version: 66.04
glider: 512
mission: 4
dive: 106
start: 10 5 113 13 5 26
data:
$ID,512
$MISSION,4
$DIVE,106
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-108658.95
$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,38
$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,58
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2850
$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
$GPS1,123936,2304.227,-15804.050,41,1.2,41,10.1
$_CALLS,4
$_XMS_NAKs,21
$_XMS_TOUTs,3
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.3
$GPS2,130407,2304.258,-15804.002,15,1.9,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,-0.253
$KALMAN_X,38453.3,47.1,60.4,-45305.6,1590.7
$KALMAN_Y,-2063.1,12.2,-331.1,39751.0,369.5
$MHEAD_RNG_PITCHd_Wd,142.6,65302,-15.6,-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,-0.47,-146.0,0.0,0.0,0,127,0.00,0.00,-107.05,0.000,2,0.000,0.000,11,2546,3087
$GC,133,-0.47,-146.0,2.7,-2.3,13,160,9.38,1.60,-7.22,0.000,4,0.202,0.041,2544,1432,3449
$GC,185,-0.47,-146.0,21.8,-40.2,19,194,0.00,1.60,0.00,0.000,6,0.000,0.038,2539,2472,3449
$GC,462,-0.47,-146.0,85.2,-19.6,46,466,0.00,1.67,0.00,0.000,4,0.000,0.047,2530,3565,3449
$GC,695,-0.47,-146.0,124.1,-17.4,66,698,0.00,1.48,0.00,0.000,6,0.000,0.018,2530,2525,3449
$GC,967,-0.47,-146.0,165.8,-15.3,91,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2517,3449
$GC,1231,-0.47,-146.0,206.2,-14.4,113,1234,0.00,1.48,0.00,0.000,4,0.000,0.020,2530,1449,3449
$GC,1305,-0.47,-146.0,216.2,-11.4,114,1308,0.00,1.65,0.00,0.000,6,0.000,0.038,2524,2561,3448
$GC,1571,-0.47,-146.0,247.7,-11.7,121,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2561,3448
$GC,1816,-0.47,-146.0,277.6,-12.4,127,1820,0.00,1.55,0.00,0.000,4,0.000,0.021,2526,1459,3446
$GC,1866,-0.47,-146.0,284.1,-11.7,128,1870,0.00,1.62,0.00,0.000,6,0.000,0.040,2523,2545,3445
$GC,2160,-0.47,-146.0,320.9,-12.6,135,2164,0.00,1.55,0.00,0.000,4,0.000,0.048,2518,3569,3443
$GC,2218,-0.47,-146.0,328.8,-11.8,136,2222,0.00,1.45,0.00,0.000,6,0.000,0.021,2517,2540,3443
$GC,2501,-0.47,-146.0,363.4,-12.3,143,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2533,3441
$GC,2744,-0.47,-146.0,390.8,-11.0,149,2748,0.00,1.50,0.00,0.000,4,0.000,0.022,2521,1458,3439
$GC,2786,-0.47,-146.0,395.3,-9.9,149,2794,0.08,1.67,0.00,0.000,6,0.118,0.041,2542,2558,3438
$GC,3041,-0.47,-146.0,416.4,-8.4,156,3043,0.00,0.00,-0.08,0.000,6,0.000,0.000,2542,2558,3459
$GC,3284,-0.47,-146.0,436.2,-8.0,162,3288,0.00,1.58,0.00,0.000,4,0.000,0.023,2544,1460,3457
$GC,3314,-0.47,-146.0,438.9,-8.2,162,3318,0.00,1.67,0.00,0.000,6,0.000,0.042,2538,2553,3457
$GC,3581,-0.47,-146.0,458.5,-7.6,169,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2554,3454
$GC,3827,-0.47,-146.0,478.1,-8.2,175,3830,0.00,1.55,0.00,0.000,4,0.000,0.051,2530,3565,3453
$GC,3851,-0.47,-146.0,480.9,-9.0,175,3855,0.00,1.45,0.00,0.000,6,0.000,0.024,2531,2554,3451
$GC,4123,-0.47,-146.0,505.1,-9.1,182,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2546,3449
$GC,4366,-0.47,-146.0,526.6,-8.8,188,4370,0.00,1.58,0.00,0.000,4,0.000,0.049,2524,3560,3447
$GC,4390,-0.47,-146.0,528.9,-8.7,188,4394,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2567,3447
$GC,4662,-0.47,-146.0,553.1,-9.1,195,4665,0.00,1.55,0.00,0.000,4,0.000,0.025,2525,1460,3445
$GC,4698,-0.47,-146.0,556.7,-9.5,195,4701,0.00,1.65,0.00,0.000,6,0.000,0.044,2524,2554,3444
$GC,4959,-0.47,-146.0,581.2,-9.7,202,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2554,3443
