version: 66.04
glider: 512
mission: 4
dive: 35
start: 9 22 113 16 0 18
data:
$ID,512
$MISSION,4
$DIVE,35
$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,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,-107163.49
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,154405,2239.271,-15733.825,42,1.6,42,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-78.5
$GPS2,155925,2239.333,-15733.766,14,1.7,14,10.1
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.186,-0.150
$KALMAN_X,-18154.2,-18.2,-145.9,63201.8,3206.5
$KALMAN_Y,12253.2,-914.5,-649.0,-19464.2,6764.1
$MHEAD_RNG_PITCHd_Wd,221.0,7043,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.58,-136.3,0.0,0.0,0,123,0.00,0.00,-98.80,0.000,2,0.000,0.000,11,2598,2863
$GC,129,-0.58,-136.3,2.0,-1.6,12,155,9.25,1.58,-9.98,0.000,4,0.204,0.041,2509,1475,3265
$GC,331,-0.58,-136.3,49.5,-23.3,37,334,0.00,1.60,0.00,0.000,6,0.000,0.038,2503,2544,3266
$GC,602,-0.58,-136.3,104.6,-17.2,62,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2544,3266
$GC,867,-0.58,-136.3,154.3,-16.6,87,871,0.00,1.60,0.00,0.000,4,0.000,0.043,2495,3610,3265
$GC,918,-0.58,-136.3,162.2,-15.4,91,921,0.00,1.58,0.00,0.000,6,0.000,0.020,2501,2501,3266
$GC,1197,-0.58,-136.3,207.6,-17.0,114,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2493,3266
$GC,1441,-0.58,-136.3,245.5,-15.7,120,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2493,3265
$GC,1685,-0.58,-136.3,277.8,-13.2,126,1689,0.00,1.67,0.00,0.000,4,0.000,0.043,2495,3611,3265
$GC,1781,-0.58,-136.3,291.5,-14.8,128,1784,0.00,1.48,0.00,0.000,6,0.000,0.021,2500,2571,3264
$GC,2075,-0.58,-136.3,331.4,-12.9,135,2078,0.00,1.48,0.00,0.000,4,0.000,0.023,2509,1501,3262
$GC,2161,-0.58,-136.3,342.4,-12.2,136,2169,0.00,1.60,0.00,0.000,6,0.000,0.039,2503,2558,3261
$GC,2416,-0.58,-136.3,376.0,-13.7,143,2419,0.00,1.58,0.00,0.000,4,0.000,0.046,2495,3604,3259
$GC,2473,-0.58,-136.3,384.5,-14.2,144,2477,0.00,1.48,0.00,0.000,6,0.000,0.022,2501,2567,3258
$GC,2757,-0.58,-136.3,417.1,-11.4,151,2761,0.00,1.48,-0.08,0.000,4,0.000,0.045,2509,1487,3278
$GC,2850,-0.58,-136.3,427.5,-10.3,153,2854,0.00,1.65,0.00,0.000,6,0.000,0.040,2502,2570,3278
$GC,3145,-0.58,-136.3,464.2,-13.1,160,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2570,3276
$GC,3390,-0.58,-136.3,494.2,-12.1,166,3394,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1505,3274
$GC,3425,-0.58,-136.3,499.0,-10.8,166,3429,0.00,1.60,0.00,0.000,6,0.000,0.042,2502,2553,3274
$GC,3685,-0.58,-136.3,525.8,-10.6,173,3689,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3607,3271
$GC,3709,-0.58,-136.3,528.9,-11.5,173,3713,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2548,3271
$GC,3981,-0.58,-136.3,555.7,-9.9,180,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2540,3269
$GC,4224,-0.58,-136.3,579.3,-9.8,186,4228,0.00,1.48,0.00,0.000,4,0.000,0.028,2508,1498,3266
$GC,4248,-0.58,-136.3,582.1,-10.4,186,4252,0.00,1.62,0.00,0.000,6,0.000,0.044,2502,2557,3266
