version: 66.04
glider: 512
mission: 4
dive: 22
start: 9 20 113 17 46 1
data:
$ID,512
$MISSION,4
$DIVE,22
$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,-106853.6
$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,69
$R_STBD_OVSHOOT,32
$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
$GPS1,173853,2247.128,-15745.560,24,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-83.0
$GPS2,174507,2247.129,-15745.559,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,0.024
$KALMAN_X,-16940.5,531.0,240.7,40911.4,-3348.9
$KALMAN_Y,-6570.3,-626.7,321.1,12514.2,2.7
$MHEAD_RNG_PITCHd_Wd,74.5,20631,-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,-82.30,0.000,2,0.000,0.000,16,2510,3006
$GC,109,-0.64,-146.0,2.3,-3.0,10,128,9.30,1.62,-3.67,0.000,4,0.209,0.047,2493,3635,3175
$GC,188,-0.64,-146.0,30.5,-35.9,21,197,0.00,1.58,0.00,0.000,6,0.000,0.023,2497,2558,3175
$GC,453,-0.64,-146.0,98.8,-19.7,46,456,0.00,1.50,0.00,0.000,4,0.000,0.023,2505,1488,3176
$GC,481,-0.64,-146.0,104.1,-18.3,48,485,0.00,1.50,0.00,0.000,6,0.000,0.034,2500,2483,3177
$GC,754,-0.64,-146.0,151.1,-18.0,73,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2484,3178
$GC,1019,-0.64,-146.0,196.3,-15.4,98,1023,0.00,1.40,0.00,0.000,4,0.000,0.021,2505,1483,3178
$GC,1047,-0.64,-146.0,200.3,-15.0,100,1051,0.00,1.50,0.00,0.000,6,0.000,0.036,2500,2483,3178
$GC,1319,-0.64,-146.0,239.8,-14.2,107,1322,0.00,1.67,0.00,0.000,4,0.000,0.044,2491,3621,3179
$GC,1461,-0.64,-146.0,260.9,-14.8,110,1464,0.00,1.60,0.00,0.000,6,0.000,0.021,2498,2498,3179
$GC,1749,-0.64,-146.0,298.7,-13.8,117,1753,0.00,1.67,0.00,0.000,4,0.000,0.043,2491,3617,3178
$GC,1773,-0.64,-146.0,302.7,-14.2,117,1777,0.00,1.58,0.00,0.000,6,0.000,0.021,2497,2517,3178
$GC,2045,-0.64,-146.0,338.5,-13.0,124,2048,0.00,1.42,0.00,0.000,4,0.000,0.024,2504,1485,3177
$GC,2152,-0.64,-146.0,351.6,-10.9,126,2156,0.00,1.55,0.00,0.000,6,0.000,0.038,2499,2516,3177
$GC,2430,-0.64,-146.0,380.0,-10.1,133,2434,0.00,1.62,0.00,0.000,4,0.000,0.047,2490,3616,3175
$GC,2466,-0.64,-146.0,384.4,-11.1,133,2469,0.00,1.58,0.00,0.000,6,0.000,0.023,2497,2516,3175
$GC,2726,-0.64,-146.0,409.7,-9.8,140,2730,0.00,1.67,0.00,0.000,4,0.000,0.045,2490,3607,3173
$GC,2750,-0.64,-146.0,412.9,-11.1,140,2754,0.00,1.52,0.00,0.000,6,0.000,0.023,2496,2537,3173
$GC,3021,-0.64,-146.0,442.0,-11.2,147,3025,0.00,1.45,0.00,0.000,4,0.000,0.025,2503,1504,3171
$GC,3130,-0.64,-146.0,455.0,-11.2,149,3133,0.00,1.52,0.00,0.000,6,0.000,0.041,2499,2509,3171
$GC,3407,-0.64,-146.0,485.7,-11.2,156,3410,0.00,1.65,0.00,0.000,4,0.000,0.048,2490,3617,3168
$GC,3438,-0.64,-146.0,489.5,-11.6,156,3441,0.00,1.60,0.00,0.000,6,0.000,0.025,2496,2494,3168
$GC,3705,-0.64,-146.0,517.7,-10.3,163,3708,0.00,1.70,0.00,0.000,4,0.000,0.048,2490,3616,3167
$GC,3746,-0.64,-146.0,522.5,-10.5,163,3754,0.00,1.58,0.00,0.000,6,0.000,0.026,2496,2519,3166
