version: 66.04
glider: 512
mission: 4
dive: 129
start: 10 10 113 3 43 26
data:
$ID,512
$MISSION,4
$DIVE,129
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,390
$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,-109142.46
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$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,2890
$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
$GPS1,032636,2236.272,-15738.024,69,0.9,69,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.8
$GPS2,034231,2236.226,-15738.109,16,1.2,16,10.1
$SPEED_LIMITS,0.214,0.267
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.001,0.214
$KALMAN_X,51769.9,125.6,54.2,-14483.2,511.0
$KALMAN_Y,48324.9,-224.2,-524.0,-62106.0,1946.6
$MHEAD_RNG_PITCHd_Wd,350.3,4410,-21.8,-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,16,begin dive
$GC,21,-0.58,-96.6,0.0,0.0,0,89,0.00,0.00,-65.80,0.000,2,0.000,0.000,11,2520,2849
$GC,95,-0.61,-155.7,2.2,-2.3,8,131,9.15,1.60,-14.88,0.000,4,0.197,0.058,2491,3554,3527
$GC,270,-0.61,-155.7,57.4,-30.3,27,279,0.00,1.52,0.00,0.000,6,0.000,0.021,2493,2519,3528
$GC,535,-0.61,-155.7,125.6,-23.3,52,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2512,3528
$GC,801,-0.61,-155.7,183.1,-21.5,77,804,0.00,1.58,0.00,0.000,4,0.000,0.041,2487,3547,3529
$GC,829,-0.61,-155.7,188.6,-20.4,79,832,0.00,1.52,0.00,0.000,6,0.000,0.019,2493,2478,3529
$GC,1090,-0.61,-155.7,237.6,-18.2,89,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2472,3529
$GC,1334,-0.61,-155.7,277.2,-16.0,95,1338,0.00,1.65,0.00,0.000,4,0.000,0.042,2486,3554,3530
$GC,1384,-0.61,-155.7,285.1,-15.5,96,1388,0.00,1.48,0.00,0.000,6,0.000,0.019,2492,2521,3530
$GC,1679,-0.61,-155.7,328.0,-14.4,103,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2515,3529
$GC,1924,-0.61,-155.7,362.3,-14.2,109,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2515,3528
$GC,2168,-0.61,-155.7,396.0,-13.6,115,2171,0.00,1.50,0.00,0.000,4,0.000,0.022,2492,1442,3526
$GC,2203,-0.61,-155.7,401.4,-13.1,115,2207,0.00,1.65,0.00,0.000,6,0.000,0.038,2486,2531,3526
$GC,2463,-0.61,-155.7,436.4,-13.8,122,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2531,3523
$GC,2706,-0.61,-155.7,469.5,-13.6,128,2710,0.00,1.58,0.00,0.000,4,0.000,0.049,2480,3562,3521
$GC,2764,-0.61,-155.7,477.6,-13.1,129,2767,0.00,1.48,0.00,0.000,6,0.000,0.023,2479,2527,3520
$GC,3047,-0.61,-155.7,514.3,-12.9,136,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2519,3517
$GC,3293,-0.61,-155.7,544.5,-12.4,142,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2519,3516
$GC,3536,-0.61,-155.7,575.9,-13.0,148,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2519,3513
$GC,3780,-0.61,-155.7,609.3,-13.8,154,3783,0.00,1.60,0.00,0.000,4,0.000,0.050,2472,3569,3511
$GC,3848,-0.61,-155.7,619.8,-13.5,155,3853,0.10,1.48,0.00,0.000,6,0.125,0.025,2507,2533,3511
$GC,4120,-0.61,-155.7,649.6,-10.9,162,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2531,3509
$GC,4363,-0.61,-155.7,674.8,-10.1,168,4367,0.00,1.52,0.00,0.000,4,0.000,0.026,2508,1458,3507
$GC,4433,-0.61,-155.7,681.8,-9.0,169,4437,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2546,3506
$GC,4705,-0.61,-155.7,707.5,-9.5,176,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2547,3504
$GC,4948,-0.61,-155.7,729.9,-9.3,182,4952,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1456,3502
$GC,5023,-0.61,-155.7,737.2,-9.2,183,5026,0.00,1.65,0.00,0.000,6,0.000,0.046,2502,2540,3502
$GC,5290,-0.61,-155.7,763.2,-10.1,190,5293,0.00,1.55,0.00,0.000,4,0.000,0.027,2507,1460,3500
$GC,5340,-0.61,-155.7,768.2,-8.7,191,5343,0.00,1.62,0.00,0.000,6,0.000,0.045,2502,2525,3499
$GC,5634,-0.61,-155.7,796.2,-9.4,198,5638,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3570,3497
$GC,5710,-0.61,-155.7,803.8,-9.2,199,5714,0.00,1.50,0.00,0.000,6,0.000,0.027,2500,2540,3496
$GC,5976,-0.61,-155.7,827.6,-9.1,206,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2532,3496
$GC,6220,-0.61,-155.7,849.6,-9.0,212,6223,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3566,3494
$GC,6300,-0.61,-155.7,857.8,-9.4,213,6303,0.00,1.50,0.00,0.000,6,0.000,0.028,2499,2539,3494
