version: 66.04
glider: 512
mission: 4
dive: 107
start: 10 5 113 17 39 51
data:
$ID,512
$MISSION,4
$DIVE,107
$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,-108676.38
$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,74
$R_STBD_OVSHOOT,31
$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
$GPS1,173036,2303.310,-15802.669,67,0.8,67,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-82.0
$GPS2,173837,2303.362,-15802.670,16,1.1,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,-0.281
$KALMAN_X,39456.8,-311.3,-668.0,-42941.6,2935.8
$KALMAN_Y,36.6,-23.4,503.5,35172.2,968.3
$MHEAD_RNG_PITCHd_Wd,160.4,62536,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.47,-146.0,0.0,0.0,0,103,0.00,0.00,-82.12,0.000,2,0.000,0.000,11,2442,3111
$GC,108,-0.47,-146.0,2.6,-3.1,10,135,9.30,1.42,-6.70,0.000,4,0.200,0.041,2542,1429,3448
$GC,197,-0.47,-146.0,34.5,-27.6,22,207,0.00,1.65,0.00,0.000,6,0.000,0.038,2537,2499,3449
$GC,464,-0.47,-146.0,97.5,-21.2,47,467,0.00,1.60,0.00,0.000,4,0.000,0.044,2528,3574,3450
$GC,492,-0.47,-146.0,103.5,-21.5,49,496,0.00,1.55,0.00,0.000,6,0.000,0.020,2529,2497,3450
$GC,764,-0.47,-146.0,149.5,-15.5,74,767,0.00,1.62,0.00,0.000,4,0.000,0.043,2523,3566,3450
$GC,827,-0.47,-146.0,159.6,-15.2,79,830,0.00,1.45,0.00,0.000,6,0.000,0.019,2523,2540,3450
$GC,1128,-0.47,-146.0,207.9,-15.6,104,1132,0.00,1.50,0.00,0.000,4,0.000,0.020,2523,1449,3450
$GC,1164,-0.47,-146.0,214.1,-14.9,104,1168,0.10,1.60,0.00,0.000,6,0.139,0.037,2544,2525,3450
$GC,1424,-0.47,-146.0,246.1,-12.0,111,1427,0.00,1.58,0.00,0.000,4,0.000,0.045,2537,3566,3450
$GC,1482,-0.47,-146.0,253.2,-11.3,112,1485,0.00,1.48,0.00,0.000,6,0.000,0.020,2537,2519,3449
$GC,1764,-0.47,-146.0,285.1,-11.8,119,1768,0.00,1.45,0.00,0.000,4,0.000,0.020,2537,1458,3449
$GC,1828,-0.47,-146.0,292.0,-9.8,120,1831,0.00,1.60,0.00,0.000,6,0.000,0.040,2536,2530,3449
$GC,2106,-0.47,-146.0,320.7,-10.3,127,2109,0.00,1.55,0.00,0.000,4,0.000,0.046,2529,3557,3447
$GC,2236,-0.47,-146.0,335.2,-10.7,129,2245,0.00,1.45,0.00,0.000,6,0.000,0.022,2529,2520,3446
$GC,2491,-0.47,-146.0,362.8,-11.0,136,2495,0.00,1.48,0.00,0.000,4,0.000,0.021,2529,1458,3445
$GC,2521,-0.47,-146.0,366.6,-10.9,136,2525,0.00,1.62,0.00,0.000,6,0.000,0.040,2523,2526,3444
$GC,2787,-0.47,-146.0,393.1,-9.8,143,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2526,3443
$GC,3030,-0.47,-146.0,417.1,-10.1,149,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2525,3440
$GC,3274,-0.47,-146.0,442.4,-10.2,155,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2526,3439
$GC,3518,-0.47,-146.0,465.5,-9.5,161,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2526,3438
$GC,3762,-0.47,-146.0,487.4,-9.0,167,3766,0.00,1.58,-0.08,0.000,4,0.000,0.068,2516,3571,3460
$GC,3814,-0.47,-146.0,492.7,-9.0,168,3818,0.00,1.50,0.00,0.000,6,0.000,0.025,2516,2524,3459
$GC,4103,-0.47,-146.0,522.2,-10.4,175,4105,0.10,0.00,0.00,0.000,6,0.134,0.000,2544,2516,3457
$GC,4349,-0.47,-146.0,542.1,-8.0,181,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2516,3456
$GC,4592,-0.47,-146.0,561.3,-7.9,187,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2516,3454
$GC,4836,-0.47,-146.0,580.9,-8.1,193,4839,0.00,1.50,0.00,0.000,4,0.000,0.026,2544,1453,3452
$GC,4886,-0.47,-146.0,585.1,-7.6,194,4889,0.00,1.62,0.00,0.000,6,0.000,0.044,2538,2527,3451
$GC,5180,-0.47,-146.0,608.3,-7.8,201,5184,0.00,1.60,0.00,0.000,4,0.000,0.053,2533,3581,3448
