version: 66.04
glider: 512
mission: 4
dive: 32
start: 9 22 113 3 56 59
data:
$ID,512
$MISSION,4
$DIVE,32
$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,561.97314
$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,-107073.89
$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,48
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2690
$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
$GPS1,032206,2241.936,-15733.871,33,1.1,33,10.1
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.8
$GPS2,035606,2242.237,-15733.957,12,1.6,17,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,-0.228
$KALMAN_X,-23752.2,785.2,17.7,67500.8,-649.7
$KALMAN_Y,5415.6,-319.3,-557.2,-7939.5,5422.2
$MHEAD_RNG_PITCHd_Wd,144.6,9430,-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,18,-0.66,-136.3,0.0,0.0,0,123,0.00,0.00,-102.45,0.000,2,0.000,0.000,11,2504,2956
$GC,128,-0.66,-136.3,2.3,-2.5,12,149,9.30,1.65,-6.40,0.000,4,0.212,0.054,2473,3581,3247
$GC,414,-0.66,-136.3,90.3,-23.0,41,422,0.00,1.60,0.00,0.000,6,0.000,0.021,2472,2482,3247
$GC,680,-0.66,-136.3,149.9,-19.3,66,684,0.00,1.67,0.00,0.000,4,0.000,0.039,2464,3577,3247
$GC,743,-0.66,-136.3,162.7,-20.2,71,751,0.00,1.55,0.00,0.000,6,0.000,0.020,2464,2486,3248
$GC,1037,-0.66,-136.3,217.9,-19.9,93,1041,0.00,1.42,0.00,0.000,4,0.000,0.021,2465,1444,3247
$GC,1061,-0.66,-136.3,223.5,-20.3,93,1064,0.00,1.60,0.00,0.000,6,0.000,0.036,2458,2528,3248
$GC,1333,-0.66,-136.3,271.2,-16.9,100,1336,0.00,1.55,0.00,0.000,4,0.000,0.042,2450,3567,3246
$GC,1384,-0.66,-136.3,281.2,-17.7,101,1389,0.08,1.50,0.00,0.000,6,0.174,0.021,2476,2488,3246
$GC,1672,-0.66,-136.3,327.3,-15.6,108,1676,0.00,1.40,0.00,0.000,4,0.000,0.022,2478,1468,3245
$GC,1781,-0.66,-136.3,343.3,-13.7,110,1785,0.00,1.52,0.00,0.000,6,0.000,0.036,2472,2485,3244
$GC,2058,-0.66,-136.3,386.5,-16.2,117,2062,0.00,1.60,0.00,0.000,4,0.000,0.045,2464,3570,3240
$GC,2122,-0.66,-136.3,397.8,-17.1,118,2126,0.00,1.52,0.00,0.000,6,0.000,0.022,2464,2500,3240
$GC,2399,-0.66,-136.3,441.8,-16.2,125,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2493,3238
$GC,2643,-0.66,-136.3,478.6,-14.7,131,2644,0.00,0.00,-0.08,0.000,6,0.000,0.000,2464,2493,3259
$GC,2886,-0.66,-136.3,514.0,-14.5,137,2890,0.00,1.62,0.00,0.000,4,0.000,0.046,2457,3556,3257
$GC,2916,-0.66,-136.3,518.7,-14.7,137,2920,0.00,1.55,0.00,0.000,6,0.000,0.025,2458,2481,3257
$GC,3182,-0.66,-136.3,556.1,-14.1,144,3185,0.00,1.65,0.00,0.000,4,0.000,0.047,2451,3566,3255
$GC,3218,-0.66,-136.3,562.3,-16.5,144,3222,0.12,1.58,0.00,0.000,6,0.163,0.025,2483,2477,3254
$GC,3478,-0.66,-136.3,594.5,-12.5,151,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2471,3251
$GC,3723,-0.66,-136.3,625.1,-12.6,157,3727,0.00,1.65,0.00,0.000,4,0.000,0.050,2476,3558,3249
$GC,3747,-0.66,-136.3,629.1,-13.0,157,3751,0.00,1.55,0.00,0.000,6,0.000,0.028,2477,2489,3250
$GC,4018,-0.66,-136.3,662.5,-12.1,164,4021,0.00,1.65,0.00,0.000,4,0.000,0.049,2469,3569,3246
$GC,4036,-0.66,-136.3,665.3,-11.9,164,4040,0.00,1.55,0.00,0.000,6,0.000,0.028,2469,2502,3246
$GC,4313,-0.66,-136.3,698.1,-11.8,171,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2494,3244
$GC,4557,-0.66,-136.3,725.2,-11.1,177,4560,0.00,1.62,0.00,0.000,4,0.000,0.051,2461,3561,3242
$GC,4593,-0.66,-136.3,729.7,-11.9,177,4596,0.00,1.55,0.00,0.000,6,0.000,0.028,2461,2497,3242
$GC,4854,-0.66,-136.3,758.0,-10.8,184,4857,0.00,1.62,0.00,0.000,4,0.000,0.051,2454,3555,3240
$GC,4878,-0.66,-136.3,761.1,-10.9,184,4882,0.00,1.55,0.00,0.000,6,0.000,0.029,2454,2497,3240
$GC,5149,-0.66,-136.3,790.7,-10.9,191,5153,0.12,1.65,0.00,0.000,4,0.161,0.050,2479,3570,3238
$GC,5217,-0.66,-136.3,797.6,-9.0,192,5221,0.00,1.55,0.00,0.000,6,0.000,0.029,2480,2508,3237
$GC,5490,-0.66,-136.3,820.6,-8.4,199,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2502,3235
