version: 66.04
glider: 512
mission: 4
dive: 16
start: 9 20 113 3 19 57
data:
$ID,512
$MISSION,4
$DIVE,16
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$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,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,150
$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,380
$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,-106698.02
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2720
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2550
$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
$GPS1,030205,2245.753,-15751.524,20,1.0,37,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-78.4
$GPS2,031900,2245.734,-15751.576,12,1.3,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,0.153
$KALMAN_X,-10883.6,693.0,145.4,24510.4,-2995.7
$KALMAN_Y,-7365.5,1102.5,71.6,9239.3,-1567.0
$MHEAD_RNG_PITCHd_Wd,43.8,27000,-17.5,-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,13,begin dive
$GC,18,-0.64,-146.0,0.0,0.0,0,94,0.00,0.00,-74.15,0.000,2,0.000,0.000,11,2622,2769
$GC,100,-0.64,-146.0,2.1,-2.1,9,126,9.38,0.00,-9.40,0.000,6,0.211,0.000,2503,2621,3146
$GC,400,-0.64,-146.0,69.4,-16.8,43,404,0.00,1.55,0.00,0.000,4,0.000,0.023,2510,1531,3147
$GC,510,-0.64,-146.0,92.1,-15.2,52,519,0.00,1.62,0.00,0.000,6,0.000,0.038,2505,2601,3147
$GC,777,-0.64,-146.0,135.2,-15.9,77,780,0.00,1.58,0.00,0.000,4,0.000,0.042,2497,3658,3148
$GC,807,-0.64,-146.0,141.0,-17.3,79,815,0.00,1.55,0.00,0.000,6,0.000,0.020,2502,2581,3148
$GC,1072,-0.64,-146.0,183.4,-14.9,104,1076,0.00,1.45,0.00,0.000,4,0.000,0.022,2510,1530,3148
$GC,1201,-0.64,-146.0,201.1,-11.5,115,1209,0.00,1.58,0.00,0.000,6,0.000,0.035,2505,2580,3148
$GC,1456,-0.64,-146.0,231.5,-12.5,122,1459,0.00,1.48,0.00,0.000,4,0.000,0.021,2510,1529,3148
$GC,1596,-0.64,-146.0,246.0,-9.8,125,1600,0.00,1.52,0.00,0.000,6,0.000,0.036,2504,2551,3147
$GC,1890,-0.64,-146.0,283.7,-13.7,132,1893,0.00,1.62,0.00,0.000,4,0.000,0.044,2496,3658,3147
$GC,1971,-0.64,-146.0,295.9,-14.7,133,1974,0.00,1.58,0.00,0.000,6,0.000,0.021,2502,2560,3146
$GC,2231,-0.64,-146.0,329.6,-12.8,140,2234,0.00,1.67,0.00,0.000,4,0.000,0.043,2496,3657,3145
$GC,2427,-0.64,-146.0,354.4,-11.9,144,2431,0.00,1.52,0.00,0.000,6,0.000,0.022,2502,2587,3143
$GC,2711,-0.64,-146.0,384.3,-10.6,151,2714,0.00,1.45,0.00,0.000,4,0.000,0.025,2510,1537,3141
$GC,2814,-0.64,-146.0,394.8,-9.5,153,2818,0.00,1.60,0.00,0.000,6,0.000,0.038,2504,2616,3141
$GC,3098,-0.64,-146.0,425.3,-10.9,160,3101,0.00,1.52,0.00,0.000,4,0.000,0.025,2510,1546,3138
$GC,3205,-0.64,-146.0,437.3,-11.2,162,3209,0.00,1.55,0.00,0.000,6,0.000,0.040,2504,2571,3137
$GC,3483,-0.64,-146.0,467.4,-11.1,169,3487,0.00,1.45,-0.08,0.000,4,0.000,0.047,2509,1534,3161
$GC,3577,-0.64,-146.0,477.0,-9.2,171,3581,0.00,1.55,0.00,0.000,6,0.000,0.040,2504,2561,3161
$GC,3873,-0.64,-146.0,505.0,-9.3,178,3876,0.00,1.65,0.00,0.000,4,0.000,0.050,2496,3668,3159
$GC,3914,-0.64,-146.0,509.3,-9.4,178,3922,0.00,1.60,0.00,0.000,6,0.000,0.027,2502,2554,3157
