version: 66.04
glider: 512
mission: 4
dive: 28
start: 9 21 113 13 43 53
data:
$ID,512
$MISSION,4
$DIVE,28
$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,-106977.91
$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,60
$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,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
$GPS1,133113,2245.244,-15736.755,9,1.6,9,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-80.8
$GPS2,134255,2245.232,-15736.757,9,1.8,9,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.094
$KALMAN_X,-23515.8,775.7,122.3,62392.5,-4187.6
$KALMAN_Y,-1968.0,307.9,-464.7,4258.7,2852.5
$MHEAD_RNG_PITCHd_Wd,101.1,12432,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.64,-145.9,0.0,0.0,0,104,0.00,0.00,-85.00,0.000,2,0.000,0.000,12,2519,3158
$GC,110,-0.64,-146.0,2.5,-3.5,10,128,9.30,1.52,-2.00,0.000,4,0.209,0.040,2490,1408,3256
$GC,230,-0.64,-146.0,42.5,-27.0,25,234,0.00,1.65,0.00,0.000,6,0.000,0.038,2484,2502,3258
$GC,502,-0.64,-146.0,111.4,-22.9,50,505,0.00,1.60,0.00,0.000,4,0.000,0.043,2475,3561,3259
$GC,610,-0.64,-146.0,135.4,-22.5,59,614,0.00,1.50,0.00,0.000,6,0.000,0.020,2475,2509,3259
$GC,881,-0.64,-146.0,191.7,-19.1,84,885,0.00,1.48,0.00,0.000,4,0.000,0.021,2475,1442,3260
$GC,976,-0.64,-146.0,208.1,-16.3,89,980,0.00,1.58,0.00,0.000,6,0.000,0.037,2468,2482,3260
$GC,1269,-0.64,-146.0,260.3,-17.8,96,1273,0.00,1.60,0.00,0.000,4,0.000,0.041,2460,3573,3260
$GC,1293,-0.64,-146.0,265.4,-18.1,96,1298,0.08,1.55,0.00,0.000,6,0.159,0.021,2484,2478,3260
$GC,1566,-0.64,-146.0,306.1,-14.7,103,1569,0.00,1.65,0.00,0.000,4,0.000,0.043,2477,3573,3259
$GC,1684,-0.64,-146.0,325.5,-14.8,105,1688,0.00,1.52,0.00,0.000,6,0.000,0.023,2477,2508,3258
$GC,1951,-0.64,-146.0,360.7,-13.1,112,1955,0.00,1.48,0.00,0.000,4,0.000,0.025,2478,1451,3258
$GC,2008,-0.64,-146.0,368.9,-12.7,113,2012,0.00,1.58,0.00,0.000,6,0.000,0.038,2472,2493,3257
$GC,2291,-0.64,-146.0,408.0,-14.3,120,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2493,3255
$GC,2534,-0.64,-146.0,443.4,-14.4,126,2538,0.00,1.60,0.00,0.000,4,0.000,0.048,2464,3570,3253
$GC,2593,-0.64,-146.0,452.8,-15.0,127,2596,0.00,1.55,0.00,0.000,6,0.000,0.025,2464,2493,3253
$GC,2875,-0.64,-146.0,491.8,-13.7,134,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2485,3250
$GC,3119,-0.64,-146.0,525.5,-13.9,140,3123,0.00,1.62,0.00,0.000,4,0.000,0.047,2455,3562,3248
$GC,3193,-0.64,-146.0,537.4,-15.2,141,3197,0.08,1.52,0.00,0.000,6,0.151,0.025,2490,2497,3248
$GC,3460,-0.64,-146.0,568.7,-11.5,148,3464,0.00,1.62,0.00,0.000,4,0.000,0.049,2484,3567,3245
$GC,3484,-0.64,-146.0,572.1,-12.0,148,3488,0.00,1.50,0.00,0.000,6,0.000,0.027,2484,2530,3245
$GC,3755,-0.64,-146.0,603.4,-11.4,155,3758,0.00,1.60,0.00,0.000,4,0.000,0.049,2476,3580,3243
$GC,3806,-0.64,-146.0,609.2,-12.5,156,3810,0.00,1.55,0.00,0.000,6,0.000,0.028,2476,2519,3243
$GC,4101,-0.64,-146.0,643.0,-11.1,163,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2512,3241
$GC,4346,-0.64,-146.0,669.1,-10.7,169,4349,0.00,1.60,0.00,0.000,4,0.000,0.051,2468,3564,3239
$GC,4414,-0.64,-146.0,677.4,-11.8,170,4418,0.00,1.50,0.00,0.000,6,0.000,0.028,2468,2534,3238
$GC,4685,-0.64,-146.0,707.8,-11.7,177,4688,0.00,1.55,0.00,0.000,4,0.000,0.030,2468,1443,3236
$GC,4749,-0.64,-146.0,715.7,-11.5,178,4753,0.00,1.65,0.00,0.000,6,0.000,0.047,2467,2528,3236
$GC,5026,-0.64,-146.0,747.1,-11.6,185,5030,0.00,1.60,0.00,0.000,4,0.000,0.053,2459,3570,3234
$GC,5067,-0.64,-146.0,752.6,-12.4,185,5074,0.08,1.52,0.00,0.000,6,0.150,0.030,2483,2518,3234
$GC,5322,-0.64,-146.0,777.7,-9.6,192,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2517,3232
$GC,5565,-0.64,-146.0,801.6,-10.0,198,5568,0.00,1.62,0.00,0.000,4,0.000,0.054,2480,3573,3231
$GC,5584,-0.64,-146.0,803.8,-9.8,198,5588,0.00,1.55,0.00,0.000,6,0.000,0.031,2480,2523,3231
