version: 66.04
glider: 512
mission: 4
dive: 26
start: 9 21 113 6 37 48
data:
$ID,512
$MISSION,4
$DIVE,26
$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,-106946.31
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2705
$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,2500
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2660
$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
$GPS1,062035,2246.705,-15739.694,38,1.0,43,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-81.0
$GPS2,063654,2246.775,-15739.639,11,1.0,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.224
$KALMAN_X,-22556.5,629.6,146.2,56636.4,-4774.8
$KALMAN_Y,-6988.9,495.7,650.4,10825.5,-1609.6
$MHEAD_RNG_PITCHd_Wd,139.6,15479,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-73.97,0.000,2,0.000,0.000,12,2516,2855
$GC,104,-0.64,-146.0,2.0,-2.1,9,130,9.40,1.58,-9.65,0.000,4,0.211,0.041,2489,1408,3256
$GC,297,-0.64,-146.0,54.9,-24.6,32,300,0.00,1.65,0.00,0.000,6,0.000,0.038,2483,2504,3257
$GC,569,-0.64,-146.0,122.6,-20.4,57,573,0.00,1.60,0.00,0.000,4,0.000,0.042,2474,3566,3257
$GC,633,-0.64,-146.0,136.8,-19.9,62,642,0.00,1.52,0.00,0.000,6,0.000,0.021,2474,2511,3258
$GC,898,-0.64,-146.0,189.0,-19.9,87,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2503,3258
$GC,1165,-0.64,-146.0,236.5,-17.0,98,1169,0.00,1.62,0.00,0.000,4,0.000,0.042,2467,3567,3258
$GC,1324,-0.64,-146.0,261.3,-15.7,101,1327,0.00,1.50,0.00,0.000,6,0.000,0.021,2467,2518,3258
$GC,1595,-0.64,-146.0,303.4,-15.8,108,1597,0.12,0.00,0.00,0.000,6,0.156,0.000,2499,2511,3257
$GC,1839,-0.64,-146.0,335.5,-12.9,114,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2511,3257
$GC,2083,-0.64,-146.0,369.2,-13.6,120,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2511,3254
$GC,2326,-0.64,-146.0,401.1,-12.9,126,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2511,3252
$GC,2570,-0.64,-146.0,430.6,-12.0,132,2573,0.00,1.60,0.00,0.000,4,0.000,0.046,2492,3575,3250
$GC,2684,-0.64,-146.0,445.2,-12.4,134,2688,0.00,1.50,0.00,0.000,6,0.000,0.025,2498,2532,3249
$GC,2956,-0.64,-146.0,476.5,-11.6,141,2960,0.00,1.50,-0.08,0.000,4,0.000,0.046,2506,1447,3272
$GC,3037,-0.64,-146.0,485.4,-9.9,142,3041,0.00,1.60,0.00,0.000,6,0.000,0.041,2500,2519,3271
$GC,3297,-0.64,-146.0,514.2,-11.3,149,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2520,3269
$GC,3541,-0.64,-146.0,540.1,-10.5,155,3544,0.00,1.58,0.00,0.000,4,0.000,0.050,2492,3556,3267
$GC,3565,-0.64,-146.0,542.9,-10.5,155,3568,0.00,1.50,0.00,0.000,6,0.000,0.027,2498,2519,3267
$GC,3836,-0.64,-146.0,569.5,-10.0,162,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2511,3264
$GC,4080,-0.64,-146.0,593.8,-9.9,168,4084,0.00,1.60,0.00,0.000,4,0.000,0.050,2492,3564,3262
$GC,4155,-0.64,-146.0,601.7,-10.4,169,4159,0.00,1.50,0.00,0.000,6,0.000,0.028,2498,2526,3262
$GC,4421,-0.64,-146.0,625.0,-8.6,176,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2518,3260
$GC,4665,-0.64,-146.0,645.5,-8.6,182,4668,0.00,1.52,0.00,0.000,4,0.000,0.030,2505,1450,3259
$GC,4761,-0.64,-146.0,653.5,-7.8,184,4765,0.00,1.62,0.00,0.000,6,0.000,0.046,2499,2523,3259
$GC,5055,-0.64,-146.0,681.0,-9.5,191,5058,0.00,1.60,0.00,0.000,4,0.000,0.054,2491,3583,3256
$GC,5129,-0.64,-146.0,689.1,-9.8,192,5133,0.00,1.52,0.00,0.000,6,0.000,0.029,2497,2540,3255
$GC,5396,-0.64,-146.0,713.4,-9.1,199,5400,0.00,1.60,0.00,0.000,4,0.000,0.053,2491,3579,3254
$GC,5428,-0.64,-146.0,716.7,-10.2,199,5431,0.00,1.52,0.00,0.000,6,0.000,0.031,2497,2539,3254
$GC,5693,-0.64,-146.0,739.1,-8.3,206,5697,0.00,1.60,0.00,0.000,4,0.000,0.054,2491,3558,3253
$GC,5712,-0.64,-146.0,740.9,-8.0,206,5716,0.00,1.50,0.00,0.000,6,0.000,0.031,2497,2536,3253
$GC,5989,-0.64,-146.0,761.9,-7.5,213,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2528,3250
$GC,6233,-0.64,-146.0,779.8,-7.3,219,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2528,3249
$GC,6477,-0.64,-146.0,797.1,-7.0,225,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2528,3248
