version: 66.04
glider: 512
mission: 4
dive: 31
start: 9 22 113 0 13 47
data:
$ID,512
$MISSION,4
$DIVE,31
$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,-107055.7
$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,56
$R_STBD_OVSHOOT,45
$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
$GPS1,233835,2243.371,-15733.410,27,1.7,27,10.1
$_CALLS,5
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.8
$GPS2,001251,2243.531,-15733.456,11,4.5,30,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.082,-0.238
$KALMAN_X,-24829.6,243.3,751.8,69228.1,-2552.3
$KALMAN_Y,3738.7,-701.3,-159.5,-3896.3,4933.0
$MHEAD_RNG_PITCHd_Wd,188.9,11791,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.66,-136.3,0.0,0.0,0,121,0.00,0.00,-101.20,0.000,2,0.000,0.000,11,2526,2925
$GC,127,-0.66,-136.3,2.1,-2.1,12,147,9.18,1.60,-6.90,0.000,4,0.206,0.041,2482,1440,3217
$GC,345,-0.66,-136.3,58.1,-24.8,37,348,0.00,1.60,0.00,0.000,6,0.000,0.036,2475,2488,3218
$GC,616,-0.66,-136.3,119.7,-20.0,62,620,0.00,1.62,0.00,0.000,4,0.000,0.043,2468,3567,3218
$GC,747,-0.66,-136.3,146.1,-19.6,73,751,0.00,1.48,0.00,0.000,6,0.000,0.020,2467,2529,3218
$GC,1018,-0.66,-136.3,196.8,-16.5,98,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2521,3218
$GC,1284,-0.66,-136.3,245.0,-17.6,106,1288,0.00,1.50,0.00,0.000,4,0.000,0.021,2472,1440,3217
$GC,1358,-0.66,-136.3,257.9,-15.3,107,1362,0.00,1.62,0.00,0.000,6,0.000,0.037,2466,2541,3216
$GC,1624,-0.66,-136.3,297.9,-15.0,114,1628,0.00,1.52,0.00,0.000,4,0.000,0.044,2458,3561,3215
$GC,1778,-0.66,-136.3,322.4,-16.1,117,1781,0.00,1.45,0.00,0.000,6,0.000,0.021,2458,2530,3214
$GC,2056,-0.66,-136.3,364.8,-15.7,124,2059,0.00,1.48,0.00,0.000,4,0.000,0.023,2458,1460,3211
$GC,2074,-0.66,-136.3,368.7,-16.7,124,2078,0.12,1.60,0.00,0.000,6,0.161,0.038,2483,2541,3211
$GC,2351,-0.66,-136.3,403.7,-12.0,131,2355,0.00,1.55,0.00,0.000,4,0.000,0.024,2483,1454,3208
$GC,2380,-0.66,-136.3,407.6,-12.1,131,2384,0.00,1.60,0.00,0.000,6,0.000,0.041,2480,2525,3208
$GC,2646,-0.66,-136.3,436.6,-11.3,138,2648,0.00,0.00,-0.08,0.000,6,0.000,0.000,2480,2524,3229
$GC,2890,-0.66,-136.3,467.3,-13.0,144,2893,0.00,1.58,0.00,0.000,4,0.000,0.048,2471,3561,3227
$GC,2925,-0.66,-136.3,472.7,-14.6,144,2929,0.00,1.50,0.00,0.000,6,0.000,0.024,2471,2511,3226
$GC,3186,-0.66,-136.3,507.3,-13.5,151,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2503,3223
$GC,3431,-0.66,-136.3,538.0,-12.5,157,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2503,3221
$GC,3675,-0.66,-136.3,568.1,-12.5,163,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2502,3219
$GC,3919,-0.66,-136.3,598.3,-12.4,169,3922,0.00,1.62,0.00,0.000,4,0.000,0.049,2465,3574,3216
$GC,3968,-0.66,-136.3,604.8,-12.6,170,3972,0.00,1.52,0.00,0.000,6,0.000,0.028,2465,2517,3216
$GC,4262,-0.66,-136.3,640.4,-12.1,177,4266,0.00,1.50,0.00,0.000,4,0.000,0.028,2465,1455,3213
$GC,4320,-0.66,-136.3,648.1,-11.9,178,4324,0.00,1.60,0.00,0.000,6,0.000,0.044,2458,2520,3213
$GC,4603,-0.66,-136.3,684.8,-13.5,185,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2519,3211
$GC,4846,-0.66,-136.3,717.9,-13.4,191,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2519,3208
$GC,5090,-0.66,-136.3,747.5,-12.0,197,5094,0.00,1.60,0.00,0.000,4,0.000,0.053,2449,3563,3207
$GC,5201,-0.66,-136.3,761.6,-12.7,199,5205,0.08,1.52,0.00,0.000,6,0.160,0.029,2484,2508,3206
$GC,5478,-0.66,-136.3,787.5,-9.2,206,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2507,3204
$GC,5722,-0.66,-136.3,810.8,-9.5,212,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2507,3202
$GC,5965,-0.66,-136.3,833.6,-9.5,218,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2507,3201
