version: 66.04
glider: 512
mission: 4
dive: 113
start: 10 6 113 22 47 5
data:
$ID,512
$MISSION,4
$DIVE,113
$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,-108785.44
$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,77
$R_STBD_OVSHOOT,30
$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
$GPS1,221424,2255.846,-15755.410,41,1.3,41,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.2
$GPS2,224548,2255.915,-15755.254,18,1.3,33,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.253
$KALMAN_X,43468.5,-213.2,579.9,-35647.1,-6.3
$KALMAN_Y,16056.7,1.5,244.1,5616.3,2009.3
$MHEAD_RNG_PITCHd_Wd,142.4,43804,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-82.25,0.000,2,0.000,0.000,10,2571,3017
$GC,108,-0.47,-146.0,2.3,-2.2,10,135,9.45,1.60,-9.80,0.000,4,0.205,0.038,2546,1451,3487
$GC,219,-0.47,-146.0,33.1,-21.3,25,222,0.00,1.60,0.00,0.000,6,0.000,0.038,2540,2513,3488
$GC,490,-0.47,-146.0,97.3,-21.6,50,494,0.00,1.60,0.00,0.000,4,0.000,0.047,2532,3581,3488
$GC,623,-0.47,-146.0,122.1,-15.4,61,631,0.00,1.48,0.00,0.000,6,0.000,0.018,2532,2537,3488
$GC,889,-0.47,-146.0,165.4,-16.0,86,893,0.00,1.58,0.00,0.000,4,0.000,0.042,2525,3561,3488
$GC,938,-0.47,-146.0,173.4,-16.2,90,942,0.00,1.42,0.00,0.000,6,0.000,0.018,2525,2543,3488
$GC,1237,-0.47,-146.0,220.0,-15.3,109,1241,0.00,1.48,0.00,0.000,4,0.000,0.020,2525,1463,3488
$GC,1362,-0.47,-146.0,237.0,-11.9,111,1365,0.00,1.65,0.00,0.000,6,0.000,0.038,2523,2570,3488
$GC,1623,-0.47,-146.0,272.3,-13.8,118,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2570,3487
$GC,1868,-0.47,-146.0,302.7,-12.3,124,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2570,3485
$GC,2111,-0.47,-146.0,332.7,-12.4,130,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2570,3484
$GC,2355,-0.47,-146.0,362.2,-12.0,136,2359,0.00,1.50,0.00,0.000,4,0.000,0.048,2516,3561,3482
$GC,2412,-0.47,-146.0,369.5,-11.3,137,2416,0.00,1.38,0.00,0.000,6,0.000,0.021,2517,2585,3481
$GC,2696,-0.47,-146.0,402.7,-12.0,144,2699,0.00,1.55,0.00,0.000,4,0.000,0.022,2517,1466,3478
$GC,2791,-0.47,-146.0,413.2,-10.1,146,2795,0.12,1.62,0.00,0.000,6,0.126,0.040,2548,2552,3478
$GC,3086,-0.47,-146.0,437.0,-8.0,153,3087,0.00,0.00,-0.08,0.000,6,0.000,0.000,2548,2552,3498
$GC,3329,-0.47,-146.0,456.7,-8.2,159,3333,0.00,1.55,0.00,0.000,4,0.000,0.024,2548,1468,3497
$GC,3348,-0.47,-146.0,458.6,-8.3,159,3352,0.00,1.65,0.00,0.000,6,0.000,0.044,2548,2539,3497
$GC,3627,-0.47,-146.0,480.5,-8.1,166,3630,0.00,1.58,0.00,0.000,4,0.000,0.052,2543,3561,3494
$GC,3690,-0.47,-146.0,486.0,-8.1,167,3694,0.00,1.42,0.00,0.000,6,0.000,0.025,2543,2552,3494
$GC,3968,-0.47,-146.0,509.4,-8.7,174,3971,0.00,1.52,0.00,0.000,4,0.000,0.025,2543,1459,3491
$GC,4038,-0.47,-146.0,515.6,-8.5,175,4042,0.00,1.65,0.00,0.000,6,0.000,0.045,2537,2548,3491
$GC,4309,-0.47,-146.0,536.7,-7.8,182,4313,0.00,1.58,0.00,0.000,4,0.000,0.054,2530,3568,3488
$GC,4360,-0.47,-146.0,540.5,-7.6,183,4363,0.00,1.45,0.00,0.000,6,0.000,0.025,2530,2552,3488
$GC,4655,-0.47,-146.0,562.2,-7.3,190,4659,0.00,1.52,0.00,0.000,4,0.000,0.025,2529,1464,3485
