version: 66.04
glider: 512
mission: 4
dive: 108
start: 10 5 113 22 19 45
data:
$ID,512
$MISSION,4
$DIVE,108
$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,-108692.68
$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,67
$R_STBD_OVSHOOT,58
$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
$GPS1,220824,2301.849,-15801.346,38,1.8,38,10.1
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,2
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-79.9
$GPS2,221831,2301.877,-15801.303,15,1.1,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,-0.263
$KALMAN_X,40278.5,-625.0,293.9,-42078.2,1456.4
$KALMAN_Y,2206.6,349.1,288.1,30102.6,1035.4
$MHEAD_RNG_PITCHd_Wd,147.2,58931,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-74.07,0.000,2,0.000,0.000,11,2538,3033
$GC,100,-0.47,-146.0,2.6,-2.9,9,127,9.50,1.58,-8.50,0.000,4,0.205,0.038,2543,1437,3445
$GC,175,-0.47,-146.0,26.5,-27.8,19,185,0.00,1.60,0.00,0.000,6,0.000,0.038,2537,2476,3445
$GC,452,-0.47,-146.0,93.5,-18.3,45,456,0.00,1.65,0.00,0.000,4,0.000,0.044,2529,3562,3446
$GC,525,-0.47,-146.0,106.3,-15.7,51,529,0.00,1.50,0.00,0.000,6,0.000,0.019,2529,2509,3447
$GC,798,-0.47,-146.0,152.6,-17.7,76,802,0.00,1.62,0.00,0.000,4,0.000,0.042,2523,3560,3447
$GC,870,-0.47,-146.0,164.8,-15.3,82,873,0.00,1.40,0.00,0.000,6,0.000,0.019,2523,2562,3447
$GC,1139,-0.47,-146.0,208.4,-16.4,104,1143,0.00,1.52,0.00,0.000,4,0.000,0.020,2523,1459,3447
$GC,1197,-0.47,-146.0,216.9,-13.1,105,1200,0.00,1.67,0.00,0.000,6,0.000,0.038,2516,2562,3447
$GC,1480,-0.47,-146.0,256.2,-13.6,112,1484,0.12,1.52,0.00,0.000,4,0.147,0.018,2552,1458,3447
$GC,1532,-0.47,-146.0,262.1,-7.8,113,1536,0.00,1.65,0.00,0.000,6,0.000,0.040,2550,2540,3447
$GC,1821,-0.47,-146.0,285.8,-8.2,120,1825,0.00,1.55,0.00,0.000,4,0.000,0.047,2542,3562,3446
$GC,1880,-0.47,-146.0,291.3,-8.6,121,1883,0.00,1.42,0.00,0.000,6,0.000,0.021,2542,2549,3445
$GC,2162,-0.47,-146.0,319.9,-10.6,128,2166,0.00,1.50,0.00,0.000,4,0.000,0.021,2542,1458,3444
$GC,2212,-0.47,-146.0,325.1,-10.1,129,2216,0.00,1.62,0.00,0.000,6,0.000,0.041,2537,2537,3443
$GC,2507,-0.47,-146.0,356.2,-10.5,136,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2537,3441
$GC,2752,-0.47,-146.0,381.2,-10.2,142,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2537,3440
$GC,2996,-0.47,-146.0,404.8,-9.4,148,3000,0.00,1.55,0.00,0.000,4,0.000,0.049,2529,3555,3438
$GC,3046,-0.47,-146.0,409.7,-8.6,149,3050,0.00,1.48,0.00,0.000,6,0.000,0.023,2529,2522,3438
$GC,3341,-0.47,-146.0,438.9,-10.0,156,3345,0.00,1.48,-0.08,0.000,4,0.000,0.042,2529,1443,3459
$GC,3376,-0.47,-146.0,442.8,-9.3,156,3380,0.00,1.60,0.00,0.000,6,0.000,0.041,2524,2511,3460
$GC,3637,-0.47,-146.0,469.3,-10.3,163,3641,0.00,1.62,0.00,0.000,4,0.000,0.053,2522,3581,3457
$GC,3669,-0.47,-146.0,472.6,-9.9,163,3673,0.00,1.55,0.00,0.000,6,0.000,0.024,2522,2502,3457
$GC,3935,-0.47,-146.0,498.2,-9.6,170,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2495,3455
$GC,4179,-0.47,-146.0,520.2,-9.0,176,4182,0.00,1.65,0.00,0.000,4,0.000,0.049,2514,3573,3453
$GC,4203,-0.47,-146.0,522.8,-9.4,176,4207,0.05,1.52,0.00,0.000,6,0.121,0.024,2547,2508,3453
$GC,4475,-0.47,-146.0,542.9,-7.5,183,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2503,3451
$GC,4718,-0.47,-146.0,563.2,-8.4,189,4722,0.00,1.48,0.00,0.000,4,0.000,0.025,2547,1456,3449
$GC,4743,-0.47,-146.0,565.7,-9.3,189,4746,0.00,1.62,0.00,0.000,6,0.000,0.045,2541,2531,3449
$GC,5016,-0.47,-146.0,588.4,-8.3,196,5019,0.00,1.58,0.00,0.000,4,0.000,0.054,2535,3551,3447