$GC,5232,-0.47,-146.0,612.2,-7.8,202,5235,0.00,1.55,0.00,0.000,6,0.000,0.028,2532,2516,3448
$GC,5525,-0.47,-146.0,634.6,-7.5,209,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2508,3446
$GC,5769,-0.47,-146.0,653.2,-7.7,215,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2508,3445
$GC,6013,-0.47,-146.0,671.6,-7.6,221,6017,0.00,1.65,0.00,0.000,4,0.000,0.052,2525,3558,3444
$GC,6063,-0.47,-146.0,675.3,-7.0,222,6067,0.00,1.52,0.00,0.000,6,0.000,0.028,2525,2514,3443
$GC,6359,-0.47,-146.0,697.9,-7.6,229,6362,0.00,1.65,0.00,0.000,4,0.000,0.056,2524,3568,3441
$GC,6383,-0.47,-146.0,700.3,-8.2,229,6387,0.00,1.52,0.00,0.000,6,0.000,0.028,2524,2520,3441
$GC,6654,-0.47,-146.0,721.2,-7.9,236,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2512,3440
$GC,6898,-0.47,-146.0,740.8,-8.0,242,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2513,3439
$GC,7142,-0.47,-146.0,760.7,-8.2,248,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2512,3438
$GC,7385,-0.47,-146.0,779.6,-7.6,254,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2513,3438
$GC,7629,-0.47,-146.0,797.2,-7.2,260,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2512,3437
$GC,7873,-0.47,-146.0,813.4,-6.5,266,7876,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3551,3435
$GC,7897,-0.47,-146.0,815.1,-6.3,266,7901,0.00,1.50,0.00,0.000,6,0.000,0.029,2523,2522,3435
$GC,8169,-0.47,-146.0,831.9,-6.3,273,8173,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1458,3434
$GC,8205,-0.47,-146.0,834.4,-6.8,273,8209,0.00,1.65,0.00,0.000,6,0.000,0.050,2523,2531,3434
$GC,8467,-0.47,-146.0,851.5,-6.9,280,8470,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3570,3433
$GC,8508,-0.47,-146.0,854.9,-7.1,280,8514,0.00,1.50,0.00,0.000,6,0.000,0.030,2523,2534,3432
$GC,8763,-0.47,-146.0,872.8,-7.3,287,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3431
$GC,9007,-0.47,-146.0,890.6,-7.3,293,9010,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1464,3430
$GC,9042,-0.47,-146.0,893.6,-8.0,293,9046,0.00,1.67,0.00,0.000,6,0.000,0.050,2523,2554,3430
$STATE,9135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9135,begin apogee
$GC,9146,-0.18,0.0,900.7,7.5,296,9275,0.35,0.00,126.20,1.259,6,0.098,0.000,2642,2218,2850
$STATE,9276,end apogee,CONTROL_FINISHED_OK
$STATE,9276,begin climb
$GC,9281,0.47,146.0,904.6,0.0,299,9450,0.55,1.67,141.05,1.172,4,0.033,0.029,2884,1170,2253
$GC,9496,0.47,146.0,880.5,19.3,303,9506,0.10,1.75,0.00,0.000,6,0.158,0.043,2854,2234,2248
$GC,9753,0.47,146.0,834.2,18.2,310,9756,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3290,2243
$GC,9804,0.47,146.0,823.3,19.7,311,9808,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2263,2242
$GC,10093,0.47,146.0,771.4,18.2,318,10097,0.00,1.62,0.00,0.000,4,0.000,0.030,2864,1143,2241
$GC,10179,0.47,146.0,756.3,15.9,319,10188,0.00,1.73,0.00,0.000,6,0.000,0.044,2863,2234,2240
$GC,10434,0.47,146.0,712.6,17.5,326,10438,0.00,1.65,0.00,0.000,4,0.000,0.050,2862,3286,2239
$GC,10484,0.47,146.0,703.6,19.4,327,10488,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2246,2239
$GC,10779,0.47,146.0,651.3,17.7,334,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2240,2238
$GC,11024,0.47,146.0,607.1,18.4,340,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2240,2238
$GC,11267,0.47,146.0,562.9,17.9,346,11271,0.00,1.60,0.00,0.000,4,0.000,0.031,2877,1153,2238