$GC,5862,-0.64,-146.0,831.7,-10.2,205,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2515,3229
$GC,6106,-0.64,-146.0,856.8,-10.3,211,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2515,3228
$GC,6351,-0.64,-146.0,880.6,-9.6,217,6354,0.00,1.55,0.00,0.000,4,0.000,0.033,2480,1453,3227
$GC,6375,-0.64,-146.0,883.5,-9.7,217,6379,0.00,1.65,0.00,0.000,6,0.000,0.051,2480,2529,3227
$STATE,6560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6560,begin apogee
$GC,6572,-0.23,0.0,900.3,9.0,222,6698,0.45,0.00,124.00,1.249,6,0.129,0.000,2623,2268,2660
$STATE,6699,end apogee,CONTROL_FINISHED_OK
$STATE,6699,begin climb
$GC,6704,0.64,146.0,902.5,0.0,225,6856,0.80,0.00,138.20,1.175,6,0.074,0.000,2897,2267,2064
$GC,7074,0.64,146.0,819.3,26.7,234,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2267,2055
$GC,7318,0.64,146.0,754.7,26.0,240,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2267,2054
$GC,7562,0.64,146.0,692.0,25.8,246,7565,0.00,1.58,0.00,0.000,4,0.000,0.035,2904,1213,2053
$GC,7586,0.64,146.0,685.2,24.7,246,7590,0.00,1.67,0.00,0.000,6,0.000,0.046,2904,2275,2052
$GC,7858,0.64,146.0,618.1,25.5,253,7861,0.00,1.62,0.00,0.000,4,0.000,0.051,2904,3339,2051
$GC,7899,0.64,146.0,606.5,24.8,253,7907,0.00,1.60,0.00,0.000,6,0.000,0.031,2911,2284,2050
$GC,8153,0.64,146.0,544.2,24.7,260,8157,0.00,1.58,0.00,0.000,4,0.000,0.035,2919,1210,2050
$GC,8194,0.64,146.0,534.3,22.2,260,8202,0.00,1.70,0.00,0.000,6,0.000,0.046,2918,2294,2050
$GC,8449,0.64,146.0,476.1,23.6,267,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2295,2049
$GC,8692,0.64,146.0,419.5,23.1,273,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2294,2049
$GC,8936,0.64,146.0,360.1,24.7,279,8940,0.00,1.62,0.00,0.000,4,0.000,0.033,2925,1195,2049
$GC,8995,0.64,146.0,346.3,20.3,280,8998,0.00,1.67,0.00,0.000,6,0.000,0.045,2925,2293,2048
$GC,9277,0.64,146.0,282.3,22.8,287,9281,0.00,1.60,0.00,0.000,4,0.000,0.049,2919,3332,2049
$GC,9306,0.64,146.0,274.9,23.3,287,9310,0.00,1.55,0.00,0.000,6,0.000,0.031,2924,2298,2047
$GC,9572,0.64,146.0,220.9,19.6,294,9575,0.00,1.60,0.00,0.000,4,0.000,0.032,2933,1207,2048
$GC,9613,0.64,146.0,212.1,18.6,294,9622,0.00,1.70,0.00,0.000,6,0.000,0.044,2933,2306,2048
$GC,9876,0.64,146.0,159.6,20.8,313,9880,0.00,1.62,0.00,0.000,4,0.000,0.031,2939,1218,2048
$GC,9982,0.64,146.0,138.0,18.9,322,9986,0.12,1.62,0.00,0.000,6,0.159,0.041,2908,2294,2048
$GC,10258,0.64,146.0,94.8,13.7,347,10262,0.00,1.60,0.00,0.000,4,0.000,0.030,2914,1190,2048
$GC,10275,0.64,146.0,91.6,14.3,348,10278,0.00,1.65,0.00,0.000,6,0.000,0.041,2914,2269,2047
$GC,10547,0.64,146.0,56.7,14.5,373,10550,0.00,1.60,0.00,0.000,4,0.000,0.046,2914,3346,2048
$GC,10732,0.64,146.0,36.2,12.8,388,10736,0.00,1.58,0.00,0.000,6,0.000,0.028,2915,2266,2048
$STATE,11021,end climb,SURFACE_DEPTH_REACHED
$STATE,11022,begin surface coast
$FINISH,0.3,1.023177
$STATE,11050,end surface coast,CONTROL_FINISHED_OK
$STATE,11050,begin surface
$SM_CCo,11075,94.75,0.561,0,0,1109,380.21
$SM_GC,1.09,0.00,0.00,94.75,0.000,0.000,0.561,27,2534,1109,-8.32,0.96,380.21
$IRIDIUM_FIX,2239.35,-15737.19,161202,131344
$TT8_MAMPS,0.023777
$HUMID,2247
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.1,3.656
$10V_AH,10.7,3.589
$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,18.175,76.950,262.200,94.750,0.000,58.159,76.022,337.472,0.250,0.000,0.000,10.081,926.027,7402.167,437.916,2189.960,922.275,33.375,1089.176,0.000,2199.926,0.000,0.543,0.000
$DEVICE_MAMPS,209.391,54.457,1249.443,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,295.150,1420.411,1481.619,338.251,1037.603,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38317,432
$CAP_FILE_SIZE,89843,0
$CFSIZE,260165632,256552960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210913,165129,2244.762,-15735.392,38,1.3,38,10.1