ID,512
$MISSION,4
$DIVE,433
$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,-116129.71
$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,73
$R_STBD_OVSHOOT,35
$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
$GPS1,171130,2145.305,-15808.338,36,1.6,36,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-82.3
$GPS2,171825,2145.349,-15808.342,14,1.4,14,9.9
$SPEED_LIMITS,0.236,0.244
$TGT_NAME,SIXM
$TGT_LATLONG,2141.000,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.192
$KALMAN_X,158204.1,198.2,-84.1,-172485.8,909.9
$KALMAN_Y,-28944.1,121.9,-37.2,-79914.9,730.0
$MHEAD_RNG_PITCHd_Wd,208.0,8546,-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,-126.5,0.0,0.0,0,94,0.00,0.00,-74.62,0.000,2,0.000,0.000,13,2551,3019
$GC,100,-0.59,-126.5,2.5,-2.2,10,125,9.45,1.52,-7.47,0.000,4,0.199,0.038,2505,1470,3374
$GC,327,-0.59,-126.5,53.8,-19.4,39,331,0.00,1.60,0.00,0.000,6,0.000,0.037,2500,2528,3375
$GC,598,-0.59,-126.5,112.7,-19.5,64,602,0.00,1.60,0.00,0.000,4,0.000,0.042,2491,3617,3376
$GC,671,-0.59,-126.5,125.7,-17.3,70,679,0.00,1.55,0.00,0.000,6,0.000,0.019,2496,2528,3377
$GC,938,-0.59,-126.5,169.2,-15.3,95,941,0.00,1.42,0.00,0.000,4,0.000,0.019,2503,1476,3377
$GC,986,-0.59,-126.5,176.6,-13.8,99,990,0.00,1.62,0.00,0.000,6,0.000,0.034,2497,2579,3378
$GC,1284,-0.59,-126.5,216.6,-13.4,118,1288,0.00,1.52,0.00,0.000,4,0.000,0.043,2489,3594,3378
$GC,1353,-0.59,-126.5,226.2,-13.2,119,1356,0.00,1.48,0.00,0.000,6,0.000,0.018,2494,2546,3378
$GC,1624,-0.59,-126.5,259.8,-12.3,126,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2537,3378
$GC,1868,-0.59,-126.5,290.8,-12.9,132,1872,0.00,1.60,0.00,0.000,4,0.000,0.041,2489,3608,3378
$GC,1920,-0.59,-126.5,297.2,-12.4,133,1923,0.00,1.48,0.00,0.000,6,0.000,0.019,2494,2571,3377
$GC,2213,-0.59,-126.5,329.6,-10.6,140,2217,0.00,1.50,0.00,0.000,4,0.000,0.021,2501,1475,3376
$GC,2344,-0.59,-126.5,341.9,-9.4,142,2352,0.00,1.62,0.00,0.000,6,0.000,0.037,2496,2553,3375
$GC,2599,-0.59,-126.5,368.2,-10.8,149,2602,0.00,1.58,0.00,0.000,4,0.000,0.046,2488,3586,3373
$GC,2662,-0.59,-126.5,375.8,-11.3,150,2666,0.00,1.45,0.00,0.000,6,0.000,0.021,2493,2575,3373
$STATE,2893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2893,begin apogee
$GC,2905,-0.20,0.0,400.8,10.6,156,3016,0.43,0.00,104.90,0.839,6,0.100,0.000,2641,2219,2857
$STATE,3016,end apogee,CONTROL_FINISHED_OK
$STATE,3016,begin climb
$GC,3022,0.59,126.5,405.8,0.0,159,3138,0.68,1.50,110.78,0.820,4,0.052,0.022,2900,1220,2341
$GC,3347,0.59,126.5,373.6,12.1,166,3351,0.00,1.60,0.00,0.000,6,0.000,0.036,2899,2281,2334
