version: 66.04
glider: 512
mission: 4
dive: 23
start: 9 20 113 19 58 7
data:
$ID,512
$MISSION,4
$DIVE,23
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$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,300
$T_MISSION,650
$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,-106871.38
$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,55
$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,2620
$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
$GPS1,195037,2247.571,-15744.298,13,1.2,13,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-79.1
$GPS2,195713,2247.597,-15744.296,17,1.3,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,0.046
$KALMAN_X,-17589.7,333.2,372.1,43780.3,-5079.3
$KALMAN_Y,-6153.4,-669.1,578.5,12750.4,-107.8
$MHEAD_RNG_PITCHd_Wd,69.7,20032,-17.5,-10.000
$D_GRID,900
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.64,-146.0,0.0,0.0,0,107,0.00,0.00,-82.28,0.000,2,0.000,0.000,11,2573,3014
$GC,112,-0.64,-146.0,2.4,-3.3,10,132,9.32,1.60,-4.30,0.000,4,0.209,0.053,2491,3629,3218
$GC,232,-0.64,-146.0,41.9,-28.5,25,236,0.00,1.60,0.00,0.000,6,0.000,0.021,2494,2508,3219
$GC,503,-0.64,-146.0,104.7,-19.0,50,507,0.00,1.67,0.00,0.000,4,0.000,0.040,2488,3620,3221
$GC,532,-0.64,-146.0,110.5,-20.7,52,535,0.00,1.58,0.00,0.000,6,0.000,0.021,2493,2531,3220
$GC,803,-0.64,-146.0,161.9,-17.7,77,807,0.00,1.42,0.00,0.000,4,0.000,0.023,2501,1502,3222
$GC,898,-0.64,-146.0,177.8,-14.5,85,901,0.00,1.52,0.00,0.000,6,0.000,0.035,2495,2515,3222
$GC,1174,-0.64,-146.0,219.7,-14.9,102,1178,0.00,1.65,0.00,0.000,4,0.000,0.043,2487,3614,3222
$GC,1338,-0.64,-146.0,245.3,-16.1,105,1342,0.00,1.55,0.00,0.000,6,0.000,0.021,2493,2521,3222
$GC,1605,-0.64,-146.0,284.0,-15.1,112,1608,0.00,1.40,0.00,0.000,4,0.000,0.023,2500,1504,3222
$GC,1662,-0.64,-146.0,292.7,-13.6,113,1666,0.00,1.52,0.00,0.000,6,0.000,0.038,2495,2518,3222
$GC,1945,-0.64,-146.0,332.6,-14.4,120,1948,0.00,1.45,0.00,0.000,4,0.000,0.023,2500,1490,3221
$GC,2040,-0.64,-146.0,345.2,-12.5,122,2044,0.00,1.55,0.00,0.000,6,0.000,0.038,2494,2517,3221
$GC,2334,-0.64,-146.0,383.7,-13.2,129,2338,0.00,1.62,0.00,0.000,4,0.000,0.047,2486,3617,3219
$GC,2443,-0.64,-146.0,399.0,-13.8,131,2446,0.00,1.55,0.00,0.000,6,0.000,0.023,2486,2531,3218
$GC,2720,-0.64,-146.0,433.2,-12.1,138,2723,0.00,1.42,0.00,0.000,4,0.000,0.025,2486,1511,3216
$GC,2761,-0.64,-146.0,438.5,-11.6,138,2770,0.00,1.55,0.00,0.000,6,0.000,0.041,2480,2532,3216
$GC,3017,-0.64,-146.0,467.8,-11.5,145,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2532,3214
$GC,3261,-0.64,-146.0,495.8,-11.4,151,3264,0.00,1.60,0.00,0.000,4,0.000,0.048,2471,3613,3212
$GC,3296,-0.64,-146.0,500.8,-12.7,151,3300,0.10,1.55,0.00,0.000,6,0.151,0.025,2504,2524,3212
$GC,3556,-0.64,-146.0,526.1,-9.8,158,3560,0.00,1.42,0.00,0.000,4,0.000,0.026,2511,1519,3210
$GC,3597,-0.64,-146.0,530.6,-9.7,158,3605,0.00,1.52,0.00,0.000,6,0.000,0.042,2506,2522,3210
