version: 66.04
glider: 512
mission: 4
dive: 109
start: 10 6 113 2 56 56
data:
$ID,512
$MISSION,4
$DIVE,109
$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,-108704.94
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$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,63
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2870
$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
$GPS1,024530,2300.142,-15800.378,39,2.0,39,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-81.8
$GPS2,025537,2300.179,-15800.426,11,1.9,11,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,-0.284
$KALMAN_X,40422.7,-526.1,-450.7,-40075.1,2007.2
$KALMAN_Y,4370.3,549.6,-480.8,25368.1,2681.1
$MHEAD_RNG_PITCHd_Wd,166.1,55617,-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,17,-0.47,-146.0,0.0,0.0,0,95,0.00,0.00,-75.18,0.000,2,0.000,0.000,10,2550,3044
$GC,101,-0.47,-146.0,2.4,-2.6,9,128,9.50,1.58,-8.57,0.000,4,0.205,0.037,2544,1414,3469
$GC,258,-0.47,-146.0,44.2,-20.4,28,261,0.00,1.60,0.00,0.000,6,0.000,0.038,2537,2475,3470
$GC,530,-0.47,-146.0,104.7,-17.2,53,534,0.00,1.67,0.00,0.000,4,0.000,0.045,2529,3570,3471
$GC,581,-0.47,-146.0,113.5,-16.8,57,585,0.00,1.52,0.00,0.000,6,0.000,0.020,2529,2497,3471
$GC,854,-0.47,-146.0,162.8,-18.0,82,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2489,3471
$GC,1140,-0.47,-146.0,207.4,-14.8,106,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2489,3472
$GC,1385,-0.47,-146.0,240.2,-13.2,112,1388,0.00,1.45,0.00,0.000,4,0.000,0.020,2529,1440,3471
$GC,1437,-0.47,-146.0,247.7,-12.2,113,1440,0.00,1.62,0.00,0.000,6,0.000,0.038,2523,2532,3471
$GC,1725,-0.47,-146.0,284.2,-12.8,120,1728,0.00,1.55,0.00,0.000,4,0.000,0.046,2517,3558,3471
$GC,1806,-0.47,-146.0,295.2,-12.9,121,1810,0.08,1.45,0.00,0.000,6,0.118,0.021,2543,2519,3471
$GC,2065,-0.47,-146.0,322.6,-10.4,128,2069,0.00,1.45,0.00,0.000,4,0.000,0.021,2544,1460,3469
$GC,2107,-0.47,-146.0,327.0,-9.0,128,2115,0.00,1.62,0.00,0.000,6,0.000,0.041,2539,2528,3469
$GC,2361,-0.47,-146.0,352.6,-10.2,135,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2528,3467
$GC,2605,-0.47,-146.0,376.8,-9.8,141,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2528,3466
$GC,2849,-0.47,-146.0,399.3,-9.1,147,2852,0.00,1.58,0.00,0.000,4,0.000,0.048,2531,3561,3463
$GC,2908,-0.47,-146.0,405.0,-8.6,148,2911,0.00,1.45,0.00,0.000,6,0.000,0.022,2531,2538,3464
$GC,3191,-0.47,-146.0,431.3,-9.5,155,3194,0.00,1.50,0.00,0.000,4,0.000,0.021,2531,1454,3461
$GC,3287,-0.47,-146.0,440.0,-8.3,157,3291,0.00,1.62,0.00,0.000,6,0.000,0.042,2524,2515,3461
$GC,3581,-0.47,-146.0,468.6,-9.8,164,3584,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3554,3458
$GC,3631,-0.47,-146.0,473.3,-9.4,165,3635,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2527,3457
$GC,3926,-0.47,-146.0,501.4,-9.6,172,3930,0.00,1.50,0.00,0.000,4,0.000,0.024,2523,1453,3455
$GC,3977,-0.47,-146.0,506.3,-8.6,173,3980,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2524,3455
$GC,4271,-0.47,-146.0,533.8,-9.4,180,4274,0.00,1.60,0.00,0.000,4,0.000,0.053,2522,3580,3453
$GC,4302,-0.47,-146.0,537.3,-10.2,180,4306,0.00,1.50,0.00,0.000,6,0.000,0.025,2522,2536,3452
$GC,4570,-0.47,-146.0,562.1,-9.5,187,4573,0.00,1.60,0.00,0.000,4,0.000,0.051,2514,3573,3451
$GC,4599,-0.47,-146.0,565.6,-10.0,187,4604,0.08,1.48,0.00,0.000,6,0.108,0.025,2543,2536,3450
$GC,4865,-0.47,-146.0,585.3,-7.4,194,4868,0.00,1.52,0.00,0.000,4,0.000,0.025,2544,1452,3448
$GC,4922,-0.47,-146.0,589.6,-6.5,195,4926,0.00,1.65,0.00,0.000,6,0.000,0.045,2538,2540,3448
