version: 66.04
glider: 512
mission: 4
dive: 33
start: 9 22 113 7 35 5
data:
$ID,512
$MISSION,4
$DIVE,33
$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,350
$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,566.87909
$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,-107109.78
$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,2550
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2710
$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
$GPS1,070105,2241.526,-15733.236,27,1.9,27,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-80.7
$GPS2,073409,2241.841,-15733.272,11,2.2,30,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.117,-0.209
$KALMAN_X,-24306.1,839.8,-236.6,69442.0,-1294.1
$KALMAN_Y,7766.8,-29.9,-18.4,-11857.0,5509.7
$MHEAD_RNG_PITCHd_Wd,199.1,9815,-15.7,-8.571
$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,-0.58,-136.3,0.0,0.0,0,127,0.00,0.00,-107.10,0.000,2,0.000,0.000,11,2506,3072
$GC,133,-0.58,-136.3,2.4,-2.2,13,152,9.27,1.50,-4.18,0.000,4,0.207,0.040,2510,1442,3267
$GC,275,-0.58,-136.3,40.9,-23.5,31,279,0.00,1.65,0.00,0.000,6,0.000,0.035,2504,2549,3268
$GC,547,-0.58,-136.3,102.5,-20.0,56,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2550,3269
$GC,813,-0.58,-136.3,150.7,-17.6,81,817,0.00,1.50,0.00,0.000,4,0.000,0.021,2510,1480,3268
$GC,852,-0.58,-136.3,157.1,-14.6,84,855,0.00,1.58,0.00,0.000,6,0.000,0.035,2504,2529,3268
$GC,1124,-0.58,-136.3,200.3,-15.6,109,1128,0.00,1.62,0.00,0.000,4,0.000,0.044,2495,3613,3268
$GC,1149,-0.58,-136.3,204.8,-15.4,109,1152,0.00,1.58,0.00,0.000,6,0.000,0.020,2502,2499,3267
$GC,1420,-0.58,-136.3,247.0,-15.7,116,1424,0.00,1.70,0.00,0.000,4,0.000,0.041,2495,3614,3267
$GC,1494,-0.58,-136.3,258.7,-15.2,117,1498,0.00,1.55,0.00,0.000,6,0.000,0.020,2501,2520,3266
$GC,1761,-0.58,-136.3,292.4,-12.1,124,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2514,3265
$GC,2006,-0.58,-136.3,322.4,-12.6,130,2009,0.00,1.40,0.00,0.000,4,0.000,0.022,2509,1499,3263
$GC,2047,-0.58,-136.3,328.0,-10.5,130,2055,0.00,1.60,0.00,0.000,6,0.000,0.038,2503,2563,3263
$GC,2301,-0.58,-136.3,355.3,-10.8,137,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2563,3261
$GC,2545,-0.58,-136.3,384.9,-12.2,143,2548,0.00,1.58,0.00,0.000,4,0.000,0.046,2495,3611,3258
$GC,2580,-0.58,-136.3,389.7,-12.7,143,2583,0.00,1.48,0.00,0.000,6,0.000,0.022,2500,2570,3258
$GC,2840,-0.58,-136.3,418.3,-10.8,150,2842,0.00,0.00,-0.08,0.000,6,0.000,0.000,2501,2563,3279
$GC,3084,-0.58,-136.3,444.4,-10.5,156,3087,0.00,1.50,0.00,0.000,4,0.000,0.025,2509,1501,3277
$GC,3148,-0.58,-136.3,450.9,-9.1,157,3151,0.00,1.60,0.00,0.000,6,0.000,0.041,2503,2576,3277
$GC,3425,-0.58,-136.3,477.2,-9.6,164,3428,0.00,1.58,0.00,0.000,4,0.000,0.048,2494,3612,3273
$GC,3482,-0.58,-136.3,483.7,-11.0,165,3486,0.00,1.48,0.00,0.000,6,0.000,0.024,2501,2580,3273
$GC,3766,-0.58,-136.3,513.3,-10.6,172,3769,0.00,1.50,0.00,0.000,4,0.000,0.026,2508,1508,3270
