version: 66.04
glider: 512
mission: 4
dive: 19
start: 9 20 113 10 54 18
data:
$ID,512
$MISSION,4
$DIVE,19
$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,-106785.35
$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,79
$R_STBD_OVSHOOT,31
$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
$GPS1,104413,2246.759,-15748.561,14,1.9,15,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-81.4
$GPS2,105325,2246.750,-15748.589,17,1.9,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.100
$KALMAN_X,-13344.3,399.1,262.7,32247.5,-2638.5
$KALMAN_Y,-6543.9,669.0,209.4,10602.5,-1394.3
$MHEAD_RNG_PITCHd_Wd,57.2,23833,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-82.25,0.000,2,0.000,0.000,13,2506,2990
$GC,108,-0.64,-146.0,2.4,-2.4,10,127,9.35,1.73,-4.07,0.000,4,0.211,0.052,2493,3639,3176
$GC,141,-0.64,-146.0,12.3,-23.9,13,150,0.00,1.58,0.00,0.000,6,0.000,0.022,2499,2553,3177
$GC,416,-0.64,-146.0,88.3,-21.1,41,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2545,3178
$GC,681,-0.64,-146.0,135.7,-17.0,66,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2545,3180
$GC,948,-0.64,-146.0,181.2,-16.4,91,952,0.00,1.45,0.00,0.000,4,0.000,0.022,2507,1497,3181
$GC,976,-0.64,-146.0,186.3,-14.7,93,985,0.00,1.60,0.00,0.000,6,0.000,0.036,2501,2561,3180
$GC,1245,-0.64,-146.0,224.2,-14.0,107,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2562,3180
$GC,1488,-0.64,-146.0,257.7,-13.9,113,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2562,3180
$GC,1732,-0.64,-146.0,288.4,-12.7,119,1736,0.00,1.58,0.00,0.000,4,0.000,0.044,2493,3614,3180
$GC,1784,-0.64,-146.0,296.1,-14.1,120,1788,0.00,1.52,0.00,0.000,6,0.000,0.022,2499,2542,3179
$GC,2073,-0.64,-146.0,334.6,-13.3,127,2077,0.00,1.62,0.00,0.000,4,0.000,0.043,2493,3626,3178
$GC,2167,-0.64,-146.0,347.6,-12.8,129,2171,0.00,1.50,0.00,0.000,6,0.000,0.022,2499,2575,3177
$GC,2462,-0.64,-146.0,382.3,-11.6,136,2466,0.00,1.48,0.00,0.000,4,0.000,0.025,2506,1509,3176
$GC,2531,-0.64,-146.0,390.1,-10.3,137,2534,0.00,1.58,0.00,0.000,6,0.000,0.038,2500,2554,3176
$GC,2802,-0.64,-146.0,419.0,-11.0,144,2806,0.00,1.58,0.00,0.000,4,0.000,0.047,2493,3604,3173
$GC,2826,-0.64,-146.0,422.4,-12.2,144,2830,0.00,1.52,0.00,0.000,6,0.000,0.024,2499,2543,3173
$GC,3098,-0.64,-146.0,451.1,-10.4,151,3101,0.00,1.48,0.00,0.000,4,0.000,0.026,2507,1489,3172
$GC,3161,-0.64,-146.0,458.2,-10.1,152,3165,0.00,1.60,0.00,0.000,6,0.000,0.040,2501,2546,3171
$GC,3438,-0.64,-146.0,484.9,-9.7,159,3442,0.00,1.60,0.00,0.000,4,0.000,0.049,2492,3626,3169
$GC,3513,-0.64,-146.0,493.5,-11.1,160,3517,0.00,1.58,0.00,0.000,6,0.000,0.025,2498,2535,3169
$GC,3779,-0.64,-146.0,520.2,-10.2,167,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2529,3167
$GC,4022,-0.64,-146.0,546.2,-10.8,173,4026,0.00,1.65,0.00,0.000,4,0.000,0.048,2492,3624,3166
$GC,4153,-0.64,-146.0,560.9,-10.3,175,4161,0.00,1.55,0.00,0.000,6,0.000,0.028,2499,2549,3164
$GC,4408,-0.64,-146.0,584.8,-9.3,182,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2548,3163
$STATE,4607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4607,begin apogee
$GC,4618,-0.23,0.0,602.3,8.5,187,4742,0.43,0.00,120.78,1.015,6,0.123,0.000,2641,2234,2580
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4748,0.64,146.0,603.7,0.0,190,4889,0.80,1.80,129.70,0.952,4,0.078,0.043,2917,3310,1983
$GC,4918,0.64,146.0,570.2,27.2,193,4926,0.00,1.62,0.00,0.000,6,0.000,0.028,2924,2263,1980
$GC,5172,0.64,146.0,498.5,28.3,200,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2256,1975
$GC,5416,0.64,146.0,431.7,26.6,206,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2256,1974
$GC,5659,0.64,146.0,365.6,27.2,212,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2256,1973
$GC,5903,0.64,146.0,304.7,24.4,218,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2256,1972
$GC,6147,0.64,146.0,249.0,22.9,224,6151,0.00,1.55,0.00,0.000,4,0.000,0.031,2932,1188,1971
$GC,6176,0.64,146.0,242.4,20.2,224,6180,0.00,1.65,0.00,0.000,6,0.000,0.042,2932,2284,1970
$GC,6433,0.64,146.0,189.9,20.2,233,6437,0.00,1.55,0.00,0.000,4,0.000,0.045,2932,3306,1970
$GC,6583,0.64,146.0,158.0,21.1,246,6587,0.00,1.50,0.00,0.000,6,0.000,0.028,2939,2296,1969
$GC,6856,0.64,146.0,96.9,23.7,271,6859,0.00,1.58,0.00,0.000,4,0.000,0.030,2948,1195,1970
$GC,7000,0.64,146.0,71.5,16.0,283,7003,0.00,1.65,0.00,0.000,6,0.000,0.039,2946,2304,1969
$GC,7272,0.64,146.0,38.3,12.3,308,7276,0.00,1.50,0.00,0.000,4,0.000,0.042,2945,3308,1969
$GC,7392,0.64,146.0,20.1,14.5,322,7402,0.00,1.48,0.00,0.000,6,0.000,0.025,2952,2293,1969
$STATE,7494,end climb,SURFACE_DEPTH_REACHED
$STATE,7494,begin surface coast
$FINISH,0.2,1.023139
$STATE,7515,end surface coast,CONTROL_FINISHED_OK
$STATE,7515,begin surface
$SM_CCo,7540,91.90,0.555,0,0,1029,380.21
$SM_GC,1.33,0.00,0.00,91.90,0.000,0.000,0.555,28,2573,1029,-8.38,0.65,380.21
$IRIDIUM_FIX,2237.01,-15747.62,151202,080837
$TT8_MAMPS,0.023777
$HUMID,2334
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,24.4,2.538
$10V_AH,10.8,2.336
$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,17.975,44.850,250.475,91.900,0.000,27.834,42.720,328.054,0.500,0.000,0.000,17.441,695.080,4692.186,389.975,1690.104,720.955,33.349,914.369,0.000,1703.885,0.000,0.544,0.000
$DEVICE_MAMPS,210.925,52.156,1014.741,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,231.245,1123.446,1166.825,139.490,840.876,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28797,341
$CAP_FILE_SIZE,61679,0
$CFSIZE,260165632,257007616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200913,130300,2246.781,-15747.568,42,0.8,43,10.1