$GC,5735,-0.66,-136.3,841.9,-8.9,205,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2502,3234
$GC,5978,-0.66,-136.3,864.2,-9.3,211,5982,0.00,1.62,0.00,0.000,4,0.000,0.053,2471,3564,3232
$GC,5997,-0.66,-136.3,866.8,-9.8,211,6001,0.00,1.52,0.00,0.000,6,0.000,0.030,2471,2520,3232
$GC,6274,-0.66,-136.3,896.1,-10.7,218,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2514,3231
$STATE,6310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6310,begin apogee
$GC,6321,-0.23,0.0,900.3,10.7,219,6442,0.47,0.00,117.78,1.248,6,0.133,0.000,2626,2248,2690
$STATE,6443,end apogee,CONTROL_FINISHED_OK
$STATE,6443,begin climb
$GC,6448,0.66,136.3,903.8,0.0,222,6612,0.85,0.00,136.05,1.131,6,0.074,0.000,2913,2248,2135
$GC,6840,0.66,136.3,818.2,27.1,232,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2248,2125
$GC,7085,0.66,136.3,751.8,27.1,238,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2248,2123
$GC,7328,0.66,136.3,686.6,26.4,244,7332,0.00,1.67,0.00,0.000,4,0.000,0.048,2913,3328,2121
$GC,7358,0.66,136.3,677.2,28.4,244,7362,0.00,1.60,0.00,0.000,6,0.000,0.031,2921,2271,2120
$GC,7624,0.66,136.3,606.4,26.4,251,7627,0.00,1.58,0.00,0.000,4,0.000,0.033,2929,1201,2120
$GC,7675,0.66,136.3,593.5,25.8,252,7678,0.00,1.62,0.00,0.000,6,0.000,0.044,2930,2268,2119
$GC,7970,0.66,136.3,517.0,26.0,259,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2268,2119
$GC,8215,0.66,136.3,456.8,24.7,265,8218,0.00,1.62,0.00,0.000,4,0.000,0.050,2930,3336,2118
$GC,8239,0.66,136.3,449.3,25.1,265,8243,0.00,1.65,0.00,0.000,6,0.000,0.031,2938,2239,2118
$GC,8510,0.66,136.3,382.6,24.8,272,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2233,2118
$GC,8754,0.66,136.3,321.1,25.4,278,8758,0.00,1.52,0.00,0.000,4,0.000,0.032,2946,1188,2118
$GC,8783,0.66,136.3,313.4,24.6,278,8787,0.12,1.60,0.00,0.000,6,0.179,0.042,2916,2250,2118
$GC,9049,0.66,136.3,261.1,19.3,285,9053,0.00,1.58,0.00,0.000,4,0.000,0.031,2923,1188,2117
$GC,9081,0.66,136.3,255.1,18.6,285,9084,0.00,1.62,0.00,0.000,6,0.000,0.043,2923,2265,2117
$GC,9347,0.66,136.3,210.7,16.8,292,9351,0.00,1.60,0.00,0.000,4,0.000,0.048,2918,3311,2117
$GC,9383,0.66,136.3,203.8,18.0,292,9386,0.00,1.55,0.00,0.000,6,0.000,0.028,2924,2263,2117
$GC,9652,0.66,136.3,156.4,18.8,314,9656,0.00,1.65,0.00,0.000,4,0.000,0.045,2925,3322,2117
$GC,9680,0.66,136.3,151.2,19.4,316,9684,0.00,1.55,0.00,0.000,6,0.000,0.028,2933,2271,2117
$GC,9953,0.66,136.3,103.5,16.2,341,9957,0.00,1.52,0.00,0.000,4,0.000,0.029,2940,1203,2117
$GC,10014,0.66,136.3,93.5,15.1,346,10018,0.00,1.65,0.00,0.000,6,0.000,0.041,2940,2285,2117
$GC,10287,0.66,136.3,54.3,14.5,371,10290,0.00,1.58,0.00,0.000,4,0.000,0.027,2948,1200,2117
$GC,10429,0.67,167.7,41.2,8.4,382,10458,0.08,1.62,24.05,0.617,6,0.166,0.038,2922,2278,2006
$STATE,10744,end climb,SURFACE_DEPTH_REACHED
$STATE,10744,begin surface coast
$FINISH,0.2,1.023122
$STATE,10771,end surface coast,CONTROL_FINISHED_OK
$STATE,10771,begin surface
$SM_CCo,10796,174.70,0.550,0,0,399,561.97
$SM_GC,1.00,0.00,0.00,174.70,0.000,0.000,0.550,23,2510,399,-8.32,0.28,561.97
$IRIDIUM_FIX,2234.68,-15732.87,171202,030353
$TT8_MAMPS,0.024544
$HUMID,2221
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.00
$XPDR_PINGS,5
$24V_AH,24.2,4.342
$10V_AH,10.7,4.213
$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,18.450,73.575,277.875,174.700,0.000,144.324,203.994,1257.389,1.250,0.000,0.000,17.554,909.357,7383.613,548.082,2084.501,2087.372,33.344,1182.492,0.000,2112.362,0.000,0.544,0.000
$DEVICE_MAMPS,211.692,54.457,1247.909,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,291.945,1410.064,1463.754,274.044,986.021,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38203,428
$CAP_FILE_SIZE,101184,0
$CFSIZE,260165632,256290816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,220913,070105,2241.526,-15733.236,27,1.9,27,10.1