$GC,3845,-0.58,-136.3,521.9,-9.7,173,3849,0.00,1.60,0.00,0.000,6,0.000,0.042,2502,2579,3270
$GC,4106,-0.58,-136.3,547.0,-9.8,180,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2579,3267
$GC,4349,-0.58,-136.3,569.0,-8.9,186,4353,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3614,3266
$GC,4368,-0.58,-136.3,571.0,-8.8,186,4372,0.00,1.48,0.00,0.000,6,0.000,0.026,2500,2589,3266
$GC,4646,-0.58,-136.3,594.6,-8.5,193,4650,0.00,1.52,0.00,0.000,4,0.000,0.029,2507,1506,3263
$GC,4696,-0.58,-136.3,598.9,-7.5,194,4700,0.00,1.62,0.00,0.000,6,0.000,0.044,2502,2585,3263
$GC,4990,-0.58,-136.3,624.8,-9.0,201,4994,0.00,1.58,0.00,0.000,4,0.000,0.028,2507,1497,3261
$GC,5014,-0.58,-136.3,627.5,-9.8,201,5018,0.00,1.65,0.00,0.000,6,0.000,0.046,2502,2571,3260
$GC,5287,-0.58,-136.3,653.1,-9.8,208,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2571,3258
$GC,5532,-0.58,-136.3,675.2,-9.0,214,5535,0.00,1.55,0.00,0.000,4,0.000,0.029,2507,1502,3257
$GC,5650,-0.58,-136.3,685.5,-7.7,216,5654,0.00,1.62,0.00,0.000,6,0.000,0.047,2501,2575,3256
$GC,5918,-0.58,-136.3,707.3,-8.3,223,5921,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3637,3254
$GC,5992,-0.58,-136.3,714.5,-9.1,224,5995,0.00,1.52,0.00,0.000,6,0.000,0.028,2499,2587,3253
$GC,6258,-0.58,-136.3,737.9,-9.0,231,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2579,3253
$GC,6501,-0.58,-136.3,761.4,-9.6,237,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2579,3251
$GC,6746,-0.58,-136.3,782.2,-8.4,243,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2579,3250
$GC,6989,-0.58,-136.3,800.1,-7.1,249,6993,0.00,1.55,0.00,0.000,4,0.000,0.031,2506,1501,3249
$GC,7030,-0.58,-136.3,803.3,-7.1,249,7039,0.00,1.67,0.00,0.000,6,0.000,0.050,2501,2581,3248
$GC,7287,-0.58,-136.3,820.9,-7.3,256,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2581,3247
$GC,7531,-0.58,-136.3,838.8,-7.4,262,7534,0.00,1.58,0.00,0.000,4,0.000,0.031,2505,1501,3246
$GC,7581,-0.58,-136.3,842.4,-6.2,263,7585,0.00,1.65,0.00,0.000,6,0.000,0.049,2499,2580,3246
$GC,7875,-0.58,-136.3,863.6,-7.2,270,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2580,3244
$GC,8119,-0.58,-136.3,881.5,-7.4,276,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2580,3244
$STATE,8357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8357,begin apogee
$GC,8369,-0.23,0.0,900.2,7.8,282,8488,0.38,0.00,116.25,1.259,6,0.117,0.000,2624,2217,2710
$STATE,8489,end apogee,CONTROL_FINISHED_OK
$STATE,8489,begin climb
$GC,8494,0.58,136.3,902.0,0.0,285,8639,0.73,1.77,128.65,1.183,4,0.071,0.048,2878,3291,2156
$GC,8672,0.58,136.3,874.4,24.3,289,8676,0.00,1.67,0.00,0.000,6,0.000,0.030,2884,2220,2152
$GC,8966,0.58,136.3,802.4,24.1,296,8970,0.00,1.60,0.00,0.000,4,0.000,0.034,2892,1153,2145
$GC,9018,0.58,136.3,790.2,21.6,297,9021,0.00,1.67,0.00,0.000,6,0.000,0.044,2891,2228,2144
$GC,9307,0.58,136.3,723.7,23.7,304,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2228,2143
$GC,9552,0.58,136.3,666.9,23.3,310,9555,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3287,2143
