version: 66.04
glider: 512
mission: 4
dive: 27
start: 9 21 113 10 28 57
data:
$ID,512
$MISSION,4
$DIVE,27
$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,-106967.21
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,100236,2246.015,-15738.175,41,1.0,41,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-81.0
$GPS2,102800,2246.097,-15738.162,15,1.4,20,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.121
$KALMAN_X,-22490.8,622.9,734.6,58496.9,-4109.8
$KALMAN_Y,-3305.6,343.3,324.9,6348.7,1359.6
$MHEAD_RNG_PITCHd_Wd,107.5,13916,-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,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,-82.15,0.000,2,0.000,0.000,11,2554,3098
$GC,108,-0.64,-146.0,2.5,-2.6,10,127,9.30,1.58,-3.22,0.000,4,0.209,0.039,2489,1415,3257
$GC,217,-0.64,-146.0,39.8,-26.0,24,221,0.00,1.65,0.00,0.000,6,0.000,0.036,2483,2515,3258
$GC,490,-0.64,-146.0,113.9,-24.0,49,494,0.00,1.60,0.00,0.000,4,0.000,0.044,2475,3570,3258
$GC,565,-0.64,-146.0,131.9,-20.1,55,573,0.00,1.52,0.00,0.000,6,0.000,0.021,2475,2503,3258
$GC,831,-0.64,-146.0,184.5,-20.1,80,834,0.00,1.62,0.00,0.000,4,0.000,0.040,2466,3564,3259
$GC,892,-0.64,-146.0,197.2,-21.2,85,895,0.00,1.45,0.00,0.000,6,0.000,0.021,2467,2550,3258
$GC,1152,-0.64,-146.0,248.0,-18.8,92,1156,0.00,1.55,0.00,0.000,4,0.000,0.041,2459,3569,3258
$GC,1181,-0.64,-146.0,253.8,-17.6,92,1185,0.08,1.42,0.00,0.000,6,0.180,0.021,2480,2549,3258
$GC,1446,-0.64,-146.0,293.8,-14.7,99,1450,0.00,1.50,0.00,0.000,4,0.000,0.022,2482,1467,3257
$GC,1499,-0.64,-146.0,301.8,-13.5,100,1503,0.00,1.60,0.00,0.000,6,0.000,0.038,2480,2544,3257
$GC,1788,-0.64,-146.0,344.7,-15.6,107,1791,0.00,1.52,0.00,0.000,4,0.000,0.045,2471,3561,3255
$GC,1896,-0.64,-146.0,362.7,-15.3,109,1899,0.00,1.42,0.00,0.000,6,0.000,0.022,2472,2555,3254
$GC,2173,-0.64,-146.0,400.9,-14.1,116,2176,0.00,1.52,0.00,0.000,4,0.000,0.024,2472,1460,3253
$GC,2191,-0.64,-146.0,404.0,-14.1,116,2195,0.00,1.62,0.00,0.000,6,0.000,0.039,2467,2527,3252
$GC,2468,-0.64,-146.0,442.5,-14.0,123,2472,0.00,1.50,0.00,0.000,4,0.000,0.024,2467,1471,3250
$GC,2509,-0.64,-146.0,448.4,-12.9,123,2518,0.08,1.60,0.00,0.000,6,0.154,0.040,2484,2526,3249
$GC,2765,-0.64,-146.0,480.3,-12.8,130,2768,0.00,1.58,0.00,0.000,4,0.000,0.048,2477,3565,3246
$GC,2827,-0.64,-146.0,489.9,-14.2,131,2832,0.00,1.45,-0.05,0.000,6,0.000,0.025,2476,2553,3266
$GC,3104,-0.64,-146.0,527.6,-13.8,138,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2544,3265
$GC,3348,-0.64,-146.0,559.1,-12.9,144,3352,0.00,1.52,0.00,0.000,4,0.000,0.027,2477,1467,3263
$GC,3366,-0.64,-146.0,562.1,-12.6,144,3370,0.00,1.60,0.00,0.000,6,0.000,0.042,2468,2519,3263
$GC,3645,-0.64,-146.0,595.9,-12.5,151,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2519,3260
$GC,3888,-0.64,-146.0,626.8,-12.8,157,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2519,3258
$GC,4133,-0.64,-146.0,657.3,-12.5,163,4136,0.00,1.60,0.00,0.000,4,0.000,0.051,2461,3586,3256
$GC,4163,-0.64,-146.0,661.9,-13.4,163,4167,0.08,1.52,0.00,0.000,6,0.146,0.028,2485,2530,3255
$GC,4428,-0.64,-146.0,689.3,-10.2,170,4431,0.00,1.52,0.00,0.000,4,0.000,0.030,2491,1461,3253
$GC,4469,-0.64,-146.0,693.6,-9.1,170,4477,0.00,1.60,0.00,0.000,6,0.000,0.044,2486,2505,3252
$GC,4724,-0.64,-146.0,717.9,-9.6,177,4727,0.00,1.60,0.00,0.000,4,0.000,0.054,2480,3564,3251
$GC,4777,-0.64,-146.0,723.7,-10.2,178,4780,0.00,1.52,0.00,0.000,6,0.000,0.029,2480,2520,3250
$GC,5065,-0.64,-146.0,751.8,-10.1,185,5068,0.00,1.62,0.00,0.000,4,0.000,0.052,2472,3559,3248
$GC,5089,-0.64,-146.0,754.8,-11.0,185,5092,0.00,1.50,0.00,0.000,6,0.000,0.030,2472,2535,3247
$GC,5360,-0.64,-146.0,783.2,-10.5,192,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2526,3246
$GC,5604,-0.64,-146.0,809.3,-10.6,198,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2526,3244