$GC,6209,-0.66,-136.3,856.4,-9.3,224,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2507,3200
$GC,6452,-0.66,-136.3,879.2,-9.3,230,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2507,3199
$STATE,6691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6691,begin apogee
$GC,6702,-0.23,0.0,901.0,8.8,236,6822,0.43,0.00,117.22,1.253,6,0.126,0.000,2624,2262,2660
$STATE,6823,end apogee,CONTROL_FINISHED_OK
$STATE,6823,begin climb
$GC,6828,0.66,136.3,903.0,0.0,239,6971,0.82,0.00,129.45,1.175,6,0.074,0.000,2907,2262,2104
$GC,7198,0.66,136.3,816.0,28.6,248,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2262,2096
$GC,7442,0.66,136.3,750.0,27.0,254,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2261,2093
$GC,7685,0.66,136.3,684.7,26.7,260,7689,0.00,1.65,0.00,0.000,4,0.000,0.049,2906,3321,2092
$GC,7709,0.66,136.3,677.1,27.7,260,7713,0.00,1.60,0.00,0.000,6,0.000,0.031,2912,2248,2092
$GC,7981,0.66,136.3,606.2,26.3,267,7984,0.00,1.55,0.00,0.000,4,0.000,0.034,2921,1197,2091
$GC,8039,0.66,136.3,591.1,22.8,268,8043,0.00,1.60,0.00,0.000,6,0.000,0.044,2918,2244,2090
$GC,8322,0.66,136.3,522.4,24.6,275,8325,0.00,1.67,0.00,0.000,4,0.000,0.050,2918,3321,2090
$GC,8340,0.66,136.3,517.2,23.6,275,8344,0.00,1.62,0.00,0.000,6,0.000,0.032,2925,2222,2090
$GC,8617,0.66,136.3,448.4,24.8,282,8621,0.00,1.50,0.00,0.000,4,0.000,0.034,2933,1195,2089
$GC,8658,0.66,136.3,437.6,25.2,282,8668,0.00,1.60,0.00,0.000,6,0.000,0.044,2933,2224,2088
$GC,8915,0.66,136.3,378.4,23.5,289,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2225,2088
$GC,9158,0.66,136.3,320.6,24.0,295,9162,0.00,1.67,0.00,0.000,4,0.000,0.049,2933,3329,2088
$GC,9182,0.66,136.3,313.9,23.3,295,9186,0.00,1.67,0.00,0.000,6,0.000,0.031,2939,2211,2088
$GC,9453,0.66,136.3,254.1,22.8,302,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2205,2088
$GC,9697,0.66,136.3,198.7,22.1,308,9701,0.00,1.75,0.00,0.000,4,0.000,0.048,2940,3326,2087
$GC,9738,0.66,136.3,189.0,23.3,311,9746,0.10,1.67,0.00,0.000,6,0.180,0.030,2919,2203,2087
$GC,10003,0.66,136.3,143.1,16.5,336,10007,0.00,1.45,0.00,0.000,4,0.000,0.031,2927,1202,2087
$GC,10091,0.66,136.3,127.5,17.2,343,10099,0.00,1.50,0.00,0.000,6,0.000,0.041,2927,2182,2087
$GC,10357,0.66,136.3,81.4,14.5,368,10360,0.00,1.70,0.00,0.000,4,0.000,0.046,2927,3325,2087
$GC,10398,0.66,136.3,75.5,14.9,371,10402,0.00,1.67,0.00,0.000,6,0.000,0.029,2928,2189,2087
$GC,10671,0.67,154.8,43.5,9.1,396,10690,0.00,0.00,13.93,0.612,6,0.000,0.000,2928,2183,2028
$GC,10969,0.67,154.8,4.8,14.4,437,10978,0.00,1.40,0.00,0.000,4,0.000,0.025,2935,1180,2026
$STATE,10986,end climb,SURFACE_DEPTH_REACHED
$STATE,10986,begin surface coast
$FINISH,-0.0,1.023087
$STATE,11012,end surface coast,CONTROL_FINISHED_OK
$STATE,11012,begin surface
$SM_CCo,11039,178.15,0.554,0,0,398,554.61
$SM_GC,1.06,0.00,0.00,178.15,0.000,0.000,0.554,19,2505,398,-8.34,0.14,554.61
$IRIDIUM_FIX,2237.01,-15732.87,171202,000059
$TT8_MAMPS,0.02301
$HUMID,2207
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.2,4.135
$10V_AH,10.7,4.053
$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,18.075,60.725,260.600,178.150,0.000,143.133,229.176,1213.286,0.500,0.000,0.000,31.079,909.751,7650.681,525.207,2140.311,2052.032,33.350,1152.736,0.000,2137.691,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,52.923,1253.278,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,302.231,1459.518,1505.174,237.179,1032.651,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38328,443
$CAP_FILE_SIZE,97246,0
$CFSIZE,260165632,256344064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220913,032206,2241.936,-15733.871,33,1.1,33,10.1