$GC,5046,-0.47,-146.0,591.1,-8.5,196,5049,0.00,1.48,0.00,0.000,6,0.000,0.025,2535,2526,3446
$GC,5312,-0.47,-146.0,612.2,-8.0,203,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2517,3445
$GC,5555,-0.47,-146.0,632.0,-8.2,209,5559,0.00,1.60,0.00,0.000,4,0.000,0.053,2527,3556,3443
$GC,5591,-0.47,-146.0,635.3,-8.2,209,5595,0.00,1.45,0.00,0.000,6,0.000,0.028,2528,2550,3443
$GC,5852,-0.47,-146.0,657.1,-8.6,216,5855,0.00,1.55,0.00,0.000,4,0.000,0.026,2528,1451,3441
$GC,5884,-0.47,-146.0,660.1,-9.0,216,5887,0.00,1.67,0.00,0.000,6,0.000,0.047,2524,2551,3441
$GC,6151,-0.47,-146.0,684.6,-9.4,223,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2551,3439
$GC,6396,-0.47,-146.0,706.9,-9.0,229,6399,0.00,1.58,0.00,0.000,4,0.000,0.057,2524,3558,3438
$GC,6420,-0.47,-146.0,709.5,-9.0,229,6424,0.00,1.48,0.00,0.000,6,0.000,0.028,2524,2545,3439
$GC,6691,-0.47,-146.0,732.5,-8.6,236,6695,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1451,3437
$GC,6727,-0.47,-146.0,736.0,-8.8,236,6731,0.00,1.67,0.00,0.000,6,0.000,0.048,2524,2544,3437
$GC,6988,-0.47,-146.0,756.1,-7.8,243,6991,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3584,3436
$GC,7012,-0.47,-146.0,758.3,-7.9,243,7016,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2554,3435
$GC,7285,-0.47,-146.0,776.3,-6.7,250,7288,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1471,3434
$GC,7315,-0.47,-146.0,778.6,-6.3,250,7319,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2557,3434
$GC,7581,-0.47,-146.0,795.8,-6.6,257,7584,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1431,3432
$GC,7617,-0.47,-146.0,798.6,-7.1,257,7620,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2536,3432
$GC,7877,-0.47,-146.0,816.7,-7.1,264,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3431
$GC,8121,-0.47,-146.0,834.9,-7.5,270,8124,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3572,3430
$GC,8172,-0.47,-146.0,838.9,-7.9,271,8176,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2548,3430
$GC,8466,-0.47,-146.0,861.1,-7.5,278,8470,0.00,1.55,0.00,0.000,4,0.000,0.029,2523,1462,3429
$GC,8508,-0.47,-146.0,864.5,-8.0,278,8516,0.00,1.70,0.00,0.000,6,0.000,0.051,2523,2546,3429
$GC,8763,-0.47,-146.0,882.7,-7.2,285,8766,0.00,1.60,0.00,0.000,4,0.000,0.061,2523,3578,3428
$GC,8782,-0.47,-146.0,884.3,-7.1,285,8785,0.00,1.50,0.00,0.000,6,0.000,0.030,2523,2552,3428
$STATE,9013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9014,begin apogee
$GC,9025,-0.18,0.0,900.4,7.1,291,9153,0.35,0.00,125.35,1.259,6,0.098,0.000,2643,2228,2850
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9159,0.47,146.0,904.0,0.0,294,9308,0.55,1.67,137.15,1.198,4,0.032,0.029,2882,1182,2253
$GC,9342,0.47,146.0,884.8,19.4,298,9345,0.00,1.70,0.00,0.000,6,0.000,0.042,2878,2228,2248
$GC,9635,0.47,146.0,825.2,20.0,305,9639,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3279,2242
$GC,9693,0.47,146.0,813.0,20.1,306,9697,0.12,1.60,0.00,0.000,6,0.194,0.029,2854,2214,2241
$GC,9976,0.47,146.0,765.1,16.8,313,9979,0.00,1.55,0.00,0.000,4,0.000,0.031,2860,1163,2240
$GC,10070,0.47,146.0,750.1,14.8,315,10074,0.00,1.67,0.00,0.000,6,0.000,0.044,2861,2218,2239
$GC,10365,0.47,146.0,698.9,17.9,322,10368,0.00,1.65,0.00,0.000,4,0.000,0.051,2860,3292,2239
$GC,10402,0.47,146.0,691.5,18.6,322,10405,0.00,1.60,0.00,0.000,6,0.000,0.028,2868,2208,2238
$GC,10662,0.47,146.0,645.4,17.7,329,10665,0.00,1.55,0.00,0.000,4,0.000,0.031,2873,1155,2238
$GC,10703,0.47,146.0,638.2,15.8,329,10711,0.00,1.65,0.00,0.000,6,0.000,0.043,2873,2207,2237
