version: 66.04
glider: 512
mission: 4
dive: 20
start: 9 20 113 13 13 12
data:
$ID,512
$MISSION,4
$DIVE,20
$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,-106805.92
$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,60
$R_STBD_OVSHOOT,39
$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
$GPS1,130300,2246.781,-15747.568,42,0.8,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-79.1
$GPS2,131219,2246.779,-15747.569,19,1.1,19,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,0.058
$KALMAN_X,-14267.2,464.4,105.2,35006.5,-2545.7
$KALMAN_Y,-6808.4,259.1,-241.8,11783.4,-1138.0
$MHEAD_RNG_PITCHd_Wd,67.1,22548,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.64,-146.0,0.0,0.0,0,103,0.00,0.00,-82.15,0.000,2,0.000,0.000,12,2570,2991
$GC,108,-0.64,-146.0,2.3,-2.7,10,127,9.32,1.60,-4.05,0.000,4,0.209,0.053,2490,3623,3178
$GC,158,-0.64,-146.0,19.0,-37.0,16,167,0.00,1.58,0.00,0.000,6,0.000,0.022,2493,2548,3178
$GC,436,-0.64,-146.0,93.4,-20.3,43,439,0.00,1.62,0.00,0.000,4,0.000,0.040,2487,3604,3179
$GC,466,-0.64,-146.0,100.2,-20.3,45,474,0.00,1.52,0.00,0.000,6,0.000,0.021,2493,2537,3179
$GC,731,-0.64,-146.0,148.0,-18.3,70,735,0.00,1.45,0.00,0.000,4,0.000,0.021,2501,1485,3180
$GC,771,-0.64,-146.0,154.6,-16.7,73,775,0.00,1.55,0.00,0.000,6,0.000,0.035,2495,2519,3180
$GC,1042,-0.64,-146.0,199.5,-15.8,98,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2519,3181
$GC,1297,-0.64,-146.0,237.6,-14.9,105,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2519,3181
$GC,1540,-0.64,-146.0,273.0,-14.6,111,1544,0.00,1.60,0.00,0.000,4,0.000,0.044,2487,3609,3181
$GC,1616,-0.64,-146.0,284.1,-14.6,112,1619,0.00,1.55,0.00,0.000,6,0.000,0.021,2492,2527,3180
$GC,1881,-0.64,-146.0,317.9,-12.6,119,1885,0.00,1.62,0.00,0.000,4,0.000,0.041,2486,3611,3180
$GC,1961,-0.64,-146.0,328.2,-12.7,120,1965,0.00,1.52,0.00,0.000,6,0.000,0.022,2486,2534,3180
$GC,2222,-0.64,-146.0,360.4,-12.5,127,2226,0.00,1.62,0.00,0.000,4,0.000,0.043,2478,3620,3179
$GC,2258,-0.64,-146.0,365.8,-13.6,127,2262,0.05,1.55,0.00,0.000,6,0.140,0.023,2505,2525,3178
$GC,2518,-0.64,-146.0,394.7,-11.2,134,2521,0.00,1.40,0.00,0.000,4,0.000,0.025,2513,1511,3177
$GC,2570,-0.64,-146.0,400.9,-9.5,135,2573,0.00,1.52,0.00,0.000,6,0.000,0.038,2508,2523,3177
$GC,2859,-0.64,-146.0,431.4,-11.0,142,2863,0.00,1.62,0.00,0.000,4,0.000,0.048,2499,3616,3174
$GC,2909,-0.64,-146.0,437.1,-10.5,143,2912,0.00,1.55,0.00,0.000,6,0.000,0.024,2505,2542,3173
$GC,3203,-0.64,-146.0,468.0,-10.4,150,3206,0.00,1.45,0.00,0.000,4,0.000,0.026,2513,1499,3171
$GC,3267,-0.64,-146.0,474.7,-9.6,151,3271,0.00,1.58,0.00,0.000,6,0.000,0.040,2507,2535,3171
$GC,3544,-0.64,-146.0,501.9,-10.2,158,3548,0.00,1.62,0.00,0.000,4,0.000,0.049,2500,3609,3169
$GC,3624,-0.64,-146.0,511.1,-11.0,159,3627,0.00,1.55,0.00,0.000,6,0.000,0.026,2505,2534,3169
$GC,3886,-0.64,-146.0,536.4,-9.8,166,3889,0.00,1.25,0.00,0.000,4,0.000,0.048,2501,3344,3167
$GC,3982,-0.64,-146.0,546.7,-10.0,168,3986,0.00,1.15,0.00,0.000,6,0.000,0.028,2505,2533,3166