$GC,4521,-0.58,-136.3,608.0,-9.8,193,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2557,3265
$GC,4765,-0.58,-136.3,632.4,-10.1,199,4769,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3623,3263
$GC,4845,-0.58,-136.3,641.6,-11.0,200,4849,0.00,1.55,0.00,0.000,6,0.000,0.028,2500,2556,3262
$GC,5105,-0.58,-136.3,665.5,-9.1,207,5109,0.00,1.62,0.00,0.000,4,0.000,0.051,2493,3614,3261
$GC,5181,-0.58,-136.3,673.2,-9.6,208,5184,0.00,1.50,0.00,0.000,6,0.000,0.028,2499,2575,3260
$GC,5446,-0.58,-136.3,697.4,-9.1,215,5450,0.00,1.52,0.00,0.000,4,0.000,0.028,2507,1492,3259
$GC,5515,-0.58,-136.3,704.5,-9.9,216,5518,0.00,1.62,0.00,0.000,6,0.000,0.045,2501,2567,3258
$GC,5787,-0.58,-136.3,730.6,-9.7,223,5791,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3624,3256
$GC,5837,-0.58,-136.3,735.6,-9.9,224,5841,0.00,1.55,0.00,0.000,6,0.000,0.029,2499,2567,3256
$GC,6131,-0.58,-136.3,761.5,-8.5,231,6135,0.00,1.52,0.00,0.000,4,0.000,0.031,2506,1492,3254
$GC,6240,-0.58,-136.3,770.1,-7.3,233,6244,0.00,1.60,0.00,0.000,6,0.000,0.047,2501,2549,3254
$GC,6518,-0.58,-136.3,791.4,-7.8,240,6521,0.00,1.62,0.00,0.000,4,0.000,0.055,2493,3622,3253
$GC,6553,-0.58,-136.3,795.0,-9.7,240,6557,0.00,1.58,0.00,0.000,6,0.000,0.031,2493,2549,3252
$GC,6815,-0.58,-136.3,817.2,-8.7,247,6818,0.00,1.50,0.00,0.000,4,0.000,0.031,2493,1497,3250
$GC,6856,-0.58,-136.3,821.2,-8.9,247,6864,0.00,1.62,0.00,0.000,6,0.000,0.049,2486,2543,3250
$GC,7110,-0.58,-136.3,843.4,-8.8,254,7114,0.00,1.62,0.00,0.000,4,0.000,0.057,2479,3611,3249
$GC,7151,-0.58,-136.3,847.7,-10.1,254,7160,0.08,1.55,0.00,0.000,6,0.146,0.031,2505,2541,3249
$GC,7406,-0.58,-136.3,865.9,-7.2,261,7409,0.00,1.48,0.00,0.000,4,0.000,0.031,2506,1512,3248
$GC,7442,-0.58,-136.3,868.7,-7.3,261,7446,0.00,1.60,0.00,0.000,6,0.000,0.048,2500,2565,3248
$GC,7703,-0.58,-136.3,888.0,-7.6,268,7707,0.00,1.60,0.00,0.000,4,0.000,0.057,2492,3617,3247
$GC,7728,-0.58,-136.3,890.3,-8.1,268,7732,0.00,1.55,0.00,0.000,6,0.000,0.031,2497,2556,3246
$STATE,7872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7872,begin apogee
$GC,7883,-0.23,0.0,901.7,7.7,272,8004,0.38,0.00,117.95,1.249,6,0.117,0.000,2624,2215,2710
$STATE,8005,end apogee,CONTROL_FINISHED_OK
$STATE,8005,begin climb
$GC,8010,0.58,136.3,904.0,0.0,275,8162,0.73,0.00,133.07,1.164,6,0.068,0.000,2879,2215,2154
$GC,8380,0.58,136.3,833.9,23.0,284,8383,0.00,1.70,0.00,0.000,4,0.000,0.050,2878,3281,2144
$GC,8431,0.58,136.3,822.2,24.7,285,8435,0.00,1.60,0.00,0.000,6,0.000,0.031,2884,2249,2143
$GC,8726,0.58,136.3,753.3,23.2,292,8729,0.00,1.62,0.00,0.000,4,0.000,0.033,2892,1134,2142
$GC,8783,0.58,136.3,739.9,20.8,293,8787,0.00,1.73,0.00,0.000,6,0.000,0.044,2891,2228,2141
$GC,9065,0.58,136.3,676.6,23.2,300,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2228,2140
$GC,9309,0.58,136.3,620.9,22.4,306,9312,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3289,2139
$GC,9360,0.58,136.3,609.4,23.2,307,9363,0.00,1.62,0.00,0.000,6,0.000,0.031,2898,2198,2139