$GC,6720,-0.64,-146.0,814.1,-7.0,231,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2527,3247
$GC,6964,-0.64,-146.0,831.9,-7.5,237,6968,0.00,1.60,0.00,0.000,4,0.000,0.055,2491,3568,3246
$GC,6983,-0.64,-146.0,833.9,-7.8,237,6987,0.00,1.50,0.00,0.000,6,0.000,0.031,2497,2549,3246
$GC,7262,-0.64,-146.0,856.0,-8.2,244,7265,0.00,1.58,0.00,0.000,4,0.000,0.033,2505,1451,3245
$GC,7303,-0.64,-146.0,860.0,-8.0,244,7311,0.00,1.70,0.00,0.000,6,0.000,0.050,2498,2542,3245
$GC,7558,-0.64,-146.0,881.3,-8.7,251,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2542,3245
$STATE,7796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7796,begin apogee
$GC,7807,-0.23,0.0,902.0,8.5,257,7937,0.40,0.00,126.80,1.261,6,0.120,0.000,2631,2264,2661
$STATE,7938,end apogee,CONTROL_FINISHED_OK
$STATE,7938,begin climb
$GC,7943,0.64,146.0,904.3,0.0,260,8099,0.80,1.83,138.73,1.180,4,0.068,0.049,2906,3332,2063
$GC,8120,0.64,146.0,874.8,24.5,264,8124,0.00,1.67,0.00,0.000,6,0.000,0.031,2913,2284,2061
$GC,8414,0.64,146.0,790.1,28.6,271,8418,0.00,1.62,0.00,0.000,4,0.000,0.034,2922,1182,2055
$GC,8471,0.64,146.0,772.8,26.0,272,8475,0.00,1.73,0.00,0.000,6,0.000,0.045,2918,2269,2054
$GC,8754,0.64,146.0,693.3,28.7,279,8758,0.00,1.67,0.00,0.000,4,0.000,0.051,2918,3332,2053
$GC,8795,0.64,146.0,680.7,28.4,279,8804,0.00,1.65,0.00,0.000,6,0.000,0.032,2924,2250,2052
$GC,9050,0.64,146.0,613.0,26.4,286,9054,0.00,1.55,0.00,0.000,4,0.000,0.035,2932,1202,2051
$GC,9114,0.64,146.0,596.4,21.8,287,9117,0.00,1.62,0.00,0.000,6,0.000,0.046,2932,2257,2051
$GC,9391,0.64,146.0,526.5,25.5,294,9394,0.00,1.65,0.00,0.000,4,0.000,0.051,2933,3336,2050
$GC,9426,0.64,146.0,515.9,27.6,294,9430,0.00,1.67,0.00,0.000,6,0.000,0.033,2940,2216,2050
$GC,9687,0.64,146.0,445.3,27.9,301,9691,0.00,1.48,0.00,0.000,4,0.000,0.035,2948,1213,2050
$GC,9773,0.64,146.0,422.5,24.4,302,9779,0.10,1.52,0.00,0.000,6,0.165,0.045,2916,2190,2049
$GC,10027,0.64,146.0,363.6,23.4,309,10030,0.00,1.75,0.00,0.000,4,0.000,0.050,2916,3340,2049
$GC,10102,0.64,146.0,345.2,21.3,310,10106,0.00,1.67,0.00,0.000,6,0.000,0.031,2923,2210,2049
$GC,10368,0.64,146.0,286.8,22.4,317,10371,0.00,1.75,0.00,0.000,4,0.000,0.049,2918,3337,2049
$GC,10425,0.64,146.0,274.0,19.9,318,10429,0.00,1.60,0.00,0.000,6,0.000,0.031,2924,2272,2048
$GC,10709,0.64,146.0,214.8,22.3,325,10712,0.00,1.55,0.00,0.000,4,0.000,0.033,2933,1210,2048
$GC,10733,0.64,146.0,209.2,19.8,325,10736,0.00,1.67,0.00,0.000,6,0.000,0.044,2933,2292,2048
$GC,11004,0.64,146.0,156.4,19.4,346,11008,0.00,1.60,0.00,0.000,4,0.000,0.050,2932,3329,2048
$GC,11067,0.64,146.0,141.8,22.9,351,11075,0.00,1.60,0.00,0.000,6,0.000,0.031,2940,2259,2048
$GC,11332,0.64,146.0,90.9,16.5,376,11336,0.00,1.67,0.00,0.000,4,0.000,0.046,2941,3334,2049
$GC,11395,0.64,146.0,79.2,20.3,381,11399,0.10,1.50,0.00,0.000,6,0.173,0.028,2919,2315,2048
$GC,11668,0.65,168.1,45.6,9.0,406,11697,0.00,1.62,16.85,0.624,4,0.000,0.028,2927,1202,1972
$GC,11820,0.65,170.5,33.0,9.9,418,11824,0.00,1.73,0.00,0.000,6,0.000,0.039,2927,2345,1972
$STATE,12055,end climb,SURFACE_DEPTH_REACHED
$STATE,12055,begin surface coast
$FINISH,0.1,1.011467
$STATE,12084,end surface coast,CONTROL_FINISHED_OK
$STATE,12084,begin surface
$SM_CCo,12108,90.95,0.561,0,0,1109,380.21
$SM_GC,1.00,0.00,0.00,90.95,0.000,0.000,0.561,29,2562,1109,-8.33,1.75,380.21
$IRIDIUM_FIX,2237.01,-15737.19,161202,060626
$TT8_MAMPS,0.02301
$HUMID,2263
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.1,3.360
$10V_AH,10.6,3.290
$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,18.125,80.750,282.375,90.950,0.000,79.321,107.806,491.102,0.500,0.000,0.000,17.155,982.084,8240.742,440.798,2362.716,1154.590,33.352,1166.958,0.000,2360.361,0.000,0.543,0.000
$DEVICE_MAMPS,210.925,55.224,1260.948,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,310.805,1495.949,1559.059,368.879,1080.583,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38354,455
$CAP_FILE_SIZE,101527,0
$CFSIZE,260165632,256655360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210913,100236,2246.015,-15738.175,41,1.0,41,10.1