version: 66.04
glider: 512
mission: 4
dive: 110
start: 10 6 113 7 55 38
data:
$ID,512
$MISSION,4
$DIVE,110
$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,-108720.73
$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,71
$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,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
$GPS1,072359,2259.001,-15759.398,68,0.9,68,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.7
$GPS2,075424,2259.450,-15759.156,15,1.5,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,-0.261
$KALMAN_X,41272.5,67.4,-83.4,-39728.8,1821.0
$KALMAN_Y,7227.0,176.9,812.3,20237.0,588.1
$MHEAD_RNG_PITCHd_Wd,146.2,53142,-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,13,begin dive
$GC,18,-0.47,-146.0,0.0,0.0,0,86,0.00,0.00,-65.70,0.000,2,0.000,0.000,10,2562,2835
$GC,92,-0.47,-146.0,2.2,-1.9,8,127,9.38,1.60,-14.93,0.000,4,0.200,0.039,2548,1448,3488
$GC,176,-0.47,-146.0,22.1,-23.5,19,185,0.00,1.62,0.00,0.000,6,0.000,0.038,2542,2502,3489
$GC,448,-0.47,-146.0,91.8,-22.2,46,452,0.00,1.60,0.00,0.000,4,0.000,0.043,2534,3583,3489
$GC,511,-0.47,-146.0,103.0,-15.6,51,515,0.00,1.58,0.00,0.000,6,0.000,0.018,2534,2483,3489
$GC,782,-0.47,-146.0,151.8,-19.0,76,785,0.00,1.67,0.00,0.000,4,0.000,0.041,2527,3568,3489
$GC,898,-0.47,-146.0,171.7,-15.3,86,902,0.00,1.52,0.00,0.000,6,0.000,0.018,2526,2484,3489
$GC,1196,-0.47,-146.0,219.1,-15.6,105,1199,0.00,1.40,0.00,0.000,4,0.000,0.019,2527,1451,3489
$GC,1236,-0.47,-146.0,225.3,-12.6,105,1246,0.00,1.58,0.00,0.000,6,0.000,0.038,2524,2486,3489
$GC,1493,-0.47,-146.0,258.5,-12.9,112,1497,0.00,1.60,0.00,0.000,4,0.000,0.046,2515,3564,3488
$GC,1556,-0.47,-146.0,267.8,-12.7,113,1561,0.08,1.52,0.00,0.000,6,0.125,0.019,2543,2468,3488
$GC,1833,-0.47,-146.0,296.8,-10.1,120,1837,0.00,1.67,0.00,0.000,4,0.000,0.043,2536,3569,3487
$GC,1929,-0.47,-146.0,306.0,-8.7,122,1933,0.00,1.50,0.00,0.000,6,0.000,0.020,2536,2508,3486
$GC,2223,-0.47,-146.0,336.7,-10.7,129,2227,0.00,1.45,0.00,0.000,4,0.000,0.020,2536,1445,3484
$GC,2259,-0.47,-146.0,341.0,-10.9,129,2263,0.00,1.60,0.00,0.000,6,0.000,0.039,2528,2520,3484
$GC,2520,-0.47,-146.0,370.5,-11.7,136,2524,0.00,1.58,0.00,0.000,4,0.000,0.048,2523,3555,3481
$GC,2570,-0.47,-146.0,376.5,-11.4,137,2574,0.00,1.50,0.00,0.000,6,0.000,0.022,2523,2505,3481
$GC,2865,-0.47,-146.0,409.7,-11.0,144,2868,0.00,1.45,0.00,0.000,4,0.000,0.022,2524,1452,3478
$GC,2883,-0.47,-146.0,412.3,-10.9,144,2887,0.00,1.58,0.00,0.000,6,0.000,0.041,2523,2485,3478
$GC,3161,-0.47,-146.0,440.7,-10.5,151,3165,0.00,1.62,-0.08,0.000,4,0.000,0.069,2523,3560,3498
$GC,3257,-0.47,-146.0,450.8,-10.0,153,3261,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2510,3498
$GC,3546,-0.47,-146.0,479.8,-10.2,160,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2502,3496
$GC,3792,-0.47,-146.0,504.3,-9.9,166,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2502,3494
$GC,4035,-0.47,-146.0,527.7,-9.5,172,4039,0.00,1.48,0.00,0.000,4,0.000,0.023,2523,1451,3492
$GC,4065,-0.47,-146.0,531.2,-9.9,172,4069,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2522,3491
$GC,4332,-0.47,-146.0,555.0,-8.9,179,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2522,3489
$GC,4575,-0.47,-146.0,575.9,-8.5,185,4579,0.00,1.60,0.00,0.000,4,0.000,0.054,2522,3558,3487
$GC,4616,-0.47,-146.0,579.7,-8.6,185,4624,0.00,1.50,0.00,0.000,6,0.000,0.025,2522,2509,3487
$GC,4871,-0.47,-146.0,602.4,-9.2,192,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2509,3485