$GC,9609,0.58,136.3,652.1,23.4,311,9613,0.00,1.65,0.00,0.000,6,0.000,0.032,2897,2210,2142
$GC,9892,0.58,136.3,586.8,23.6,318,9895,0.00,1.55,0.00,0.000,4,0.000,0.035,2905,1152,2141
$GC,9956,0.58,136.3,573.0,20.1,319,9959,0.00,1.62,0.00,0.000,6,0.000,0.044,2905,2213,2140
$GC,10232,0.58,136.3,511.1,23.1,326,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2214,2140
$GC,10476,0.58,136.3,459.5,20.9,332,10479,0.00,1.62,0.00,0.000,4,0.000,0.050,2904,3281,2139
$GC,10539,0.58,136.3,444.4,22.3,333,10542,0.00,1.62,0.00,0.000,6,0.000,0.032,2911,2184,2139
$GC,10817,0.58,136.3,383.3,22.5,340,10820,0.00,1.70,0.00,0.000,4,0.000,0.049,2912,3281,2139
$GC,10868,0.58,136.3,371.2,21.9,341,10873,0.10,1.60,0.00,0.000,6,0.184,0.031,2890,2215,2138
$GC,11156,0.58,136.3,315.7,19.5,348,11159,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3297,2138
$GC,11180,0.58,136.3,310.4,18.8,348,11184,0.00,1.58,0.00,0.000,6,0.000,0.031,2897,2239,2138
$GC,11452,0.58,136.3,261.1,19.1,355,11455,0.00,1.58,0.00,0.000,4,0.000,0.033,2906,1154,2138
$GC,11487,0.58,136.3,253.7,18.6,355,11491,0.00,1.67,0.00,0.000,6,0.000,0.044,2905,2237,2138
$GC,11747,0.58,136.3,209.9,16.4,362,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2237,2138
$GC,11999,0.58,136.3,171.4,16.0,380,12002,0.00,1.60,0.00,0.000,4,0.000,0.046,2905,3284,2138
$GC,12048,0.58,136.3,163.1,17.2,384,12052,0.00,1.58,0.00,0.000,6,0.000,0.029,2911,2221,2138
$GC,12321,0.58,136.3,120.4,15.8,409,12324,0.00,1.62,0.00,0.000,4,0.000,0.045,2912,3286,2138
$GC,12396,0.58,136.3,106.2,18.2,415,12403,0.10,1.55,0.00,0.000,6,0.167,0.028,2885,2236,2138
$GC,12667,0.58,136.3,76.0,9.9,440,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2230,2138
$GC,12935,0.60,183.5,57.0,6.6,465,12978,0.00,1.67,37.20,0.626,4,0.000,0.043,2886,3283,1960
$GC,13243,0.60,183.5,25.4,10.8,493,13252,0.00,1.55,0.00,0.000,6,0.000,0.025,2892,2228,1957
$STATE,13466,end climb,SURFACE_DEPTH_REACHED
$STATE,13467,begin surface coast
$FINISH,0.2,1.023092
$STATE,13499,end surface coast,CONTROL_FINISHED_OK
$STATE,13499,begin surface
$SM_CCo,13524,168.40,0.540,0,0,398,566.88
$SM_GC,1.14,0.00,0.00,168.40,0.000,0.000,0.540,23,2566,398,-8.31,0.45,566.88
$IRIDIUM_FIX,2237.01,-15727.66,171202,070723
$TT8_MAMPS,0.023777
$HUMID,2161
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,24.1,4.544
$10V_AH,10.7,4.404
$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,17.775,87.000,282.100,168.400,0.000,132.950,206.440,1184.659,0.750,0.000,0.000,35.258,1115.140,9292.511,515.915,2686.882,2071.141,33.353,1334.742,0.000,2677.170,0.000,0.545,0.000
$DEVICE_MAMPS,207.090,53.690,1258.647,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,363.776,1754.152,1808.707,223.748,1233.641,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44557,533
$CAP_FILE_SIZE,122012,0
$CFSIZE,260165632,256229376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220913,112453,2240.535,-15733.165,29,0.9,46,10.1