$GC,9653,0.58,136.3,538.2,24.6,314,9657,0.00,1.52,0.00,0.000,4,0.000,0.034,2906,1156,2138
$GC,9703,0.58,136.3,526.8,23.9,315,9707,0.00,1.62,0.00,0.000,6,0.000,0.043,2905,2220,2138
$GC,9999,0.58,136.3,461.9,21.8,322,10002,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3289,2137
$GC,10048,0.58,136.3,450.4,23.0,323,10052,0.00,1.62,0.00,0.000,6,0.000,0.031,2911,2191,2137
$GC,10342,0.58,136.3,390.5,20.3,330,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2185,2137
$GC,10586,0.58,136.3,341.2,20.4,336,10589,0.00,1.70,0.00,0.000,4,0.000,0.048,2912,3291,2137
$GC,10656,0.58,136.3,325.4,22.4,337,10660,0.15,1.62,0.00,0.000,6,0.184,0.031,2884,2185,2137
$GC,10927,0.58,136.3,277.9,17.3,344,10931,0.00,1.73,0.00,0.000,4,0.000,0.048,2878,3280,2136
$GC,10945,0.58,136.3,274.2,17.3,344,10949,0.00,1.60,0.00,0.000,6,0.000,0.030,2884,2187,2136
$GC,11222,0.58,136.3,230.3,15.3,351,11226,0.00,1.70,0.00,0.000,4,0.000,0.048,2885,3291,2136
$GC,11241,0.58,136.3,227.0,14.3,351,11245,0.00,1.65,0.00,0.000,6,0.000,0.029,2891,2182,2136
$GC,11500,0.58,136.3,191.7,12.7,362,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2176,2136
$GC,11766,0.58,136.3,154.8,13.5,387,11769,0.00,1.73,0.00,0.000,4,0.000,0.048,2891,3283,2136
$GC,11896,0.58,136.3,135.5,15.2,398,11900,0.00,1.60,0.00,0.000,6,0.000,0.028,2898,2176,2136
$GC,12169,0.58,136.3,96.9,14.3,423,12173,0.00,1.45,0.00,0.000,4,0.000,0.029,2905,1157,2136
$GC,12243,0.58,136.3,87.8,12.1,429,12247,0.00,1.60,0.00,0.000,6,0.000,0.041,2905,2198,2137
$GC,12515,0.59,169.3,64.7,7.2,454,12545,0.00,1.70,25.73,0.626,4,0.000,0.045,2905,3289,2018
$GC,12656,0.59,169.3,50.8,11.2,465,12660,0.00,1.60,0.00,0.000,6,0.000,0.024,2911,2177,2017
$GC,12942,0.59,169.3,16.6,11.7,498,12951,0.00,1.45,0.00,0.000,4,0.000,0.027,2915,1154,2016
$GC,12982,0.59,169.3,11.9,11.7,503,12991,0.00,1.60,0.00,0.000,6,0.000,0.036,2915,2207,2015
$STATE,13059,end climb,SURFACE_DEPTH_REACHED
$STATE,13059,begin surface coast
$FINISH,0.2,1.010123
$STATE,13092,end surface coast,CONTROL_FINISHED_OK
$STATE,13092,begin surface
$SM_CCo,13117,85.22,0.545,0,0,1159,380.21
$SM_GC,1.30,0.00,0.00,85.22,0.000,0.000,0.545,29,2594,1159,-8.33,1.27,380.21
$IRIDIUM_FIX,2230.01,-15733.76,171202,151539
$TT8_MAMPS,0.023777
$HUMID,2203
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.1,4.905
$10V_AH,10.7,4.774
$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,17.800,99.525,276.750,85.225,0.000,53.368,72.805,557.523,0.750,0.000,0.000,14.716,1112.482,8668.554,464.837,2672.475,1202.044,33.365,1290.042,0.000,2680.164,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,56.758,1249.443,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.598,1712.034,1770.133,207.478,1189.155,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44678,520
$CAP_FILE_SIZE,111310,0
$CFSIZE,260165632,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220913,194135,2238.703,-15734.490,26,1.4,26,10.1