$GC,5114,-0.47,-146.0,626.2,-9.7,198,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2509,3483
$GC,5358,-0.47,-146.0,649.5,-9.6,204,5362,0.00,1.48,0.00,0.000,4,0.000,0.025,2522,1464,3481
$GC,5399,-0.47,-146.0,653.8,-9.6,204,5407,0.08,1.62,0.00,0.000,6,0.106,0.044,2544,2517,3481
$GC,5655,-0.47,-146.0,672.5,-7.3,211,5659,0.00,1.60,0.00,0.000,4,0.000,0.054,2537,3569,3478
$GC,5685,-0.47,-146.0,675.1,-7.8,211,5689,0.00,1.50,0.00,0.000,6,0.000,0.027,2538,2530,3478
$GC,5951,-0.47,-146.0,694.2,-7.1,218,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2521,3477
$GC,6195,-0.47,-146.0,711.6,-7.1,224,6198,0.00,1.50,0.00,0.000,4,0.000,0.027,2538,1462,3476
$GC,6252,-0.47,-146.0,716.0,-7.0,225,6256,0.00,1.62,0.00,0.000,6,0.000,0.048,2537,2527,3476
$GC,6537,-0.47,-146.0,736.3,-7.3,232,6540,0.00,1.60,0.00,0.000,4,0.000,0.058,2537,3569,3474
$GC,6574,-0.47,-146.0,739.1,-7.2,232,6578,0.00,1.50,0.00,0.000,6,0.000,0.028,2536,2533,3474
$GC,6834,-0.47,-146.0,756.3,-6.5,239,6838,0.00,1.52,0.00,0.000,4,0.000,0.027,2537,1455,3472
$GC,6859,-0.47,-146.0,758.2,-6.8,239,6862,0.00,1.65,0.00,0.000,6,0.000,0.050,2537,2532,3472
$GC,7131,-0.47,-146.0,774.0,-5.8,246,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2532,3471
$GC,7374,-0.47,-146.0,787.8,-5.6,252,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2532,3469
$GC,7618,-0.47,-146.0,801.9,-5.8,258,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2532,3468
$GC,7862,-0.47,-146.0,816.3,-5.9,264,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2532,3468
$GC,8105,-0.47,-146.0,831.6,-6.4,270,8109,0.00,1.60,0.00,0.000,4,0.000,0.058,2535,3571,3466
$GC,8157,-0.47,-146.0,835.1,-6.5,271,8160,0.00,1.55,0.00,0.000,6,0.000,0.029,2535,2513,3466
$GC,8451,-0.47,-146.0,854.1,-6.5,278,8455,0.00,1.50,0.00,0.000,4,0.000,0.028,2535,1465,3465
$GC,8501,-0.47,-146.0,857.3,-6.5,279,8505,0.00,1.62,0.00,0.000,6,0.000,0.048,2528,2524,3465
$GC,8796,-0.47,-146.0,877.5,-6.9,286,8800,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3560,3464
$GC,8838,-0.47,-146.0,880.7,-6.9,286,8846,0.00,1.52,0.00,0.000,6,0.000,0.029,2523,2512,3464
$GC,9093,-0.47,-146.0,898.5,-7.1,293,9097,0.00,1.50,0.00,0.000,4,0.000,0.028,2524,1475,3463
$STATE,9107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9107,begin apogee
$GC,9119,-0.18,0.0,900.2,7.4,293,9246,0.30,0.00,124.22,1.259,6,0.100,0.000,2633,2234,2890
$STATE,9247,end apogee,CONTROL_FINISHED_OK
$STATE,9247,begin climb
$GC,9252,0.47,146.0,903.6,0.0,296,9401,0.57,1.67,137.12,1.202,4,0.035,0.028,2880,1180,2294
$GC,9463,0.47,146.0,880.6,17.9,300,9466,0.00,1.67,0.00,0.000,6,0.000,0.041,2878,2224,2287
$GC,9724,0.47,146.0,828.3,20.7,307,9727,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3296,2282
$GC,9781,0.47,146.0,815.3,21.3,308,9786,0.10,1.58,0.00,0.000,6,0.193,0.027,2854,2263,2281
$GC,10064,0.47,146.0,762.5,18.7,315,10067,0.00,1.62,0.00,0.000,4,0.000,0.030,2861,1145,2280
$GC,10159,0.47,146.0,745.4,17.9,317,10163,0.00,1.65,0.00,0.000,6,0.000,0.044,2861,2208,2279
$GC,10453,0.47,146.0,690.3,18.9,324,10457,0.00,1.65,0.00,0.000,4,0.000,0.051,2861,3279,2278
$GC,10535,0.47,146.0,673.3,19.2,325,10538,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2198,2277
$GC,10795,0.47,146.0,627.1,17.6,332,10798,0.00,1.52,0.00,0.000,4,0.000,0.031,2872,1163,2277
$GC,10845,0.47,146.0,618.4,17.2,333,10848,0.00,1.62,0.00,0.000,6,0.000,0.044,2873,2217,2277
