version: 66.04
glider: 512
mission: 4
dive: 18
start: 9 20 113 8 35 33
data:
$ID,512
$MISSION,4
$DIVE,18
$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,-106767.28
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,075645,2246.314,-15749.763,9,3.2,28,10.1
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-81.2
$GPS2,083436,2246.447,-15749.724,31,1.5,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,0.108
$KALMAN_X,-12743.5,420.0,426.9,29523.5,-2784.2
$KALMAN_Y,-6543.2,924.3,628.6,9348.2,-1327.7
$MHEAD_RNG_PITCHd_Wd,55.4,25031,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.18,0.000,2,0.000,0.000,11,2559,2854
$GC,103,-0.64,-146.0,2.1,-1.7,9,131,9.40,1.55,-7.93,0.000,4,0.212,0.042,2507,1477,3178
$GC,204,-0.64,-146.0,27.5,-24.8,23,213,0.00,1.62,0.00,0.000,6,0.000,0.038,2501,2543,3178
$GC,469,-0.64,-146.0,91.1,-21.8,48,472,0.00,1.60,0.00,0.000,4,0.000,0.042,2493,3629,3178
$GC,497,-0.64,-146.0,97.0,-20.7,50,501,0.00,1.58,0.00,0.000,6,0.000,0.020,2499,2522,3177
$GC,770,-0.64,-146.0,144.5,-16.7,75,774,0.00,1.65,0.00,0.000,4,0.000,0.040,2493,3609,3178
$GC,788,-0.64,-146.0,148.6,-17.2,76,797,0.00,1.55,0.00,0.000,6,0.000,0.020,2499,2516,3178
$GC,1053,-0.64,-146.0,189.4,-12.2,101,1057,0.00,1.65,0.00,0.000,4,0.000,0.040,2492,3625,3178
$GC,1070,-0.64,-146.0,191.7,-12.9,102,1073,0.00,1.50,0.00,0.000,6,0.000,0.019,2498,2559,3178
$GC,1333,-0.64,-146.0,226.0,-12.3,112,1336,0.00,1.45,0.00,0.000,4,0.000,0.021,2506,1500,3177
$GC,1396,-0.64,-146.0,233.9,-11.7,113,1399,0.00,1.58,0.00,0.000,6,0.000,0.037,2500,2548,3177
$GC,1673,-0.64,-146.0,267.7,-12.4,120,1676,0.00,1.48,0.00,0.000,4,0.000,0.021,2506,1497,3175
$GC,1731,-0.64,-146.0,275.2,-11.3,121,1735,0.00,1.55,0.00,0.000,6,0.000,0.036,2500,2532,3175
$GC,2013,-0.64,-146.0,309.3,-12.5,128,2017,0.00,1.62,0.00,0.000,4,0.000,0.044,2492,3619,3174
$GC,2198,-0.64,-146.0,333.1,-12.2,132,2202,0.00,1.48,0.00,0.000,6,0.000,0.021,2498,2574,3172
$GC,2493,-0.64,-146.0,369.1,-12.2,139,2497,0.00,1.48,0.00,0.000,4,0.000,0.024,2506,1506,3169
$GC,2517,-0.64,-146.0,372.6,-12.7,139,2521,0.00,1.60,0.00,0.000,6,0.000,0.038,2500,2568,3169
$GC,2789,-0.64,-146.0,402.3,-10.9,146,2792,0.00,1.52,0.00,0.000,4,0.000,0.025,2506,1494,3167
$GC,2846,-0.64,-146.0,408.9,-10.4,147,2849,0.00,1.60,0.00,0.000,6,0.000,0.039,2500,2574,3167
$GC,3130,-0.64,-146.0,438.9,-10.8,154,3134,0.00,1.50,-0.08,0.000,4,0.000,0.044,2505,1499,3188
$GC,3179,-0.64,-146.0,444.4,-10.0,155,3183,0.00,1.58,0.00,0.000,6,0.000,0.041,2500,2538,3188
$GC,3473,-0.64,-146.0,475.4,-10.3,162,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2538,3185
$GC,3717,-0.64,-146.0,500.4,-10.3,168,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2538,3183
$GC,3961,-0.64,-146.0,524.2,-9.7,174,3965,0.00,1.60,0.00,0.000,4,0.000,0.049,2491,3616,3181
$GC,4070,-0.64,-146.0,536.4,-11.6,176,4074,0.00,1.55,0.00,0.000,6,0.000,0.026,2497,2541,3180
$GC,4347,-0.64,-146.0,565.0,-10.6,183,4350,0.00,1.65,0.00,0.000,4,0.000,0.048,2491,3626,3178
