version: 66.04
glider: 512
mission: 4
dive: 21
start: 9 20 113 15 31 23
data:
$ID,512
$MISSION,4
$DIVE,21
$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,-106840.24
$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,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,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
$GPS1,152031,2246.841,-15746.615,10,1.7,11,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-79.8
$GPS2,153030,2246.811,-15746.629,16,1.9,33,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,0.013
$KALMAN_X,-15698.1,571.2,93.6,37950.9,-2925.3
$KALMAN_Y,-6878.3,-134.5,-367.2,12431.1,-343.2
$MHEAD_RNG_PITCHd_Wd,77.1,21429,-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,-82.28,0.000,2,0.000,0.000,14,2566,2997
$GC,108,-0.64,-146.0,2.3,-2.1,10,127,9.32,1.52,-3.88,0.000,4,0.209,0.049,2493,3624,3175
$GC,251,-0.64,-146.0,45.6,-27.4,28,254,0.00,1.58,0.00,0.000,6,0.000,0.022,2498,2543,3176
$GC,523,-0.64,-146.0,101.8,-17.0,53,527,0.00,1.48,0.00,0.000,4,0.000,0.023,2506,1487,3177
$GC,630,-0.64,-146.0,118.8,-14.8,62,634,0.00,1.55,0.00,0.000,6,0.000,0.035,2501,2519,3178
$GC,902,-0.64,-146.0,167.7,-20.0,87,905,0.00,1.60,0.00,0.000,4,0.000,0.042,2492,3610,3179
$GC,930,-0.64,-146.0,173.1,-19.0,89,934,0.00,1.55,0.00,0.000,6,0.000,0.020,2498,2525,3178
$GC,1228,-0.64,-146.0,218.2,-14.2,108,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2517,3178
$GC,1471,-0.64,-146.0,250.9,-13.1,114,1475,0.00,1.62,0.00,0.000,4,0.000,0.041,2491,3614,3178
$GC,1585,-0.64,-146.0,267.4,-14.5,116,1589,0.00,1.50,0.00,0.000,6,0.000,0.021,2497,2557,3179
$GC,1857,-0.64,-146.0,306.0,-14.4,123,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2550,3178
$GC,2101,-0.64,-146.0,338.5,-13.2,129,2104,0.00,1.48,0.00,0.000,4,0.000,0.023,2505,1492,3177
$GC,2187,-0.64,-146.0,349.4,-11.9,130,2195,0.00,1.58,0.00,0.000,6,0.000,0.038,2500,2537,3176
$GC,2441,-0.64,-146.0,377.2,-10.9,137,2445,0.00,1.48,0.00,0.000,4,0.000,0.024,2505,1494,3174
$GC,2476,-0.64,-146.0,381.4,-11.1,137,2479,0.00,1.58,0.00,0.000,6,0.000,0.038,2500,2537,3174
$GC,2736,-0.64,-146.0,408.8,-10.8,144,2739,0.00,1.60,0.00,0.000,4,0.000,0.048,2491,3618,3172
$GC,2777,-0.64,-146.0,413.9,-12.1,144,2786,0.00,1.50,0.00,0.000,6,0.000,0.025,2497,2557,3172
$GC,3034,-0.64,-146.0,442.7,-11.5,151,3037,0.00,1.48,0.00,0.000,4,0.000,0.025,2505,1505,3170
$GC,3141,-0.64,-146.0,454.2,-10.0,153,3145,0.00,1.58,0.00,0.000,6,0.000,0.041,2499,2543,3170
$GC,3419,-0.64,-146.0,482.6,-10.5,160,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2543,3168
$GC,3663,-0.64,-146.0,507.4,-10.0,166,3666,0.00,1.60,0.00,0.000,4,0.000,0.050,2491,3620,3166
$GC,3816,-0.64,-146.0,524.9,-11.4,169,3819,0.00,1.55,0.00,0.000,6,0.000,0.026,2497,2546,3165
$GC,4092,-0.64,-146.0,553.3,-10.3,176,4096,0.00,1.65,0.00,0.000,4,0.000,0.049,2491,3610,3163