$GC,5847,-0.64,-146.0,834.8,-10.5,204,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2526,3243
$GC,6091,-0.64,-146.0,860.0,-10.4,210,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2526,3242
$GC,6335,-0.64,-146.0,884.5,-10.1,216,6338,0.00,1.55,0.00,0.000,4,0.000,0.032,2474,1456,3241
$GC,6376,-0.64,-146.0,889.1,-9.7,216,6385,0.00,1.70,0.00,0.000,6,0.000,0.049,2468,2550,3241
$STATE,6505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6505,begin apogee
$GC,6516,-0.23,0.0,902.3,10.3,220,6646,0.50,0.00,126.65,1.254,6,0.133,0.000,2626,2272,2660
$STATE,6647,end apogee,CONTROL_FINISHED_OK
$STATE,6647,begin climb
$GC,6652,0.64,146.0,905.6,0.0,223,6804,0.82,0.00,138.60,1.177,6,0.071,0.000,2905,2272,2064
$GC,7033,0.64,146.0,818.8,27.4,233,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2272,2055
$GC,7276,0.64,146.0,753.1,27.0,239,7280,0.00,1.60,0.00,0.000,4,0.000,0.034,2912,1214,2053
$GC,7294,0.64,146.0,747.5,26.7,239,7298,0.00,1.67,0.00,0.000,6,0.000,0.044,2912,2294,2053
$GC,7571,0.64,146.0,672.8,27.7,246,7574,0.00,1.62,0.00,0.000,4,0.000,0.034,2920,1201,2051
$GC,7601,0.64,146.0,664.1,26.2,246,7604,0.00,1.67,0.00,0.000,6,0.000,0.045,2918,2266,2051
$GC,7867,0.64,146.0,594.4,26.7,253,7871,0.00,1.65,0.00,0.000,4,0.000,0.051,2918,3342,2051
$GC,7897,0.64,146.0,585.3,28.3,253,7901,0.00,1.62,0.00,0.000,6,0.000,0.032,2924,2278,2050
$GC,8162,0.64,146.0,518.4,25.4,260,8166,0.00,1.58,0.00,0.000,4,0.000,0.035,2932,1208,2049
$GC,8220,0.64,146.0,503.1,24.6,261,8223,0.00,1.60,0.00,0.000,6,0.000,0.047,2933,2250,2048
$GC,8503,0.64,146.0,431.7,25.5,268,8507,0.00,1.65,0.00,0.000,4,0.000,0.051,2932,3337,2049
$GC,8553,0.64,146.0,418.3,26.3,269,8557,0.00,1.62,0.00,0.000,6,0.000,0.031,2938,2246,2048
$GC,8847,0.64,146.0,343.3,25.4,276,8851,0.12,1.50,0.00,0.000,4,0.206,0.032,2916,1197,2048
$GC,8922,0.64,146.0,326.9,19.8,277,8925,0.00,1.58,0.00,0.000,6,0.000,0.044,2915,2213,2048
$GC,9187,0.64,146.0,270.6,22.1,284,9191,0.00,1.73,0.00,0.000,4,0.000,0.048,2915,3335,2047
$GC,9282,0.64,146.0,248.6,21.4,286,9286,0.00,1.65,0.00,0.000,6,0.000,0.030,2923,2238,2047
$GC,9546,0.64,146.0,192.2,20.6,293,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2232,2047
$GC,9812,0.64,146.0,140.7,17.9,318,9815,0.00,1.50,0.00,0.000,4,0.000,0.032,2928,1202,2047
$GC,9854,0.64,146.0,132.9,17.4,321,9862,0.00,1.60,0.00,0.000,6,0.000,0.041,2929,2244,2047
$GC,10119,0.64,146.0,84.5,15.7,346,10123,0.00,1.62,0.00,0.000,4,0.000,0.048,2929,3328,2047
$GC,10197,0.64,146.0,68.7,21.4,352,10206,0.00,1.62,0.00,0.000,6,0.000,0.028,2936,2231,2047
$GC,10463,0.64,146.0,32.2,11.1,377,10467,0.00,1.67,0.00,0.000,4,0.000,0.043,2937,3340,2047
$GC,10506,0.64,146.0,26.7,13.7,381,10515,0.10,1.62,0.00,0.000,6,0.157,0.025,2914,2226,2047
$STATE,10723,end climb,SURFACE_DEPTH_REACHED
$STATE,10723,begin surface coast
$FINISH,0.0,1.016226
$STATE,10756,end surface coast,CONTROL_FINISHED_OK
$STATE,10756,begin surface
$SM_CCo,10780,97.62,0.571,0,0,1109,380.21
$SM_GC,1.12,0.00,0.00,97.62,0.000,0.000,0.571,24,2523,1109,-8.34,0.65,380.21
$IRIDIUM_FIX,2239.35,-15737.19,161202,101058
$TT8_MAMPS,0.02301
$HUMID,2284
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,24.1,3.525
$10V_AH,10.7,3.441
$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,18.300,79.800,265.250,97.625,0.000,140.490,185.275,749.526,0.250,0.000,0.000,20.275,896.366,7411.273,462.845,2088.670,1547.879,33.356,1101.195,0.000,2091.383,0.000,0.544,0.000
$DEVICE_MAMPS,208.624,54.457,1254.045,571.415,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,286.448,1381.913,1426.719,393.494,964.020,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35067,420
$CAP_FILE_SIZE,101715,0
$CFSIZE,260165632,256598016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210913,133113,2245.244,-15736.755,9,1.6,9,10.1