$GC,4388,-0.64,-146.0,570.0,-11.8,183,4397,0.00,1.58,0.00,0.000,6,0.000,0.027,2497,2529,3177
$GC,4643,-0.64,-146.0,596.1,-10.1,190,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2529,3176
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4691,-0.23,0.0,600.2,10.1,191,4817,0.43,0.00,123.70,1.013,6,0.125,0.000,2639,2251,2580
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4823,0.64,146.0,603.4,0.0,194,4964,0.80,1.77,129.38,0.953,4,0.079,0.042,2915,3317,1983
$GC,4987,0.64,146.0,575.3,23.3,197,4991,0.00,1.60,0.00,0.000,6,0.000,0.028,2923,2264,1980
$GC,5247,0.64,146.0,507.8,26.1,204,5251,0.00,1.67,0.00,0.000,4,0.000,0.045,2923,3317,1976
$GC,5298,0.64,146.0,494.3,27.8,205,5302,0.00,1.58,0.00,0.000,6,0.000,0.028,2931,2274,1975
$GC,5592,0.64,146.0,415.1,27.1,212,5596,0.00,1.58,0.00,0.000,4,0.000,0.031,2939,1201,1973
$GC,5644,0.64,146.0,401.0,25.1,213,5648,0.00,1.65,0.00,0.000,6,0.000,0.041,2938,2291,1972
$GC,5933,0.64,146.0,324.4,26.2,220,5937,0.00,1.62,0.00,0.000,4,0.000,0.030,2947,1174,1971
$GC,5969,0.64,146.0,314.2,24.7,220,5972,0.00,1.65,0.00,0.000,6,0.000,0.041,2946,2250,1970
$GC,6228,0.64,146.0,249.9,25.7,227,6232,0.00,1.60,0.00,0.000,4,0.000,0.044,2945,3309,1970
$GC,6252,0.64,146.0,242.5,26.8,227,6256,0.00,1.58,0.00,0.000,6,0.000,0.029,2951,2248,1969
$GC,6517,0.64,146.0,175.2,24.7,239,6521,0.00,1.65,0.00,0.000,4,0.000,0.046,2952,3307,1969
$GC,6535,0.64,146.0,169.9,24.6,240,6545,0.12,1.58,0.00,0.000,6,0.191,0.028,2924,2240,1969
$GC,6801,0.64,146.0,115.6,21.8,265,6805,0.00,1.50,0.00,0.000,4,0.000,0.028,2933,1191,1969
$GC,6875,0.64,146.0,101.1,19.7,271,6879,0.00,1.55,0.00,0.000,6,0.000,0.040,2933,2210,1968
$GC,7148,0.64,146.0,55.3,13.3,296,7152,0.00,1.65,0.00,0.000,4,0.000,0.046,2932,3301,1968
$GC,7212,0.64,146.0,47.2,11.7,301,7215,0.00,1.60,0.00,0.000,6,0.000,0.026,2940,2185,1968
$GC,7504,0.64,146.0,6.5,16.0,338,7513,0.00,1.73,0.00,0.000,4,0.000,0.043,2940,3308,1968
$STATE,7520,end climb,SURFACE_DEPTH_REACHED
$STATE,7520,begin surface coast
$FINISH,0.2,1.023158
$STATE,7540,end surface coast,CONTROL_FINISHED_OK
$STATE,7540,begin surface
$SM_CCo,7566,91.62,0.558,0,0,1029,380.21
$SM_GC,1.25,0.00,0.00,91.62,0.000,0.000,0.558,31,2508,1029,-8.37,-1.16,380.21
$IRIDIUM_FIX,2237.01,-15747.62,151202,080804
$TT8_MAMPS,0.023777
$HUMID,2358
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.90
$XPDR_PINGS,3
$24V_AH,24.5,2.431
$10V_AH,10.8,2.220
$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,18.150,66.500,253.075,91.625,0.000,149.178,198.905,1482.608,0.750,0.000,0.000,31.193,732.703,4803.897,391.349,1789.855,2221.331,33.345,964.961,0.000,1777.261,0.000,0.547,0.000
$DEVICE_MAMPS,211.692,49.088,1013.207,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,232.823,1130.049,1168.745,359.959,856.190,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28746,343
$CAP_FILE_SIZE,89846,0
$CFSIZE,260165632,257024000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200913,104413,2246.759,-15748.561,14,1.9,15,10.1