$GC,5204,-0.47,-146.0,605.3,-9.9,208,5208,0.00,1.58,0.00,0.000,4,0.000,0.025,2525,1458,3440
$GC,5254,-0.47,-146.0,610.2,-8.8,209,5258,0.00,1.65,0.00,0.000,6,0.000,0.045,2524,2542,3440
$GC,5549,-0.47,-146.0,636.5,-8.7,216,5552,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1465,3439
$GC,5573,-0.47,-146.0,638.9,-8.7,216,5577,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2548,3439
$GC,5846,-0.47,-146.0,661.4,-8.4,223,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2547,3438
$GC,6091,-0.47,-146.0,681.6,-8.3,229,6094,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3558,3436
$GC,6115,-0.47,-146.0,684.1,-8.4,229,6119,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2541,3435
$GC,6386,-0.47,-146.0,704.0,-7.3,236,6390,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3565,3433
$GC,6416,-0.47,-146.0,706.4,-7.5,236,6420,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2546,3433
$GC,6682,-0.47,-146.0,725.7,-7.5,243,6686,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1454,3430
$GC,6718,-0.47,-146.0,728.8,-8.2,243,6722,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2551,3431
$GC,6980,-0.47,-146.0,749.1,-8.0,250,6984,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3560,3430
$GC,7010,-0.47,-146.0,751.9,-8.3,250,7014,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2542,3430
$GC,7276,-0.47,-146.0,772.7,-7.9,257,7280,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1448,3429
$GC,7312,-0.47,-146.0,776.1,-8.5,257,7315,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2541,3429
$GC,7572,-0.47,-146.0,796.3,-8.0,264,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3428
$GC,7816,-0.47,-146.0,815.8,-8.1,270,7819,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3583,3427
$GC,7835,-0.47,-146.0,817.7,-8.4,270,7839,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2523,3426
$GC,8113,-0.47,-146.0,841.0,-8.7,277,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3425
$GC,8358,-0.47,-146.0,861.9,-8.5,283,8361,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1462,3424
$GC,8388,-0.47,-146.0,864.9,-9.0,283,8392,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2532,3424
$GC,8654,-0.47,-146.0,885.7,-7.8,290,8657,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3422
$GC,8678,-0.47,-146.0,887.9,-8.2,290,8682,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2527,3422
$STATE,8864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8864,begin apogee
$GC,8876,-0.18,0.0,902.1,7.6,295,9003,0.35,0.00,124.47,1.256,6,0.097,0.000,2644,2215,2850
$STATE,9004,end apogee,CONTROL_FINISHED_OK
$STATE,9004,begin climb
$GC,9009,0.47,146.0,906.0,0.0,298,9158,0.52,1.67,135.95,1.199,4,0.053,0.028,2886,1174,2253
$GC,9176,0.47,146.0,888.4,18.8,301,9180,0.15,1.73,0.00,0.000,6,0.168,0.041,2851,2241,2250
$GC,9435,0.47,146.0,841.1,18.2,308,9439,0.00,1.62,0.00,0.000,4,0.000,0.049,2850,3280,2244
$GC,9465,0.47,146.0,834.9,19.9,308,9469,0.00,1.60,0.00,0.000,6,0.000,0.028,2856,2222,2243
$GC,9731,0.47,146.0,787.0,18.1,315,9735,0.00,1.58,0.00,0.000,4,0.000,0.031,2864,1153,2241
$GC,9784,0.47,146.0,777.2,17.0,316,9787,0.00,1.62,0.00,0.000,6,0.000,0.042,2863,2205,2241
$GC,10072,0.47,146.0,726.9,17.7,323,10076,0.00,1.67,0.00,0.000,4,0.000,0.051,2863,3274,2240
$GC,10113,0.47,146.0,718.6,18.5,323,10121,0.00,1.62,0.00,0.000,6,0.000,0.027,2869,2196,2239
$GC,10367,0.47,146.0,672.0,18.4,330,10371,0.00,1.70,0.00,0.000,4,0.000,0.048,2863,3284,2239
$GC,10403,0.47,146.0,664.9,18.5,330,10407,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2234,2239