$GC,10957,0.47,146.0,594.5,17.6,336,10961,0.00,1.65,0.00,0.000,4,0.000,0.051,2873,3284,2237
$GC,11077,0.47,146.0,570.8,20.4,338,11081,0.12,1.58,0.00,0.000,6,0.181,0.028,2851,2228,2237
$GC,11342,0.47,146.0,530.0,15.1,345,11346,0.00,1.55,0.00,0.000,4,0.000,0.030,2857,1171,2236
$GC,11378,0.47,146.0,524.2,14.2,345,11382,0.00,1.62,0.00,0.000,6,0.000,0.044,2857,2235,2236
$GC,11639,0.47,146.0,484.0,15.5,352,11643,0.00,1.62,0.00,0.000,4,0.000,0.050,2857,3302,2236
$GC,11689,0.47,146.0,475.2,17.4,353,11692,0.00,1.60,0.00,0.000,6,0.000,0.029,2865,2232,2236
$GC,11983,0.47,146.0,428.7,15.6,360,11986,0.00,1.55,0.00,0.000,4,0.000,0.031,2872,1168,2236
$GC,12053,0.47,146.0,418.7,13.3,361,12056,0.00,1.60,0.00,0.000,6,0.000,0.044,2873,2216,2236
$GC,12324,0.47,146.0,379.9,14.6,368,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2216,2236
$GC,12567,0.47,146.0,344.7,14.7,374,12571,0.00,1.62,0.00,0.000,4,0.000,0.050,2873,3284,2235
$GC,12625,0.47,146.0,335.0,16.5,375,12629,0.12,1.60,0.00,0.000,6,0.174,0.027,2850,2177,2236
$GC,12908,0.47,146.0,299.8,11.9,382,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2169,2235
$GC,13153,0.47,146.0,272.0,11.2,388,13157,0.00,1.73,0.00,0.000,4,0.000,0.048,2850,3293,2235
$GC,13205,0.47,146.0,264.9,12.6,389,13208,0.00,1.58,0.00,0.000,6,0.000,0.026,2856,2222,2236
$GC,13493,0.47,146.0,232.5,11.0,396,13497,0.00,1.65,0.00,0.000,4,0.000,0.046,2856,3293,2235
$GC,13546,0.47,146.0,226.5,11.2,397,13550,0.00,1.55,0.00,0.000,6,0.000,0.025,2863,2242,2236
$GC,13834,0.47,146.0,196.2,10.4,404,13838,0.00,1.55,0.00,0.000,4,0.000,0.027,2870,1164,2236
$GC,13897,0.47,146.0,189.7,10.8,409,13900,0.00,1.65,0.00,0.000,6,0.000,0.040,2870,2255,2236
$GC,14172,0.47,161.9,162.1,9.4,434,14189,0.00,1.62,11.68,0.696,4,0.000,0.026,2873,1156,2189
$GC,14269,0.48,174.0,152.8,9.5,442,14286,0.00,1.62,11.48,0.676,6,0.000,0.038,2873,2227,2142
$GC,14557,0.48,174.0,121.6,11.6,468,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2227,2140
$GC,14824,0.48,175.7,91.0,9.9,493,14827,0.00,1.60,0.00,0.000,4,0.000,0.044,2873,3300,2140
$GC,14971,0.48,175.7,72.7,11.7,505,14980,0.00,1.62,0.00,0.000,6,0.000,0.023,2881,2184,2140
$GC,15239,0.51,260.4,51.9,6.8,530,15318,0.00,0.00,70.85,0.607,6,0.000,0.000,2882,2178,1786
$GC,15589,0.51,260.4,20.8,10.6,569,15598,0.00,1.73,0.00,0.000,4,0.000,0.040,2881,3290,1782
$GC,15623,0.51,260.4,17.0,10.4,573,15632,0.00,1.55,0.00,0.000,6,0.000,0.021,2886,2236,1781
$STATE,15743,end climb,SURFACE_DEPTH_REACHED
$STATE,15743,begin surface coast
$FINISH,0.2,0.998030
$STATE,15780,end surface coast,CONTROL_FINISHED_OK
$STATE,15780,begin surface
$SM_CCo,15805,51.22,0.546,0,0,1258,390.02
$SM_GC,1.30,0.00,0.00,51.22,0.000,0.000,0.546,40,2556,1258,-8.30,1.50,390.02
$IRIDIUM_FIX,2253.38,-15759.74,301202,171722
$TT8_MAMPS,0.023777
$HUMID,2199
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,6
$24V_AH,24.0,17.859
$10V_AH,10.6,18.687
$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,18.200,124.675,356.500,51.225,0.000,30.281,35.035,352.765,1.500,0.000,0.000,15.665,1318.304,10629.153,446.319,3050.999,1035.794,33.374,1426.794,0.000,3051.203,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,60.593,1259.414,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.322,1966.778,2029.384,475.264,1313.520,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50921,597
$CAP_FILE_SIZE,129987,0
$CFSIZE,260165632,251629568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061013,024530,2300.142,-15800.378,39,2.0,39,10.1