$GC,3619,0.59,126.5,339.2,12.8,173,3623,0.00,1.52,0.00,0.000,4,0.000,0.023,2907,1224,2331
$GC,3643,0.59,126.5,335.6,13.2,173,3647,0.00,1.55,0.00,0.000,6,0.000,0.036,2905,2239,2331
$GC,3915,0.59,126.5,301.8,12.7,180,3918,0.00,1.48,0.00,0.000,4,0.000,0.023,2909,1216,2329
$GC,4040,0.59,126.5,284.7,13.1,182,4043,0.00,1.52,0.00,0.000,6,0.000,0.035,2905,2217,2328
$GC,4300,0.59,126.5,254.7,11.6,189,4304,0.00,1.62,0.00,0.000,4,0.000,0.044,2905,3307,2326
$GC,4350,0.59,126.5,248.5,11.9,190,4354,0.00,1.52,0.00,0.000,6,0.000,0.022,2910,2245,2325
$GC,4646,0.59,126.5,217.3,10.7,197,4649,0.00,1.62,0.00,0.000,4,0.000,0.044,2912,3306,2325
$GC,4833,0.59,126.5,195.8,11.5,201,4837,0.00,1.52,0.00,0.000,6,0.000,0.022,2919,2239,2324
$GC,5104,0.60,136.4,169.5,9.5,226,5117,0.00,1.42,6.82,0.610,4,0.000,0.021,2927,1197,2301
$GC,5362,0.61,171.5,146.2,8.2,249,5401,0.08,1.52,31.62,0.683,6,0.155,0.036,2904,2199,2157
$GC,5658,0.62,184.2,118.1,9.3,276,5675,0.00,1.70,11.70,0.616,4,0.000,0.044,2904,3298,2106
$GC,5812,0.62,184.2,101.3,10.4,289,5820,0.00,1.62,0.00,0.000,6,0.000,0.021,2909,2173,2104
$GC,6079,0.63,231.4,81.8,7.5,314,6130,0.00,1.83,40.20,0.618,4,0.000,0.042,2909,3309,1913
$GC,6192,0.63,231.4,69.9,10.5,323,6200,0.00,1.60,0.00,0.000,6,0.000,0.021,2912,2222,1911
$GC,6458,0.65,264.4,46.7,8.3,348,6497,0.00,1.50,27.92,0.578,4,0.000,0.022,2915,1186,1778
$GC,6570,0.66,287.5,36.5,8.8,357,6594,0.00,1.52,20.30,0.558,6,0.000,0.032,2915,2191,1685
$GC,6856,0.66,287.5,8.8,10.3,403,6864,0.00,1.67,0.00,0.000,4,0.000,0.041,2915,3303,1681
$STATE,6906,end climb,SURFACE_DEPTH_REACHED
$STATE,6906,begin surface coast
$FINISH,2.3,1.023339
$STATE,6913,end surface coast,CONTROL_FINISHED_OK
$STATE,6913,begin surface
$SM_CCo,6939,42.45,0.535,0,0,1267,390.02
$SM_GC,1.20,0.00,0.00,42.45,0.000,0.000,0.535,34,2482,1267,-8.32,-1.36,390.02
$IRIDIUM_FIX,2136.49,-15807.61,080303,151557
$TT8_MAMPS,0.023777
$HUMID,2342
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.30
$XPDR_PINGS,8
$24V_AH,24.2,72.283
$10V_AH,10.6,87.869
$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,17.900,52.950,354.250,42.450,0.000,27.867,36.150,193.148,2.000,0.000,0.000,14.971,815.997,3697.489,401.792,1888.105,598.901,33.365,1055.491,0.000,1870.347,0.000,0.547,0.000
$DEVICE_MAMPS,198.653,46.020,839.098,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.654,1357.399,502.759,270.635,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31958,413
$CAP_FILE_SIZE,67707,0
$CFSIZE,260165632,229433344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121213,191643,2144.835,-15808.512,13,1.9,13,9.9