$GC,4143,-0.64,-146.0,558.8,-11.1,177,4146,0.00,1.58,0.00,0.000,6,0.000,0.026,2497,2522,3163
$GC,4438,-0.64,-146.0,588.9,-10.0,184,4441,0.00,1.42,0.00,0.000,4,0.000,0.028,2504,1501,3160
$GC,4488,-0.64,-146.0,593.8,-9.2,185,4491,0.00,1.55,0.00,0.000,6,0.000,0.043,2499,2515,3159
$STATE,4574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4575,begin apogee
$GC,4586,-0.23,0.0,602.5,9.4,187,4709,0.43,0.00,120.15,1.014,6,0.125,0.000,2637,2236,2580
$STATE,4709,end apogee,CONTROL_FINISHED_OK
$STATE,4710,begin climb
$GC,4715,0.64,146.0,605.4,0.0,190,4858,0.82,1.62,130.45,0.950,4,0.080,0.028,2927,1211,1983
$GC,4894,0.64,146.0,571.6,28.2,194,4898,0.00,1.65,0.00,0.000,6,0.000,0.041,2928,2256,1978
$GC,5177,0.64,146.0,494.7,27.3,201,5181,0.00,1.62,0.00,0.000,4,0.000,0.044,2927,3325,1974
$GC,5241,0.64,146.0,477.0,26.0,202,5245,0.00,1.58,0.00,0.000,6,0.000,0.029,2934,2282,1973
$GC,5518,0.64,146.0,403.4,27.1,209,5522,0.00,1.60,0.00,0.000,4,0.000,0.031,2943,1187,1972
$GC,5627,0.64,146.0,374.5,24.6,211,5631,0.00,1.62,0.00,0.000,6,0.000,0.041,2943,2262,1971
$GC,5904,0.64,146.0,302.4,25.5,218,5908,0.00,1.60,0.00,0.000,4,0.000,0.028,2950,1186,1971
$GC,5916,0.64,146.0,298.7,25.0,218,5920,0.00,1.55,0.00,0.000,6,0.000,0.039,2951,2204,1970
$GC,6199,0.64,146.0,225.4,26.4,225,6203,0.00,1.67,0.00,0.000,4,0.000,0.046,2951,3322,1969
$GC,6302,0.64,146.0,197.4,28.9,227,6306,0.12,1.60,0.00,0.000,6,0.179,0.028,2930,2221,1969
$GC,6578,0.64,146.0,140.0,20.9,250,6582,0.00,1.48,0.00,0.000,4,0.000,0.029,2936,1184,1968
$GC,6630,0.64,146.0,127.8,20.6,254,6639,0.00,1.58,0.00,0.000,6,0.000,0.040,2934,2215,1968
$GC,6897,0.64,146.0,75.5,16.9,279,6900,0.00,1.50,0.00,0.000,4,0.000,0.028,2939,1200,1968
$GC,7032,0.64,146.0,55.1,12.1,290,7035,0.00,1.42,0.00,0.000,6,0.000,0.040,2939,2143,1968
$GC,7317,0.64,146.0,19.1,12.8,320,7326,0.00,1.75,0.00,0.000,4,0.000,0.043,2939,3306,1968
$STATE,7422,end climb,SURFACE_DEPTH_REACHED
$STATE,7422,begin surface coast
$FINISH,0.1,1.012976
$STATE,7442,end surface coast,CONTROL_FINISHED_OK
$STATE,7442,begin surface
$SM_CCo,7468,91.72,0.554,0,0,1029,380.21
$SM_GC,1.16,0.00,0.00,91.72,0.000,0.000,0.554,33,2512,1029,-8.37,-1.07,380.21
$IRIDIUM_FIX,2239.35,-15744.57,151202,131303
$TT8_MAMPS,0.023777
$HUMID,2310
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.4,2.753
$10V_AH,10.8,2.574
$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,18.050,59.300,250.600,91.725,0.000,24.454,36.393,367.916,0.250,0.000,0.000,33.698,738.345,4447.319,406.007,1811.437,762.667,33.348,963.300,0.000,1798.185,0.000,0.544,0.000
$DEVICE_MAMPS,208.624,49.855,1013.974,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,230.718,1120.135,1162.654,243.698,856.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28779,340
$CAP_FILE_SIZE,68557,0
$CFSIZE,260165632,256929792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200913,173853,2247.128,-15745.560,24,1.0,42,10.1