$GC,11140,0.47,146.0,568.9,16.9,340,11143,0.00,1.65,0.00,0.000,4,0.000,0.052,2873,3294,2276
$GC,11203,0.47,146.0,557.3,17.1,341,11207,0.10,1.60,0.00,0.000,6,0.181,0.027,2852,2222,2276
$GC,11479,0.47,146.0,518.8,13.5,348,11483,0.00,1.55,0.00,0.000,4,0.000,0.030,2858,1158,2276
$GC,11555,0.47,146.0,509.0,11.8,349,11558,0.00,1.62,0.00,0.000,6,0.000,0.043,2858,2220,2276
$GC,11820,0.47,146.0,473.1,13.7,356,11824,0.00,1.65,0.00,0.000,4,0.000,0.051,2858,3281,2275
$GC,11906,0.47,146.0,460.0,13.7,357,11915,0.00,1.55,0.00,0.000,6,0.000,0.028,2866,2246,2274
$GC,12162,0.47,146.0,423.3,14.7,364,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2240,2275
$GC,12406,0.47,146.0,386.0,15.2,370,12410,0.00,1.62,0.00,0.000,4,0.000,0.049,2864,3291,2275
$GC,12442,0.47,146.0,379.9,14.5,370,12446,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2246,2274
$GC,12702,0.47,146.0,346.6,12.8,377,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2240,2274
$GC,12945,0.47,146.0,315.0,13.1,383,12949,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1161,2275
$GC,12996,0.47,146.0,308.8,12.3,384,13000,0.00,1.73,0.00,0.000,6,0.000,0.042,2877,2292,2275
$GC,13292,0.47,146.0,272.3,12.1,391,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2292,2274
$GC,13536,0.47,146.0,244.4,11.3,397,13537,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2292,2274
$GC,13780,0.47,146.0,213.5,12.9,403,13783,0.00,1.52,0.00,0.000,4,0.000,0.048,2876,3285,2274
$GC,13930,0.47,146.0,193.6,13.5,407,13934,0.00,1.50,0.00,0.000,6,0.000,0.025,2881,2261,2274
$GC,14207,0.47,146.0,162.9,11.6,432,14211,0.12,1.55,0.00,0.000,4,0.174,0.025,2855,1159,2274
$GC,14304,0.49,204.6,153.9,7.8,440,14355,0.00,1.67,46.38,0.723,6,0.000,0.039,2855,2253,2055
$GC,14624,0.49,204.6,122.6,10.8,469,14627,0.00,1.60,0.00,0.000,4,0.000,0.026,2856,1159,2049
$GC,14698,0.51,240.3,115.7,8.7,475,14738,0.00,1.60,29.52,0.666,6,0.000,0.038,2856,2213,1908
$GC,14996,0.51,240.3,84.2,11.0,502,14999,0.00,1.62,0.00,0.000,4,0.000,0.042,2857,3292,1905
$GC,15048,0.51,240.3,78.7,10.2,506,15051,0.00,1.60,0.00,0.000,6,0.000,0.023,2860,2185,1905
$GC,15325,0.55,355.0,59.3,5.7,531,15424,0.00,0.00,91.07,0.609,6,0.000,0.000,2859,2178,1440
$GC,15683,0.60,468.8,37.2,5.7,565,15778,0.00,1.48,88.43,0.577,4,0.000,0.023,2859,1167,978
$GC,15797,0.66,627.6,31.8,4.0,574,15913,0.17,1.60,110.30,0.558,6,0.160,0.032,2909,2205,398
$STATE,16031,end climb,SURFACE_DEPTH_REACHED
$STATE,16031,begin surface coast
$FINISH,0.2,1.023154
$STATE,16058,end surface coast,CONTROL_FINISHED_OK
$STATE,16058,begin surface
$SM_CCo,16144,0.00,0.000,0,0,393,612.26
$SM_GC,1.19,7.38,0.00,0.00,0.022,0.000,0.000,40,2555,393,-8.24,1.55,612.26
$IRIDIUM_FIX,2253.38,-15757.57,311202,070746
$TT8_MAMPS,0.023777
$HUMID,2187
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,26.00
$XPDR_PINGS,4
$24V_AH,24.0,18.234
$10V_AH,10.6,19.098
$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,18.275,113.625,627.050,0.000,0.000,120.703,237.132,1078.834,1.000,0.000,0.000,15.166,1293.713,10948.069,528.620,3129.032,2079.549,33.368,1625.962,0.000,3138.306,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,69.030,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.530,2004.607,2077.414,248.850,1372.009,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54208,609
$CAP_FILE_SIZE,139582,0
$CFSIZE,260165632,251473920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061013,122606,2257.923,-15757.630,41,1.0,41,10.1