$GC,4697,-0.47,-146.0,565.7,-7.3,190,4705,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2532,3485
$GC,4952,-0.47,-146.0,585.7,-8.1,197,4955,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3582,3483
$GC,4976,-0.47,-146.0,588.2,-8.9,197,4980,0.00,1.48,0.00,0.000,6,0.000,0.026,2522,2552,3483
$GC,5248,-0.47,-146.0,611.9,-9.1,204,5252,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1470,3482
$GC,5300,-0.47,-146.0,616.8,-8.9,205,5304,0.12,1.62,0.00,0.000,6,0.113,0.046,2552,2538,3481
$GC,5594,-0.47,-146.0,636.7,-6.5,212,5598,0.00,1.60,0.00,0.000,4,0.000,0.058,2549,3562,3478
$GC,5635,-0.47,-146.0,639.7,-6.6,212,5643,0.00,1.45,0.00,0.000,6,0.000,0.026,2549,2541,3478
$GC,5890,-0.47,-146.0,655.8,-6.4,219,5894,0.00,1.52,0.00,0.000,4,0.000,0.027,2549,1469,3477
$GC,5931,-0.47,-146.0,658.7,-6.5,219,5941,0.00,1.65,0.00,0.000,6,0.000,0.048,2549,2529,3476
$GC,6189,-0.47,-146.0,672.8,-5.6,226,6192,0.00,1.60,0.00,0.000,4,0.000,0.057,2543,3574,3476
$GC,6239,-0.47,-146.0,675.8,-6.2,227,6242,0.00,1.48,0.00,0.000,6,0.000,0.027,2543,2545,3475
$GC,6533,-0.47,-146.0,695.0,-6.6,234,6537,0.00,1.52,0.00,0.000,4,0.000,0.026,2543,1475,3473
$GC,6609,-0.47,-146.0,700.4,-6.5,235,6613,0.00,1.62,0.00,0.000,6,0.000,0.048,2537,2538,3473
$GC,6875,-0.47,-146.0,719.8,-7.5,242,6879,0.00,1.60,0.00,0.000,4,0.000,0.058,2531,3562,3471
$GC,6927,-0.47,-146.0,724.2,-8.1,243,6930,0.00,1.48,0.00,0.000,6,0.000,0.028,2531,2540,3471
$GC,7217,-0.47,-146.0,747.0,-8.1,250,7220,0.00,1.52,0.00,0.000,4,0.000,0.026,2530,1469,3470
$GC,7247,-0.47,-146.0,749.9,-8.2,250,7251,0.00,1.67,0.00,0.000,6,0.000,0.048,2524,2540,3470
$GC,7513,-0.47,-146.0,772.1,-8.5,257,7516,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3578,3468
$GC,7543,-0.47,-146.0,775.0,-8.5,257,7546,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2533,3468
$GC,7809,-0.47,-146.0,794.8,-7.4,264,7813,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1460,3467
$GC,7834,-0.47,-146.0,796.9,-7.4,264,7837,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2530,3466
$GC,8106,-0.47,-146.0,815.0,-6.8,271,8110,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3568,3466
$GC,8157,-0.47,-146.0,818.6,-6.5,272,8160,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2543,3465
$GC,8451,-0.47,-146.0,838.3,-6.8,279,8455,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1457,3464
$GC,8487,-0.47,-146.0,841.1,-7.4,279,8491,0.00,1.70,0.00,0.000,6,0.000,0.051,2523,2557,3464
$GC,8749,-0.47,-146.0,858.3,-6.7,286,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3464
$GC,8994,-0.47,-146.0,875.0,-6.9,292,8997,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1436,3462
$GC,9018,-0.47,-146.0,877.1,-7.2,292,9022,0.00,1.73,0.00,0.000,6,0.000,0.051,2523,2554,3463
$GC,9290,-0.47,-146.0,895.7,-6.9,299,9293,0.00,1.60,0.00,0.000,4,0.000,0.061,2523,3567,3461
$GC,9314,-0.47,-146.0,897.7,-7.2,299,9317,0.00,1.50,0.00,0.000,6,0.000,0.029,2524,2542,3461
$STATE,9379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9379,begin apogee
$GC,9390,-0.18,0.0,902.4,7.0,301,9518,0.35,0.00,124.75,1.260,6,0.095,0.000,2644,2215,2890