$GC,4000,-0.64,-146.0,547.9,-10.1,170,4003,0.00,1.65,0.00,0.000,4,0.000,0.049,2489,3612,3164
$GC,4018,-0.64,-146.0,550.2,-10.3,170,4022,0.00,1.58,0.00,0.000,6,0.000,0.026,2495,2523,3164
$GC,4296,-0.64,-146.0,578.3,-10.1,177,4299,0.00,1.67,0.00,0.000,4,0.000,0.051,2489,3619,3163
$GC,4360,-0.64,-146.0,585.7,-10.8,178,4363,0.00,1.58,0.00,0.000,6,0.000,0.028,2495,2536,3162
$STATE,4509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4510,begin apogee
$GC,4521,-0.23,0.0,600.1,9.4,182,4644,0.45,0.00,120.75,1.010,6,0.123,0.000,2645,2230,2579
$STATE,4645,end apogee,CONTROL_FINISHED_OK
$STATE,4645,begin climb
$GC,4650,0.64,146.0,602.3,0.0,185,4795,0.82,0.00,130.30,0.950,6,0.074,0.000,2926,2229,1983
$GC,5041,0.64,146.0,504.1,28.6,195,5045,0.00,1.67,0.00,0.000,4,0.000,0.043,2926,3316,1975
$GC,5092,0.64,146.0,489.3,29.9,196,5096,0.00,1.55,0.00,0.000,6,0.000,0.028,2933,2295,1975
$GC,5386,0.64,146.0,405.7,28.3,203,5390,0.00,1.62,0.00,0.000,4,0.000,0.031,2941,1183,1973
$GC,5460,0.64,146.0,384.9,26.7,204,5464,0.00,1.65,0.00,0.000,6,0.000,0.042,2941,2269,1972
$GC,5727,0.64,146.0,313.2,27.3,211,5730,0.00,1.60,0.00,0.000,4,0.000,0.046,2941,3310,1971
$GC,5797,0.64,146.0,294.6,24.1,212,5800,0.00,1.55,0.00,0.000,6,0.000,0.028,2950,2270,1970
$GC,6068,0.64,146.0,224.8,26.6,219,6072,0.00,1.58,0.00,0.000,4,0.000,0.030,2958,1188,1970
$GC,6126,0.64,146.0,209.2,23.6,220,6131,0.12,1.65,0.00,0.000,6,0.174,0.041,2929,2290,1969
$GC,6401,0.64,146.0,149.1,20.5,240,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2290,1969
$GC,6668,0.64,146.0,95.8,20.5,265,6672,0.00,1.62,0.00,0.000,4,0.000,0.029,2936,1176,1968
$GC,6743,0.64,146.0,81.5,15.6,271,6751,0.00,1.62,0.00,0.000,6,0.000,0.038,2936,2251,1969
$GC,7010,0.64,146.0,41.8,12.0,296,7014,0.00,1.60,0.00,0.000,4,0.000,0.044,2934,3308,1969
$GC,7116,0.64,146.0,27.2,14.5,306,7125,0.00,1.52,0.00,0.000,6,0.000,0.025,2940,2263,1969
$STATE,7273,end climb,SURFACE_DEPTH_REACHED
$STATE,7273,begin surface coast
$FINISH,0.0,1.023127
$STATE,7297,end surface coast,CONTROL_FINISHED_OK
$STATE,7298,begin surface
$SM_CCo,7322,92.80,0.557,0,0,1028,380.21
$SM_GC,1.18,0.00,0.00,92.80,0.000,0.000,0.557,26,2578,1028,-8.36,0.74,380.21
$IRIDIUM_FIX,2237.01,-15745.45,151202,151534
$TT8_MAMPS,0.023777
$HUMID,2320
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,24.4,2.850
$10V_AH,10.8,2.687
$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,17.975,61.025,251.050,92.800,0.000,22.428,41.429,166.176,0.250,0.000,0.000,12.738,716.756,4388.817,416.992,1714.455,559.426,33.334,959.700,0.000,1726.048,0.000,0.543,0.000
$DEVICE_MAMPS,208.624,50.622,1010.139,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,226.252,1100.384,1137.856,161.939,822.865,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28768,334
$CAP_FILE_SIZE,64412,0
$CFSIZE,260165632,256892928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,200913,195037,2247.571,-15744.298,13,1.2,13,10.1