$GC,4272,-0.64,-146.0,573.9,-9.6,175,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2527,3165
$GC,4515,-0.64,-146.0,597.7,-9.7,181,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2527,3163
$STATE,4551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4551,begin apogee
$GC,4563,-0.23,0.0,601.6,9.7,182,4686,0.40,0.00,120.85,1.016,6,0.124,0.000,2638,2252,2580
$STATE,4687,end apogee,CONTROL_FINISHED_OK
$STATE,4687,begin climb
$GC,4692,0.64,146.0,605.7,0.0,185,4835,0.82,1.77,129.62,0.956,4,0.078,0.044,2920,3309,1983
$GC,4858,0.64,146.0,577.4,25.5,188,4862,0.00,1.60,0.00,0.000,6,0.000,0.028,2927,2265,1980
$GC,5118,0.64,146.0,507.5,27.2,195,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2259,1975
$GC,5362,0.64,146.0,442.2,26.7,201,5365,0.00,1.62,0.00,0.000,4,0.000,0.044,2928,3316,1973
$GC,5397,0.64,146.0,431.4,29.0,201,5401,0.00,1.55,0.00,0.000,6,0.000,0.028,2936,2280,1973
$GC,5658,0.64,146.0,360.7,27.7,208,5662,0.00,1.60,0.00,0.000,4,0.000,0.031,2944,1175,1972
$GC,5694,0.64,146.0,350.1,25.6,208,5698,0.00,1.70,0.00,0.000,6,0.000,0.041,2944,2279,1971
$GC,5954,0.64,146.0,287.7,23.5,215,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2280,1971
$GC,6198,0.64,146.0,230.1,23.5,221,6201,0.00,1.58,0.00,0.000,4,0.000,0.046,2944,3307,1970
$GC,6283,0.64,146.0,207.8,25.5,222,6292,0.00,1.58,0.00,0.000,6,0.000,0.028,2951,2244,1970
$GC,6547,0.64,146.0,144.6,21.5,244,6551,0.00,1.65,0.00,0.000,4,0.000,0.045,2951,3306,1969
$GC,6587,0.64,146.0,135.5,24.5,247,6591,0.10,1.58,0.00,0.000,6,0.172,0.029,2930,2242,1969
$GC,6861,0.64,146.0,80.1,17.8,272,6865,0.00,1.50,0.00,0.000,4,0.000,0.028,2937,1190,1969
$GC,6985,0.64,146.0,61.9,13.0,282,6988,0.00,1.55,0.00,0.000,6,0.000,0.039,2934,2214,1969
$GC,7258,0.64,146.0,29.8,13.2,307,7267,0.00,1.65,0.00,0.000,4,0.000,0.044,2934,3312,1969
$GC,7408,0.64,146.0,8.2,13.9,330,7417,0.00,1.60,0.00,0.000,6,0.000,0.025,2940,2211,1968
$STATE,7442,end climb,SURFACE_DEPTH_REACHED
$STATE,7442,begin surface coast
$FINISH,0.2,1.023149
$STATE,7463,end surface coast,CONTROL_FINISHED_OK
$STATE,7463,begin surface
$SM_CCo,7488,91.80,0.555,0,0,1029,380.21
$SM_GC,1.13,0.00,0.00,91.80,0.000,0.000,0.555,29,2569,1029,-8.38,0.54,380.21
$IRIDIUM_FIX,2239.35,-15746.73,151202,101024
$TT8_MAMPS,0.023777
$HUMID,2332
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,24.4,2.645
$10V_AH,10.8,2.455
$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,18.000,56.875,250.475,91.800,0.000,25.628,41.601,330.845,0.500,0.000,0.000,19.940,712.918,4585.321,390.532,1713.092,744.298,33.351,933.957,0.000,1713.922,0.000,0.544,0.000
$DEVICE_MAMPS,209.391,52.923,1015.508,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,229.213,1113.532,1152.648,446.383,840.173,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28893,338
$CAP_FILE_SIZE,66548,0
$CFSIZE,260165632,256966656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,200913,152031,2246.841,-15746.615,10,1.7,11,10.1