$GC,6561,-0.61,-155.7,881.7,-9.3,220,6565,0.00,1.55,0.00,0.000,4,0.000,0.027,2507,1456,3493
$GC,6619,-0.61,-155.7,887.1,-7.8,221,6623,0.00,1.67,0.00,0.000,6,0.000,0.048,2501,2530,3492
$STATE,6775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6775,begin apogee
$GC,6786,-0.17,0.0,901.5,9.2,225,6919,0.43,0.00,129.50,1.255,6,0.103,0.000,2646,2209,2890
$STATE,6919,end apogee,CONTROL_FINISHED_OK
$STATE,6919,begin climb
$GC,6924,0.61,155.7,906.3,0.0,228,7083,0.68,1.67,145.27,1.197,4,0.028,0.028,2923,1164,2254
$GC,7149,0.61,155.7,878.5,22.0,233,7153,0.00,1.73,0.00,0.000,6,0.000,0.041,2918,2238,2248
$GC,7443,0.61,155.7,810.4,22.9,240,7447,0.00,1.62,0.00,0.000,4,0.000,0.047,2918,3285,2244
$GC,7496,0.61,155.7,796.5,24.9,241,7500,0.00,1.58,0.00,0.000,6,0.000,0.027,2924,2243,2243
$GC,7784,0.61,155.7,727.9,23.8,248,7788,0.00,1.58,0.00,0.000,4,0.000,0.029,2932,1167,2242
$GC,7887,0.61,155.7,703.8,22.1,250,7892,0.08,1.65,0.00,0.000,6,0.169,0.042,2909,2219,2241
$GC,8169,0.61,155.7,644.0,21.5,257,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2219,2240
$GC,8413,0.61,155.7,593.3,20.7,263,8417,0.00,1.65,0.00,0.000,4,0.000,0.049,2906,3279,2239
$GC,8509,0.61,155.7,572.8,21.7,265,8513,0.00,1.60,0.00,0.000,6,0.000,0.028,2912,2218,2239
$GC,8802,0.61,155.7,511.7,20.5,272,8806,0.00,1.55,0.00,0.000,4,0.000,0.030,2920,1153,2238
$GC,8877,0.61,155.7,496.8,18.5,273,8880,0.00,1.62,0.00,0.000,6,0.000,0.041,2918,2219,2238
$GC,9144,0.61,155.7,444.3,19.9,280,9147,0.00,1.62,0.00,0.000,4,0.000,0.049,2918,3291,2237
$GC,9193,0.61,155.7,434.3,20.3,281,9197,0.00,1.62,0.00,0.000,6,0.000,0.027,2925,2185,2237
$GC,9487,0.61,155.7,378.8,18.9,288,9491,0.00,1.50,0.00,0.000,4,0.000,0.030,2933,1149,2237
$GC,9563,0.61,155.7,365.1,17.4,289,9567,0.12,1.60,0.00,0.000,6,0.176,0.040,2899,2207,2236
$GC,9828,0.61,155.7,321.7,16.6,296,9832,0.00,1.65,0.00,0.000,4,0.000,0.048,2899,3276,2236
$GC,9857,0.61,155.7,316.3,17.0,296,9861,0.00,1.60,0.00,0.000,6,0.000,0.027,2905,2172,2236
$GC,10123,0.61,155.7,273.1,16.7,303,10127,0.00,1.73,0.00,0.000,4,0.000,0.047,2905,3291,2236
$GC,10204,0.61,155.7,260.7,15.5,304,10208,0.00,1.60,0.00,0.000,6,0.000,0.025,2911,2180,2236
$GC,10464,0.61,155.7,222.7,15.5,311,10468,0.00,1.45,0.00,0.000,4,0.000,0.028,2919,1163,2236
$GC,10477,0.61,155.7,220.5,14.4,311,10481,0.00,1.55,0.00,0.000,6,0.000,0.040,2918,2168,2235
$GC,10745,0.61,155.7,185.0,13.7,325,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2168,2236
$GC,11011,0.61,155.7,150.8,13.3,350,11015,0.00,1.67,0.00,0.000,4,0.000,0.045,2918,3284,2236
$GC,11130,0.61,155.7,132.8,14.6,360,11133,0.00,1.62,0.00,0.000,6,0.000,0.024,2925,2150,2236
$GC,11402,0.61,155.7,96.6,12.9,385,11406,0.00,1.75,0.00,0.000,4,0.000,0.042,2925,3280,2237
$GC,11545,0.61,155.7,80.6,10.7,397,11548,0.00,1.62,0.00,0.000,6,0.000,0.025,2929,2142,2237
$GC,11818,0.65,250.9,65.2,3.4,422,11901,0.00,1.42,74.22,0.624,4,0.000,0.023,2935,1160,1867
$GC,12132,0.65,250.9,29.6,12.6,447,12141,0.00,1.42,0.00,0.000,6,0.000,0.032,2934,2088,1862
$STATE,12337,end climb,SURFACE_DEPTH_REACHED
$STATE,12337,begin surface coast
$FINISH,0.2,1.010687
$STATE,12363,end surface coast,CONTROL_FINISHED_OK
$STATE,12363,begin surface
$SM_CCo,12389,55.78,0.547,0,0,1299,390.02
$SM_GC,1.28,0.00,0.00,55.78,0.000,0.000,0.547,22,2527,1299,-8.37,0.76,390.02
$IRIDIUM_FIX,2230.01,-15735.92,040103,030351
$TT8_MAMPS,0.023777
$HUMID,2218
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,5
$24V_AH,24.0,21.817
$10V_AH,10.7,22.985
$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,17.950,80.375,349.000,55.775,0.000,87.268,127.933,431.394,1.250,0.000,0.000,16.953,1034.019,8261.085,424.923,2532.757,1148.618,33.357,1229.283,0.000,2527.868,0.000,0.544,0.000
$DEVICE_MAMPS,197.119,58.292,1254.812,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,329.147,1591.248,1644.938,193.388,1089.303,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41540,483
$CAP_FILE_SIZE,103178,0
$CFSIZE,260165632,250236928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,071224,2237.964,-15738.363,44,1.6,44,10.1