$GC,5206,-0.47,-146.0,609.3,-7.0,202,5210,0.00,1.58,0.00,0.000,4,0.000,0.054,2531,3559,3445
$GC,5244,-0.47,-146.0,612.3,-7.2,202,5247,0.00,1.48,0.00,0.000,6,0.000,0.026,2531,2536,3445
$GC,5504,-0.47,-146.0,632.6,-8.0,209,5508,0.00,1.60,0.00,0.000,4,0.000,0.053,2524,3567,3443
$GC,5540,-0.47,-146.0,635.8,-8.2,209,5543,0.00,1.48,0.00,0.000,6,0.000,0.026,2524,2545,3443
$GC,5800,-0.47,-146.0,657.3,-8.4,216,5804,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1445,3442
$GC,5825,-0.47,-146.0,659.8,-9.0,216,5829,0.00,1.73,0.00,0.000,6,0.000,0.048,2524,2554,3442
$GC,6098,-0.47,-146.0,682.5,-8.6,223,6101,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3562,3440
$GC,6128,-0.47,-146.0,685.5,-8.3,223,6131,0.00,1.45,0.00,0.000,6,0.000,0.027,2524,2557,3440
$GC,6394,-0.47,-146.0,706.8,-8.2,230,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2548,3439
$GC,6637,-0.47,-146.0,725.9,-7.8,236,6641,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1471,3438
$GC,6718,-0.47,-146.0,732.6,-8.1,237,6721,0.00,1.67,0.00,0.000,6,0.000,0.050,2523,2563,3437
$GC,6979,-0.47,-146.0,751.7,-7.4,244,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2562,3436
$GC,7224,-0.47,-146.0,768.9,-7.0,250,7227,0.00,1.55,0.00,0.000,4,0.000,0.058,2523,3553,3435
$GC,7260,-0.47,-146.0,771.8,-7.0,250,7264,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2552,3434
$GC,7520,-0.47,-146.0,790.9,-7.5,257,7524,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1456,3433
$GC,7616,-0.47,-146.0,798.2,-7.2,259,7620,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2538,3433
$GC,7910,-0.47,-146.0,821.5,-7.9,266,7914,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3557,3431
$GC,7934,-0.47,-146.0,823.8,-8.2,266,7938,0.00,1.50,0.00,0.000,6,0.000,0.029,2523,2530,3431
$GC,8206,-0.47,-146.0,843.2,-7.2,273,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3430
$GC,8450,-0.47,-146.0,860.1,-6.9,279,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2522,3430
$GC,8694,-0.47,-146.0,876.7,-6.9,285,8697,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3562,3429
$GC,8724,-0.47,-146.0,879.2,-7.8,285,8728,0.00,1.50,0.00,0.000,6,0.000,0.029,2523,2538,3429
$GC,8991,-0.47,-146.0,897.7,-7.2,292,8994,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1455,3428
$STATE,9016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9016,begin apogee
$GC,9028,-0.18,0.0,900.1,7.6,292,9152,0.32,0.00,120.90,1.260,6,0.099,0.000,2640,2228,2871
$STATE,9153,end apogee,CONTROL_FINISHED_OK
$STATE,9153,begin climb
$GC,9158,0.47,146.0,903.4,0.0,295,9327,0.57,1.73,141.07,1.170,4,0.055,0.028,2865,1166,2273
$GC,9345,0.47,146.0,885.3,16.6,299,9349,0.00,1.75,0.00,0.000,6,0.000,0.043,2865,2222,2270
$GC,9628,0.47,146.0,832.4,19.2,306,9631,0.00,1.67,0.00,0.000,4,0.000,0.050,2863,3292,2263
$GC,9697,0.47,146.0,817.8,19.5,307,9701,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2223,2262
$GC,9968,0.47,146.0,766.2,18.9,314,9972,0.00,1.58,0.00,0.000,4,0.000,0.030,2877,1154,2261
$GC,10019,0.47,146.0,756.9,18.3,315,10022,0.00,1.67,0.00,0.000,6,0.000,0.044,2877,2232,2260
$GC,10313,0.47,146.0,701.3,18.7,322,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2232,2259
$GC,10558,0.47,146.0,658.5,17.2,328,10562,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3291,2259
$GC,10601,0.47,146.0,650.5,17.4,328,10609,0.08,1.62,0.00,0.000,6,0.195,0.028,2861,2204,2259
$GC,10855,0.47,146.0,613.9,14.2,335,10859,0.00,1.70,0.00,0.000,4,0.000,0.050,2860,3287,2258
$GC,10896,0.47,146.0,607.1,15.7,335,10904,0.00,1.58,0.00,0.000,6,0.000,0.028,2867,2229,2257