$GC,4169,-0.64,-146.0,528.6,-7.2,185,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3156
$GC,4412,-0.64,-146.0,547.5,-8.0,191,4416,0.00,1.70,0.00,0.000,4,0.000,0.048,2496,3661,3155
$GC,4465,-0.64,-146.0,552.4,-9.1,192,4468,0.00,1.58,0.00,0.000,6,0.000,0.028,2502,2571,3154
$GC,4754,-0.64,-146.0,576.1,-8.5,199,4757,0.00,1.42,0.00,0.000,4,0.000,0.029,2509,1555,3152
$GC,4829,-0.64,-146.0,583.2,-8.9,200,4832,0.00,1.50,0.00,0.000,6,0.000,0.044,2504,2539,3152
$STATE,5009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5009,begin apogee
$GC,5021,-0.23,0.0,600.3,9.5,205,5148,0.43,0.00,124.62,1.020,6,0.123,0.000,2644,2297,2550
$STATE,5149,end apogee,CONTROL_FINISHED_OK
$STATE,5149,begin climb
$GC,5154,0.64,146.0,603.5,0.0,208,5293,0.80,0.00,129.77,0.960,6,0.079,0.000,2919,2297,1954
$GC,5527,0.64,146.0,517.6,27.6,217,5531,0.00,1.65,0.00,0.000,4,0.000,0.044,2919,3357,1946
$GC,5569,0.64,146.0,504.5,29.3,217,5577,0.00,1.55,0.00,0.000,6,0.000,0.030,2925,2343,1944
$GC,5823,0.64,146.0,434.9,27.5,224,5826,0.00,1.62,0.00,0.000,4,0.000,0.031,2934,1209,1942
$GC,5897,0.64,146.0,415.7,23.7,225,5900,0.00,1.67,0.00,0.000,6,0.000,0.041,2934,2310,1942
$GC,6164,0.64,146.0,345.0,26.5,232,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2311,1941
$GC,6408,0.64,146.0,281.8,25.5,238,6412,0.00,1.60,0.00,0.000,4,0.000,0.044,2933,3360,1941
$GC,6466,0.64,146.0,265.9,24.9,239,6469,0.00,1.58,0.00,0.000,6,0.000,0.030,2939,2309,1941
$GC,6748,0.64,146.0,201.7,21.9,246,6752,0.00,1.55,0.00,0.000,4,0.000,0.031,2948,1236,1940
$GC,6801,0.64,146.0,188.7,24.0,247,6809,0.00,1.62,0.00,0.000,6,0.000,0.042,2948,2292,1939
$GC,7066,0.64,146.0,133.1,23.8,272,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2293,1939
$GC,7333,0.64,146.0,73.6,19.8,297,7337,0.00,1.60,0.00,0.000,4,0.000,0.043,2948,3357,1939
$GC,7386,0.64,146.0,64.5,17.5,301,7389,0.00,1.60,0.00,0.000,6,0.000,0.028,2955,2258,1938
$GC,7668,0.64,146.0,20.6,16.2,330,7677,0.00,1.45,0.00,0.000,4,0.000,0.028,2964,1234,1939
$STATE,7773,end climb,SURFACE_DEPTH_REACHED
$STATE,7773,begin surface coast
$FINISH,-0.0,1.023151
$STATE,7794,end surface coast,CONTROL_FINISHED_OK
$STATE,7794,begin surface
$SM_CCo,7820,92.40,0.561,0,0,999,380.21
$SM_GC,1.12,0.00,0.00,92.40,0.000,0.000,0.561,31,2622,999,-8.38,0.65,380.21
$IRIDIUM_FIX,2237.01,-15752.82,151202,030352
$TT8_MAMPS,0.023777
$HUMID,2329
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.50
$XPDR_PINGS,8
$24V_AH,24.4,2.123
$10V_AH,10.8,1.963
$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,17.950,57.250,254.400,92.400,0.000,113.798,194.275,343.094,2.000,0.000,0.000,21.980,754.486,4901.319,412.454,1849.597,1020.557,33.343,996.480,0.000,1853.044,0.000,0.544,0.000
$DEVICE_MAMPS,210.925,49.855,1020.110,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,237.110,1153.133,1193.511,154.694,859.728,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32059,350
$CAP_FILE_SIZE,72586,0
$CFSIZE,260165632,257122304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200913,053309,2246.419,-15750.761,10,2.6,30,10.1