$GC,11297,0.47,146.0,556.9,17.5,346,11301,0.00,1.70,0.00,0.000,6,0.000,0.044,2877,2244,2237
$GC,11563,0.47,146.0,511.0,17.4,353,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2244,2237
$GC,11807,0.47,146.0,470.4,16.7,359,11811,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3274,2237
$GC,11857,0.47,146.0,462.0,16.0,360,11861,0.08,1.55,0.00,0.000,6,0.184,0.028,2850,2239,2236
$GC,12151,0.47,146.0,422.9,12.7,367,12155,0.00,1.58,0.00,0.000,4,0.000,0.030,2856,1155,2236
$GC,12226,0.47,146.0,413.6,12.1,368,12229,0.00,1.65,0.00,0.000,6,0.000,0.042,2856,2237,2236
$GC,12492,0.47,146.0,378.5,13.3,375,12495,0.00,1.62,0.00,0.000,4,0.000,0.049,2856,3308,2236
$GC,12573,0.47,146.0,367.4,13.2,376,12576,0.00,1.55,0.00,0.000,6,0.000,0.028,2864,2259,2235
$GC,12833,0.47,146.0,332.7,13.4,383,12836,0.00,1.60,0.00,0.000,4,0.000,0.030,2870,1156,2235
$GC,12929,0.47,146.0,320.9,12.6,385,12932,0.00,1.67,0.00,0.000,6,0.000,0.042,2870,2235,2235
$GC,13223,0.47,146.0,281.0,13.4,392,13227,0.00,1.60,0.00,0.000,4,0.000,0.048,2870,3275,2235
$GC,13366,0.47,146.0,260.1,13.4,395,13370,0.00,1.50,0.00,0.000,6,0.000,0.026,2877,2257,2235
$GC,13655,0.47,146.0,226.0,11.8,402,13658,0.00,1.58,0.00,0.000,4,0.000,0.028,2885,1168,2235
$GC,13730,0.47,146.0,216.1,11.8,403,13735,0.12,1.65,0.00,0.000,6,0.148,0.041,2852,2264,2235
$GC,13990,0.48,165.8,188.9,9.3,415,14009,0.00,1.60,14.88,0.729,4,0.000,0.045,2852,3286,2174
$GC,14073,0.48,165.8,179.6,11.7,421,14076,0.00,1.52,0.00,0.000,6,0.000,0.025,2857,2261,2173
$GC,14344,0.48,165.8,150.7,10.5,446,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2254,2172
$GC,14611,0.48,165.8,121.1,11.2,471,14614,0.00,1.58,0.00,0.000,4,0.000,0.042,2857,3276,2172
$GC,14685,0.48,165.8,112.1,12.9,477,14688,0.00,1.48,0.00,0.000,6,0.000,0.023,2864,2263,2172
$GC,14960,0.49,210.0,84.1,8.3,502,15003,0.00,1.62,37.62,0.639,4,0.000,0.025,2870,1165,1994
$GC,15167,0.52,264.8,66.6,7.9,518,15223,0.00,1.60,44.47,0.617,6,0.000,0.036,2870,2226,1771
$GC,15480,0.54,320.9,41.7,7.9,546,15536,0.00,1.65,45.40,0.588,4,0.000,0.041,2869,3276,1539
$GC,15590,0.56,369.8,32.6,8.2,554,15641,0.00,1.55,39.38,0.572,6,0.000,0.022,2870,2230,1340
$GC,15935,0.59,449.7,3.9,7.0,606,15945,0.00,0.00,8.55,0.491,2,0.000,0.000,2869,2230,1301
$STATE,15946,end climb,SURFACE_DEPTH_REACHED
$STATE,15946,begin surface coast
$FINISH,0.3,1.011807
$STATE,15997,end surface coast,CONTROL_FINISHED_OK
$STATE,15997,begin surface
$SM_CCo,16022,4.15,0.382,0,0,1259,390.02
$SM_GC,1.59,0.00,0.00,4.15,0.000,0.000,0.382,40,2537,1259,-8.31,1.05,390.02
$IRIDIUM_FIX,2255.72,-15801.91,301202,131328
$TT8_MAMPS,0.023777
$HUMID,2210
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.20
$XPDR_PINGS,3
$24V_AH,24.0,17.719
$10V_AH,10.6,18.490
$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,17.925,102.125,457.550,4.150,0.000,28.136,34.949,226.973,0.750,0.000,0.000,16.802,1316.190,10736.166,468.076,3103.339,899.315,33.370,1470.979,0.000,3114.369,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,68.263,1258.647,381.966,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,419.213,2024.213,2094.884,403.360,1377.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54130,615
$CAP_FILE_SIZE,123200,0
$CFSIZE,260165632,251691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,051013,220824,2301.849,-15801.346,38,1.8,38,10.1