version: 66.04
glider: 512
mission: 4
dive: 17
start: 9 20 113 5 47 56
data:
$ID,512
$MISSION,4
$DIVE,17
$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,-106735.46
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2717
$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,2550
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2580
$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
$GPS1,053309,2246.419,-15750.761,10,2.6,30,10.1
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-79.8
$GPS2,054703,2246.477,-15750.772,16,5.6,35,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.112
$KALMAN_X,-11959.1,589.6,339.8,26865.6,-3085.5
$KALMAN_Y,-8350.8,1298.8,504.6,10977.3,-2581.1
$MHEAD_RNG_PITCHd_Wd,105.4,26543,-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,12,begin dive
$GC,18,-0.64,-146.0,0.0,0.0,0,103,0.00,0.00,-82.38,0.000,2,0.000,0.000,12,2621,2955
$GC,108,-0.64,-146.0,2.0,-1.8,10,128,9.30,1.55,-5.05,0.000,4,0.209,0.054,2493,3638,3177
$GC,199,-0.64,-146.0,30.4,-30.5,23,209,0.00,1.62,0.00,0.000,6,0.000,0.021,2497,2527,3178
$GC,465,-0.64,-146.0,96.9,-20.7,48,469,0.00,1.45,0.00,0.000,4,0.000,0.022,2500,1481,3179
$GC,483,-0.64,-146.0,99.9,-19.1,49,486,0.00,1.60,0.00,0.000,6,0.000,0.034,2494,2568,3179
$GC,754,-0.64,-146.0,150.6,-19.7,74,757,0.00,1.52,0.00,0.000,4,0.000,0.022,2499,1493,3180
$GC,793,-0.64,-146.0,158.0,-19.1,77,796,0.00,1.60,0.00,0.000,6,0.000,0.036,2493,2575,3180
$GC,1083,-0.64,-146.0,208.0,-16.2,101,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2575,3180
$GC,1327,-0.64,-146.0,248.1,-16.4,107,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2575,3180
$GC,1570,-0.64,-146.0,281.8,-13.9,113,1574,0.00,1.55,0.00,0.000,4,0.000,0.042,2485,3618,3180
$GC,1674,-0.64,-146.0,296.9,-13.7,115,1678,0.00,1.58,0.00,0.000,6,0.000,0.021,2485,2515,3179
$GC,1956,-0.64,-146.0,333.5,-12.9,122,1960,0.00,1.65,0.00,0.000,4,0.000,0.042,2477,3621,3178
$GC,2065,-0.64,-146.0,349.1,-14.8,124,2069,0.08,1.52,0.00,0.000,6,0.157,0.023,2501,2550,3177
$GC,2341,-0.64,-146.0,381.8,-11.9,131,2345,0.00,1.60,0.00,0.000,4,0.000,0.044,2495,3621,3175
$GC,2382,-0.64,-146.0,387.5,-12.4,131,2390,0.00,1.52,0.00,0.000,6,0.000,0.023,2502,2549,3175
$GC,2637,-0.64,-146.0,415.4,-11.0,138,2640,0.00,1.48,0.00,0.000,4,0.000,0.025,2509,1494,3173
$GC,2817,-0.64,-146.0,432.6,-8.8,141,2826,0.00,1.55,0.00,0.000,6,0.000,0.039,2504,2525,3171
$GC,3072,-0.64,-146.0,456.9,-9.6,148,3076,0.00,1.62,0.00,0.000,4,0.000,0.048,2496,3623,3170
$GC,3102,-0.64,-146.0,460.4,-10.6,148,3106,0.00,1.58,0.00,0.000,6,0.000,0.025,2502,2531,3169
$GC,3368,-0.64,-146.0,486.4,-10.2,155,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2524,3168
$GC,3611,-0.64,-146.0,510.8,-9.9,161,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2524,3166
$GC,3855,-0.64,-146.0,534.1,-9.4,167,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2524,3163
$GC,4099,-0.64,-146.0,555.4,-8.5,173,4102,0.00,1.65,0.00,0.000,4,0.000,0.048,2495,3619,3162