$GC,10664,0.47,146.0,618.9,17.8,337,10668,0.00,1.58,0.00,0.000,4,0.000,0.031,2873,1162,2238
$GC,10744,0.47,146.0,604.8,15.7,338,10748,0.00,1.62,0.00,0.000,6,0.000,0.044,2873,2220,2238
$GC,11004,0.47,146.0,559.6,17.7,345,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2220,2237
$GC,11248,0.47,146.0,517.0,17.4,351,11251,0.00,1.62,0.00,0.000,4,0.000,0.051,2873,3288,2237
$GC,11306,0.47,146.0,506.1,18.8,352,11310,0.12,1.60,0.00,0.000,6,0.189,0.028,2851,2191,2236
$GC,11588,0.47,146.0,465.5,14.0,359,11592,0.00,1.73,0.00,0.000,4,0.000,0.047,2851,3282,2235
$GC,11638,0.47,146.0,458.5,14.2,360,11641,0.00,1.62,0.00,0.000,6,0.000,0.028,2856,2171,2235
$GC,11932,0.47,146.0,419.0,13.2,367,11936,0.00,1.48,0.00,0.000,4,0.000,0.031,2860,1161,2235
$GC,11968,0.47,146.0,414.0,12.3,367,11972,0.00,1.60,0.00,0.000,6,0.000,0.042,2860,2193,2235
$GC,12228,0.47,146.0,378.8,14.0,374,12232,0.00,1.67,0.00,0.000,4,0.000,0.050,2860,3274,2235
$GC,12302,0.47,146.0,367.9,14.8,375,12306,0.00,1.55,0.00,0.000,6,0.000,0.026,2867,2229,2235
$GC,12569,0.47,146.0,331.7,13.6,382,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2223,2235
$GC,12814,0.47,146.0,300.0,13.0,388,12817,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3293,2235
$GC,12944,0.47,146.0,281.7,13.3,390,12953,0.00,1.65,0.00,0.000,6,0.000,0.026,2869,2180,2235
$GC,13199,0.47,146.0,249.5,12.2,397,13203,0.00,1.48,0.00,0.000,4,0.000,0.029,2877,1155,2235
$GC,13323,0.47,146.0,235.2,11.1,399,13327,0.00,1.52,0.00,0.000,6,0.000,0.040,2877,2146,2235
$GC,13584,0.47,146.0,205.9,11.5,406,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2145,2234
$GC,13836,0.47,146.0,178.6,11.3,424,13840,0.00,1.75,0.00,0.000,4,0.000,0.047,2876,3287,2235
$GC,13964,0.47,146.0,163.1,11.0,435,13974,0.10,1.73,0.00,0.000,6,0.157,0.025,2851,2105,2235
$GC,14234,0.49,195.8,140.0,8.1,460,14278,0.00,1.85,39.42,0.699,4,0.000,0.043,2851,3286,2050
$GC,14397,0.49,195.8,123.1,10.9,473,14401,0.00,1.65,0.00,0.000,6,0.000,0.023,2856,2184,2048
$GC,14668,0.51,258.3,97.2,7.7,498,14725,0.00,1.52,51.05,0.645,4,0.000,0.026,2857,1159,1795
$GC,14806,0.52,262.6,84.9,9.8,509,14819,0.00,1.55,4.03,0.435,6,0.000,0.036,2857,2148,1780
$GC,15082,0.54,336.4,60.6,7.2,534,15151,0.00,1.77,59.67,0.604,4,0.000,0.041,2857,3275,1477
$GC,15228,0.58,421.9,50.6,6.8,545,15306,0.00,1.70,67.07,0.587,6,0.000,0.021,2856,2128,1131
$GC,15580,0.58,421.9,15.0,13.0,585,15589,0.00,1.80,0.00,0.000,4,0.000,0.040,2856,3285,1127
$STATE,15682,end climb,SURFACE_DEPTH_REACHED
$STATE,15682,begin surface coast
$FINISH,0.2,1.012586
$STATE,15714,end surface coast,CONTROL_FINISHED_OK
$STATE,15715,begin surface
$SM_CCo,15800,0.00,0.000,0,0,1125,423.14
$SM_GC,1.34,7.15,0.00,0.00,0.024,0.000,0.000,30,2445,1125,-8.24,-1.44,423.14
$IRIDIUM_FIX,2258.07,-15801.91,301202,131312
$TT8_MAMPS,0.023777
$HUMID,2220
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.50
$XPDR_PINGS,5
$24V_AH,24.1,17.578
$10V_AH,10.7,18.289
$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,17.850,118.525,481.675,0.000,0.000,119.079,167.273,792.656,1.250,0.000,0.000,15.119,1292.078,10717.934,484.376,3083.613,1707.422,33.370,1518.038,0.000,3084.248,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,58.292,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.371,1995.374,2060.842,238.096,1342.592,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54233,606
$CAP_FILE_SIZE,139724,0
$CFSIZE,260165632,251744256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051013,173036,2303.310,-15802.669,67,0.8,67,10.1