$GC,3852,-0.64,-146.0,554.5,-9.8,165,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2522,3208
$GC,4095,-0.64,-146.0,577.5,-9.4,171,4099,0.00,1.65,0.00,0.000,4,0.000,0.051,2497,3623,3206
$GC,4114,-0.64,-146.0,579.8,-10.0,171,4118,0.00,1.58,0.00,0.000,6,0.000,0.028,2504,2543,3206
$GC,4393,-0.64,-146.0,606.4,-9.7,178,4396,0.00,1.65,0.00,0.000,4,0.000,0.050,2497,3622,3204
$GC,4487,-0.64,-146.0,615.9,-8.9,180,4491,0.00,1.55,0.00,0.000,6,0.000,0.028,2503,2560,3202
$GC,4782,-0.64,-146.0,642.3,-8.8,187,4786,0.00,1.50,0.00,0.000,4,0.000,0.030,2511,1508,3201
$GC,4834,-0.64,-146.0,647.2,-8.1,188,4838,0.00,1.60,0.00,0.000,6,0.000,0.047,2510,2566,3201
$GC,5123,-0.64,-146.0,671.1,-8.5,195,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2566,3199
$GC,5366,-0.64,-146.0,690.4,-7.9,201,5370,0.00,1.55,0.00,0.000,4,0.000,0.030,2515,1503,3198
$GC,5442,-0.64,-146.0,696.3,-7.4,202,5445,0.00,1.62,0.00,0.000,6,0.000,0.048,2510,2576,3198
$GC,5708,-0.64,-146.0,715.3,-7.1,209,5711,0.00,1.58,0.00,0.000,4,0.000,0.031,2510,1494,3196
$GC,5749,-0.64,-146.0,718.5,-6.5,209,5757,0.00,1.65,0.00,0.000,6,0.000,0.047,2503,2561,3196
$GC,6004,-0.64,-146.0,736.7,-7.3,216,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2561,3195
$GC,6247,-0.64,-146.0,754.1,-7.3,222,6251,0.00,1.55,0.00,0.000,4,0.000,0.031,2508,1511,3193
$GC,6312,-0.64,-146.0,758.9,-6.9,223,6315,0.00,1.60,0.00,0.000,6,0.000,0.048,2502,2565,3193
$GC,6589,-0.64,-146.0,777.5,-6.8,230,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2564,3191
$GC,6832,-0.64,-146.0,794.3,-6.9,236,6836,0.00,1.55,0.00,0.000,4,0.000,0.032,2508,1513,3191
$GC,6868,-0.64,-146.0,796.9,-6.0,236,6871,0.00,1.60,0.00,0.000,6,0.000,0.049,2501,2565,3190
$GC,7128,-0.64,-146.0,813.8,-6.6,243,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2565,3189
$GC,7372,-0.64,-146.0,831.1,-7.1,249,7376,0.00,1.55,0.00,0.000,4,0.000,0.032,2507,1516,3189
$GC,7408,-0.64,-146.0,834.1,-8.0,249,7412,0.00,1.58,0.00,0.000,6,0.000,0.050,2502,2527,3189
$GC,7669,-0.64,-146.0,854.0,-7.9,256,7673,0.00,1.67,0.00,0.000,4,0.000,0.057,2493,3626,3188
$GC,7706,-0.64,-146.0,857.6,-9.2,256,7710,0.00,1.60,0.00,0.000,6,0.000,0.033,2499,2524,3188
$GC,7967,-0.64,-146.0,879.0,-8.3,263,7970,0.00,1.70,0.00,0.000,4,0.000,0.056,2493,3619,3187
$GC,7991,-0.64,-146.0,881.6,-9.6,263,7994,0.00,1.60,0.00,0.000,6,0.000,0.032,2493,2518,3187
$STATE,8216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8217,begin apogee
$GC,8228,-0.23,0.0,902.1,8.9,269,8355,0.45,0.00,124.15,1.262,6,0.121,0.000,2641,2248,2620
$STATE,8355,end apogee,CONTROL_FINISHED_OK
$STATE,8356,begin climb
$GC,8361,0.64,146.0,904.2,0.0,272,8509,0.82,1.77,134.73,1.199,4,0.062,0.048,2926,3319,2024
$GC,8551,0.64,146.0,865.2,31.1,276,8559,0.00,1.67,0.00,0.000,6,0.000,0.032,2934,2266,2020
$GC,8806,0.64,146.0,791.3,29.4,283,8810,0.00,1.62,0.00,0.000,4,0.000,0.035,2942,1155,2016