$GC,4123,-0.64,-146.0,557.9,-8.9,173,4127,0.00,1.58,0.00,0.000,6,0.000,0.027,2502,2531,3162
$GC,4395,-0.64,-146.0,581.2,-8.7,180,4399,0.00,1.45,0.00,0.000,4,0.000,0.028,2509,1498,3160
$GC,4425,-0.64,-146.0,584.2,-8.6,180,4429,0.00,1.55,0.00,0.000,6,0.000,0.044,2504,2516,3160
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4645,begin apogee
$GC,4657,-0.23,0.0,603.5,8.8,186,4779,0.43,0.00,120.07,1.022,6,0.154,0.000,2641,2240,2580
$STATE,4780,end apogee,CONTROL_FINISHED_OK
$STATE,4780,begin climb
$GC,4785,0.64,146.0,605.8,0.0,189,4933,0.82,1.60,130.45,0.961,4,0.077,0.030,2928,1212,1982
$GC,4941,0.64,146.0,580.0,21.4,193,4944,0.00,1.65,0.00,0.000,6,0.000,0.041,2928,2251,1981
$GC,5229,0.64,146.0,504.0,26.8,200,5233,0.00,1.65,0.00,0.000,4,0.000,0.047,2928,3308,1975
$GC,5292,0.64,146.0,485.9,26.8,201,5296,0.00,1.55,0.00,0.000,6,0.000,0.028,2936,2280,1974
$GC,5570,0.64,146.0,415.6,25.6,208,5573,0.00,1.60,0.00,0.000,4,0.000,0.031,2944,1182,1972
$GC,5633,0.64,146.0,399.2,22.8,209,5637,0.00,1.67,0.00,0.000,6,0.000,0.042,2944,2266,1972
$GC,5910,0.64,146.0,326.6,26.7,216,5913,0.00,1.60,0.00,0.000,4,0.000,0.031,2951,1191,1970
$GC,5951,0.64,146.0,314.2,26.5,216,5960,0.00,1.62,0.00,0.000,6,0.000,0.043,2951,2247,1970
$GC,6207,0.64,146.0,247.8,26.5,223,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2247,1969
$GC,6452,0.64,146.0,189.1,22.9,232,6455,0.00,1.58,0.00,0.000,4,0.000,0.031,2959,1177,1969
$GC,6512,0.64,146.0,174.2,23.8,237,6517,0.10,1.58,0.00,0.000,6,0.167,0.041,2930,2209,1969
$GC,6788,0.64,146.0,123.0,19.1,262,6791,0.00,1.67,0.00,0.000,4,0.000,0.044,2930,3315,1969
$GC,6829,0.64,146.0,112.9,21.3,265,6837,0.00,1.65,0.00,0.000,6,0.000,0.028,2937,2194,1968
$GC,7096,0.64,146.0,64.6,19.2,290,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2188,1968
$GC,7365,0.64,146.0,28.1,11.4,316,7375,0.00,1.70,0.00,0.000,4,0.000,0.042,2937,3301,1968
$GC,7448,0.64,146.0,15.0,16.5,328,7457,0.00,1.65,0.00,0.000,6,0.000,0.025,2946,2166,1968
$STATE,7513,end climb,SURFACE_DEPTH_REACHED
$STATE,7513,begin surface coast
$FINISH,0.2,1.023149
$STATE,7533,end surface coast,CONTROL_FINISHED_OK
$STATE,7533,begin surface
$SM_CCo,7558,93.65,0.558,0,0,1029,380.21
$SM_GC,1.06,0.00,0.00,93.65,0.000,0.000,0.558,30,2564,1029,-8.38,0.42,380.21
$IRIDIUM_FIX,2239.35,-15623.84,151202,050525
$TT8_MAMPS,0.023777
$HUMID,2325
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,24.4,2.241
$10V_AH,10.8,2.081
$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,18.075,54.925,250.525,93.650,0.000,55.236,85.111,454.643,0.750,0.000,0.000,36.812,710.133,4746.664,423.670,1674.989,936.851,33.338,942.749,0.000,1666.611,0.000,0.544,0.000
$DEVICE_MAMPS,208.624,54.457,1022.411,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,230.977,1123.468,1157.935,148.105,816.704,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28907,341
$CAP_FILE_SIZE,69442,0
$CFSIZE,260165632,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200913,075645,2246.314,-15749.763,9,3.2,28,10.1