version: 66.04
glider: 512
mission: 4
dive: 30
start: 9 21 113 20 27 42
data:
$ID,512
$MISSION,4
$DIVE,30
$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,140
$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,554.61426
$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,-107023.99
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2698
$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,2260
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,54
$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
$GPS1,200453,2244.557,-15733.781,27,1.0,44,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.1
$GPS2,202649,2244.599,-15733.783,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.034,-0.249
$KALMAN_X,-26384.1,283.5,623.6,70329.9,-4953.0
$KALMAN_Y,802.8,-619.6,226.8,552.2,3018.7
$MHEAD_RNG_PITCHd_Wd,177.6,13082,-18.2,-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,23,-0.66,-136.3,0.0,0.0,0,92,0.00,0.00,-67.25,0.000,2,0.000,0.000,11,2534,2708
$GC,98,-0.66,-136.3,2.0,-1.8,8,126,9.23,1.62,-13.90,0.000,4,0.209,0.041,2474,1419,3217
$GC,299,-0.66,-136.3,53.2,-29.6,32,302,0.00,1.60,0.00,0.000,6,0.000,0.035,2467,2495,3217
$GC,572,-0.66,-136.3,122.5,-22.6,57,575,0.00,1.60,0.00,0.000,4,0.000,0.042,2459,3560,3218
$GC,633,-0.66,-136.3,136.1,-21.1,62,637,0.00,1.50,0.00,0.000,6,0.000,0.020,2459,2513,3218
$GC,904,-0.66,-136.3,194.1,-20.8,87,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2505,3218
$GC,1180,-0.66,-136.3,246.0,-17.6,96,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2505,3218
$GC,1424,-0.66,-136.3,285.4,-15.8,102,1427,0.00,1.60,0.00,0.000,4,0.000,0.041,2451,3584,3218
$GC,1482,-0.66,-136.3,295.4,-16.2,103,1486,0.08,1.48,0.00,0.000,6,0.176,0.021,2473,2531,3217
$GC,1764,-0.66,-136.3,337.0,-15.1,110,1768,0.00,1.58,0.00,0.000,4,0.000,0.041,2466,3562,3217
$GC,1849,-0.66,-136.3,350.3,-15.4,111,1858,0.00,1.40,0.00,0.000,6,0.000,0.022,2466,2565,3216
$GC,2104,-0.66,-136.3,385.2,-13.9,118,2108,0.00,1.55,0.00,0.000,4,0.000,0.024,2466,1458,3214
$GC,2147,-0.66,-136.3,391.5,-13.5,118,2155,0.00,1.67,0.00,0.000,6,0.000,0.039,2458,2566,3213
$GC,2401,-0.66,-136.3,429.1,-15.1,125,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2566,3211
$GC,2645,-0.66,-136.3,465.4,-14.7,131,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2566,3209
$GC,2889,-0.66,-136.3,501.2,-14.4,137,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2566,3206
$GC,3132,-0.66,-136.3,532.3,-12.2,143,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2566,3203
$GC,3376,-0.66,-136.3,561.5,-12.1,149,3380,0.00,1.50,0.00,0.000,4,0.000,0.049,2451,3556,3201
$GC,3456,-0.66,-136.3,572.0,-12.7,150,3460,0.08,1.40,0.00,0.000,6,0.168,0.027,2473,2578,3200
$GC,3717,-0.66,-136.3,600.5,-10.9,157,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2575,3199
$GC,3962,-0.66,-136.3,626.6,-10.7,163,3966,0.00,1.58,0.00,0.000,4,0.000,0.028,2475,1472,3197
$GC,4069,-0.66,-136.3,638.6,-10.4,165,4073,0.00,1.62,0.00,0.000,6,0.000,0.044,2469,2554,3197
$GC,4348,-0.66,-136.3,667.8,-10.8,172,4351,0.00,1.52,0.00,0.000,4,0.000,0.051,2461,3558,3193
$GC,4422,-0.66,-136.3,677.2,-11.6,173,4425,0.00,1.40,0.00,0.000,6,0.000,0.028,2461,2592,3192
$GC,4687,-0.66,-136.3,707.1,-11.3,180,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2583,3191
$GC,4931,-0.66,-136.3,733.8,-10.9,186,4935,0.00,1.60,0.00,0.000,4,0.000,0.031,2461,1450,3189
$GC,4955,-0.66,-136.3,737.1,-12.2,186,4960,0.08,1.73,0.00,0.000,6,0.156,0.046,2478,2566,3189
$GC,5228,-0.66,-136.3,763.3,-9.7,193,5232,0.00,1.52,0.00,0.000,4,0.000,0.054,2472,3560,3188
$GC,5314,-0.66,-136.3,772.5,-10.1,194,5322,0.00,1.40,0.00,0.000,6,0.000,0.030,2472,2592,3187
$GC,5569,-0.66,-136.3,796.6,-9.5,201,5572,0.00,1.60,0.00,0.000,4,0.000,0.031,2472,1459,3185
$GC,5620,-0.66,-136.3,801.4,-9.4,202,5623,0.00,1.67,0.00,0.000,6,0.000,0.047,2467,2559,3185
$GC,5914,-0.66,-136.3,830.7,-10.1,209,5918,0.00,1.52,0.00,0.000,4,0.000,0.054,2459,3554,3184