$GC,11151,0.47,146.0,568.4,15.3,342,11154,0.00,1.65,0.00,0.000,4,0.000,0.049,2864,3284,2257
$GC,11186,0.47,146.0,561.7,17.8,342,11190,0.00,1.52,0.00,0.000,6,0.000,0.029,2869,2269,2257
$GC,11448,0.47,146.0,519.7,16.4,349,11451,0.00,1.62,0.00,0.000,4,0.000,0.031,2877,1136,2257
$GC,11472,0.47,146.0,515.1,15.9,349,11475,0.00,1.75,0.00,0.000,6,0.000,0.044,2877,2255,2256
$GC,11743,0.47,146.0,469.6,17.1,356,11746,0.00,1.62,0.00,0.000,4,0.000,0.028,2884,1129,2256
$GC,11767,0.47,146.0,464.9,16.6,356,11771,0.12,1.70,0.00,0.000,6,0.168,0.043,2852,2241,2256
$GC,12038,0.47,146.0,426.3,14.1,363,12041,0.00,1.60,0.00,0.000,4,0.000,0.049,2852,3284,2255
$GC,12124,0.47,146.0,413.3,13.7,364,12133,0.00,1.52,0.00,0.000,6,0.000,0.028,2858,2263,2255
$GC,12379,0.47,146.0,379.6,13.4,371,12383,0.00,1.62,0.00,0.000,4,0.000,0.031,2860,1152,2255
$GC,12475,0.47,146.0,368.4,12.1,373,12479,0.00,1.70,0.00,0.000,6,0.000,0.042,2860,2246,2255
$GC,12768,0.47,146.0,331.4,12.2,380,12772,0.00,1.60,0.00,0.000,4,0.000,0.049,2860,3279,2255
$GC,12865,0.47,146.0,318.3,14.1,382,12868,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2237,2255
$GC,13158,0.47,146.0,280.2,12.5,389,13162,0.00,1.65,0.00,0.000,4,0.000,0.047,2863,3282,2256
$GC,13227,0.47,146.0,270.9,12.4,390,13231,0.00,1.50,0.00,0.000,6,0.000,0.027,2869,2265,2255
$GC,13499,0.47,146.0,239.5,11.3,397,13503,0.00,1.60,0.00,0.000,4,0.000,0.046,2863,3282,2256
$GC,13646,0.47,146.0,221.4,12.1,400,13650,0.00,1.45,0.00,0.000,6,0.000,0.026,2869,2292,2255
$GC,13910,0.47,146.0,194.2,10.6,408,13913,0.00,1.55,0.00,0.000,4,0.000,0.045,2863,3280,2255
$GC,13927,0.47,146.0,192.2,11.3,409,13931,0.00,1.48,0.00,0.000,6,0.000,0.026,2869,2282,2255
$GC,14199,0.47,154.8,164.3,9.7,434,14212,0.00,1.60,5.55,0.598,4,0.000,0.027,2873,1168,2239
$GC,14409,0.48,171.6,144.8,9.4,452,14436,0.00,1.67,16.15,0.685,6,0.000,0.038,2873,2283,2169
$GC,14697,0.48,171.6,115.8,10.6,478,14701,0.00,1.52,0.00,0.000,4,0.000,0.044,2873,3281,2168
$GC,14839,0.48,171.6,98.5,11.3,490,14843,0.00,1.45,0.00,0.000,6,0.000,0.024,2880,2286,2167
$GC,15112,0.50,223.8,71.8,8.0,515,15168,0.00,1.67,43.88,0.619,4,0.000,0.025,2886,1160,1955
$GC,15302,0.53,299.3,55.5,7.2,530,15371,0.00,1.70,60.60,0.596,6,0.000,0.035,2886,2284,1648
$GC,15641,0.53,299.3,20.7,10.6,566,15650,0.00,1.52,0.00,0.000,4,0.000,0.039,2886,3282,1644
$GC,15693,0.53,299.3,14.5,12.1,573,15702,0.00,1.52,0.00,0.000,6,0.000,0.023,2886,2242,1643
$STATE,15807,end climb,SURFACE_DEPTH_REACHED
$STATE,15808,begin surface coast
$FINISH,0.3,1.023052
$STATE,15844,end surface coast,CONTROL_FINISHED_OK
$STATE,15845,begin surface
$SM_CCo,15869,36.67,0.538,0,0,1279,390.02
$SM_GC,1.41,0.00,0.00,36.67,0.000,0.000,0.538,30,2568,1279,-8.34,1.92,390.02
$IRIDIUM_FIX,2253.38,-15802.79,301202,222213
$TT8_MAMPS,0.023777
$HUMID,2198
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,3
$24V_AH,24.0,18.000
$10V_AH,10.7,18.883
$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,17.975,126.425,388.150,36.675,0.000,30.436,33.417,359.949,0.750,0.000,0.000,11.629,1329.126,10549.837,458.984,3147.454,1048.551,33.375,1504.446,0.000,3148.574,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,59.059,1260.181,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,406.439,1963.500,2024.792,267.299,1292.015,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50794,596
$CAP_FILE_SIZE,132661,0
$CFSIZE,260165632,251555840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,061013,072359,2259.001,-15759.398,68,0.9,68,10.1