$GC,8847,0.64,146.0,778.5,29.9,283,8855,0.00,1.73,0.00,0.000,6,0.000,0.044,2942,2246,2014
$GC,9101,0.64,146.0,703.2,30.0,290,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2245,2013
$GC,9345,0.64,146.0,631.4,28.7,296,9349,0.00,1.62,0.00,0.000,4,0.000,0.034,2950,1179,2012
$GC,9369,0.64,146.0,623.9,28.0,296,9372,0.00,1.60,0.00,0.000,6,0.000,0.044,2948,2223,2012
$GC,9640,0.64,146.0,550.2,27.2,303,9644,0.00,1.67,0.00,0.000,4,0.000,0.051,2945,3321,2011
$GC,9659,0.64,146.0,543.9,28.0,303,9662,0.00,1.67,0.00,0.000,6,0.000,0.033,2951,2224,2011
$GC,9936,0.64,146.0,466.7,28.0,310,9940,0.00,1.52,0.00,0.000,4,0.000,0.035,2959,1182,2011
$GC,9972,0.64,146.0,456.5,25.1,310,9976,0.10,1.60,0.00,0.000,6,0.179,0.044,2930,2217,2010
$GC,10231,0.64,146.0,392.3,25.1,317,10235,0.00,1.55,0.00,0.000,4,0.000,0.033,2937,1187,2010
$GC,10266,0.64,146.0,383.0,23.9,317,10269,0.00,1.58,0.00,0.000,6,0.000,0.047,2937,2195,2010
$GC,10526,0.64,146.0,322.8,23.3,324,10529,0.00,1.70,0.00,0.000,4,0.000,0.051,2934,3311,2010
$GC,10634,0.64,146.0,295.3,23.8,326,10638,0.00,1.65,0.00,0.000,6,0.000,0.031,2941,2190,2010
$GC,10911,0.64,146.0,230.9,23.3,333,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2184,2009
$GC,11159,0.64,146.0,176.7,20.9,345,11162,0.00,1.73,0.00,0.000,4,0.000,0.048,2941,3309,2009
$GC,11187,0.64,146.0,170.5,22.0,347,11191,0.00,1.62,0.00,0.000,6,0.000,0.031,2949,2210,2009
$GC,11458,0.64,146.0,107.8,23.9,372,11462,0.00,1.70,0.00,0.000,4,0.000,0.047,2950,3301,2009
$GC,11498,0.64,146.0,98.9,24.5,375,11502,0.10,1.52,0.00,0.000,6,0.179,0.029,2929,2272,2009
$GC,11774,0.66,182.1,58.1,8.3,400,11808,0.00,0.00,28.00,0.650,6,0.000,0.000,2930,2265,1877
$GC,12078,0.66,182.1,14.1,16.8,434,12088,0.00,1.55,0.00,0.000,4,0.000,0.026,2936,1183,1874
$GC,12099,0.66,182.1,10.2,17.2,436,12108,0.00,1.65,0.00,0.000,6,0.000,0.040,2933,2262,1873
$STATE,12140,end climb,SURFACE_DEPTH_REACHED
$STATE,12140,begin surface coast
$FINISH,-0.1,1.005569
$STATE,12160,end surface coast,CONTROL_FINISHED_OK
$STATE,12160,begin surface
$SM_CCo,12186,79.12,0.564,0,0,1070,380.21
$SM_GC,1.11,0.00,0.00,79.12,0.000,0.000,0.564,37,2570,1070,-8.35,0.57,380.21
$IRIDIUM_FIX,2239.35,-15731.98,151202,171759
$TT8_MAMPS,0.023777
$HUMID,2378
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,24.1,2.972
$10V_AH,10.6,2.834
$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,18.250,96.200,286.875,79.125,0.000,25.445,40.807,182.843,0.250,0.000,0.000,17.148,987.062,8241.217,425.515,2301.536,713.349,33.334,1183.474,0.000,2300.878,0.000,0.544,0.000
$DEVICE_MAMPS,209.391,56.758,1262.482,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,303.767,1464.620,1513.248,178.270,977.566,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38263,445
$CAP_FILE_SIZE,97520,0
$CFSIZE,260165632,256815104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200913,232420,2247.727,-15742.308,40,8.5,59,10.1