$GC,5938,-0.66,-136.3,833.6,-10.6,209,5941,0.00,1.38,0.00,0.000,6,0.000,0.031,2459,2607,3183
$GC,6210,-0.66,-136.3,860.5,-9.8,216,6213,0.00,1.60,0.00,0.000,4,0.000,0.032,2459,1470,3181
$GC,6251,-0.66,-136.3,864.8,-9.6,216,6261,0.08,1.67,0.00,0.000,6,0.156,0.047,2476,2555,3181
$GC,6508,-0.66,-136.3,885.2,-7.9,223,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2555,3180
$STATE,6704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6704,begin apogee
$GC,6715,-0.23,0.0,901.7,8.1,228,6831,0.45,0.00,113.15,1.257,6,0.130,0.000,2621,2292,2660
$STATE,6832,end apogee,CONTROL_FINISHED_OK
$STATE,6832,begin climb
$GC,6837,0.66,136.3,903.4,0.0,231,6983,0.82,1.70,128.88,1.178,4,0.082,0.031,2910,1213,2103
$GC,7000,0.66,136.3,874.9,23.6,234,7004,0.00,1.70,0.00,0.000,6,0.000,0.043,2910,2266,2100
$GC,7261,0.66,136.3,802.8,28.2,241,7265,0.00,1.65,0.00,0.000,4,0.000,0.049,2906,3326,2094
$GC,7296,0.66,136.3,791.7,27.6,241,7300,0.00,1.60,0.00,0.000,6,0.000,0.032,2912,2289,2093
$GC,7557,0.66,136.3,723.0,26.6,248,7560,0.00,1.62,0.00,0.000,4,0.000,0.035,2920,1199,2091
$GC,7631,0.66,136.3,703.0,24.7,249,7634,0.00,1.67,0.00,0.000,6,0.000,0.045,2918,2284,2091
$GC,7898,0.66,136.3,635.2,26.3,256,7901,0.00,1.62,0.00,0.000,4,0.000,0.033,2924,1195,2090
$GC,7922,0.66,136.3,628.2,24.4,256,7925,0.00,1.67,0.00,0.000,6,0.000,0.044,2924,2266,2089
$GC,8193,0.66,136.3,559.6,25.6,263,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2267,2089
$GC,8436,0.66,136.3,499.4,24.4,269,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2267,2088
$GC,8680,0.66,136.3,440.3,24.5,275,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2266,2087
$GC,8924,0.66,136.3,380.5,24.1,281,8928,0.00,1.60,0.00,0.000,4,0.000,0.034,2932,1201,2088
$GC,8973,0.66,136.3,369.2,22.1,282,8977,0.00,1.65,0.00,0.000,6,0.000,0.044,2932,2281,2087
$GC,9268,0.66,136.3,302.8,22.2,289,9272,0.00,1.60,0.00,0.000,4,0.000,0.049,2933,3320,2087
$GC,9298,0.66,136.3,295.2,23.4,289,9302,0.00,1.52,0.00,0.000,6,0.000,0.031,2939,2302,2086
$GC,9564,0.66,136.3,233.6,23.6,296,9567,0.00,1.60,0.00,0.000,4,0.000,0.034,2947,1205,2086
$GC,9632,0.66,136.3,217.7,20.0,297,9637,0.12,1.60,0.00,0.000,6,0.171,0.042,2914,2266,2086
$GC,9901,0.66,136.3,171.6,17.0,315,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2266,2086
$GC,10166,0.66,136.3,129.8,16.7,340,10170,0.00,1.60,0.00,0.000,4,0.000,0.047,2914,3316,2086
$GC,10184,0.66,136.3,126.1,16.8,341,10193,0.00,1.60,0.00,0.000,6,0.000,0.028,2921,2230,2086
$GC,10450,0.66,136.3,82.9,16.2,366,10454,0.00,1.67,0.00,0.000,4,0.000,0.044,2918,3329,2086
$GC,10502,0.66,136.3,75.4,13.4,370,10506,0.00,1.55,0.00,0.000,6,0.000,0.028,2925,2273,2085
$GC,10775,0.66,136.3,44.3,10.6,395,10778,0.00,1.52,0.00,0.000,4,0.000,0.030,2929,1208,2086
$GC,10971,0.66,136.3,23.5,11.4,414,10980,0.00,1.60,0.00,0.000,6,0.000,0.038,2929,2265,2086
$STATE,11135,end climb,SURFACE_DEPTH_REACHED
$STATE,11135,begin surface coast
$FINISH,0.3,1.023127
$STATE,11165,end surface coast,CONTROL_FINISHED_OK
$STATE,11165,begin surface
$SM_CCo,11190,187.20,0.550,0,0,398,554.61
$SM_GC,1.15,0.00,0.00,187.20,0.000,0.000,0.550,22,2525,398,-8.31,0.74,554.61
$IRIDIUM_FIX,2237.01,-15732.87,161202,202045
$TT8_MAMPS,0.023777
$HUMID,2154
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,24.1,3.931
$10V_AH,10.7,3.889
$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,18.175,73.375,242.025,187.200,0.000,143.921,253.429,481.181,0.750,0.000,0.000,13.554,936.365,7674.404,491.166,2215.359,1378.614,33.352,1175.066,0.000,2234.657,0.000,0.545,0.000
$DEVICE_MAMPS,209.391,53.690,1257.113,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,303.719,1466.023,1520.095,203.361,1025.445,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38402,445
$CAP_FILE_SIZE,96648,0
$CFSIZE,260165632,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210913,233835,2243.371,-15733.410,27,1.7,27,10.1