$STATE,9518,end apogee,CONTROL_FINISHED_OK
$STATE,9519,begin climb
$GC,9524,0.47,146.0,906.3,0.0,304,9673,0.52,1.65,137.52,1.203,4,0.031,0.029,2884,1187,2294
$GC,9751,0.47,146.0,881.8,18.8,309,9755,0.15,1.67,0.00,0.000,6,0.171,0.043,2848,2233,2286
$GC,10045,0.47,146.0,831.7,16.8,316,10049,0.00,1.65,0.00,0.000,4,0.000,0.048,2847,3291,2283
$GC,10082,0.47,146.0,824.9,17.9,316,10086,0.00,1.60,0.00,0.000,6,0.000,0.027,2854,2222,2282
$GC,10342,0.47,146.0,780.9,16.8,323,10346,0.00,1.58,0.00,0.000,4,0.000,0.031,2857,1161,2281
$GC,10372,0.47,146.0,775.5,17.1,323,10376,0.00,1.67,0.00,0.000,6,0.000,0.043,2857,2243,2280
$GC,10638,0.47,146.0,732.3,16.3,330,10641,0.00,1.62,0.00,0.000,4,0.000,0.051,2857,3297,2279
$GC,10679,0.47,146.0,724.7,16.8,330,10688,0.00,1.60,0.00,0.000,6,0.000,0.027,2865,2231,2279
$GC,10936,0.47,146.0,683.2,16.6,337,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2225,2279
$GC,11179,0.47,146.0,642.7,16.7,343,11183,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3283,2278
$GC,11229,0.47,146.0,633.6,17.2,344,11233,0.00,1.58,0.00,0.000,6,0.000,0.029,2869,2237,2278
$GC,11523,0.47,146.0,584.5,16.5,351,11526,0.00,1.58,0.00,0.000,4,0.000,0.030,2877,1158,2278
$GC,11593,0.47,146.0,572.7,16.6,352,11596,0.00,1.65,0.00,0.000,6,0.000,0.044,2877,2234,2277
$GC,11864,0.47,146.0,527.2,17.0,359,11868,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3278,2277
$GC,11949,0.47,146.0,511.5,17.9,360,11959,0.12,1.52,0.00,0.000,6,0.177,0.028,2845,2255,2276
$GC,12205,0.47,146.0,475.1,14.2,367,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2249,2275
$GC,12450,0.47,146.0,443.3,12.9,373,12453,0.00,1.60,0.00,0.000,4,0.000,0.033,2847,1168,2276
$GC,12524,0.47,146.0,434.3,10.9,374,12528,0.00,1.73,0.00,0.000,6,0.000,0.044,2847,2296,2275
$GC,12790,0.47,146.0,404.2,11.1,381,12794,0.00,1.67,0.00,0.000,4,0.000,0.030,2846,1157,2275
$GC,12843,0.47,156.2,398.5,9.6,382,12854,0.00,1.70,6.95,0.815,6,0.000,0.043,2847,2271,2253
$GC,13126,0.47,156.2,367.1,11.6,389,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2270,2252
$GC,13369,0.47,156.2,337.0,12.4,395,13373,0.00,1.55,0.00,0.000,4,0.000,0.049,2846,3277,2251
$GC,13449,0.47,156.2,326.3,12.4,396,13453,0.00,1.50,0.00,0.000,6,0.000,0.026,2854,2258,2251
$GC,13710,0.47,156.2,295.2,12.0,403,13714,0.00,1.60,0.00,0.000,4,0.000,0.047,2855,3298,2251
$GC,13768,0.47,156.2,287.0,12.9,404,13771,0.00,1.48,0.00,0.000,6,0.000,0.025,2860,2303,2251
$GC,14050,0.47,156.2,252.5,12.3,411,14054,0.00,1.62,0.00,0.000,4,0.000,0.028,2868,1156,2251
$GC,14137,0.47,156.2,242.4,11.4,412,14145,0.00,1.73,0.00,0.000,6,0.000,0.041,2865,2274,2251
$GC,14391,0.47,156.2,215.3,10.6,419,14395,0.00,1.62,0.00,0.000,4,0.000,0.028,2870,1166,2251
$GC,14416,0.48,171.6,212.7,9.4,419,14439,0.00,1.65,14.12,0.747,6,0.000,0.041,2870,2255,2192
$GC,14691,0.48,171.6,182.2,12.8,435,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2255,2190
$GC,14958,0.48,171.6,151.5,12.4,460,14962,0.00,1.58,0.00,0.000,4,0.000,0.045,2870,3285,2191
$GC,15054,0.48,171.6,139.8,11.4,468,15058,0.00,1.58,0.00,0.000,6,0.000,0.024,2877,2214,2190
$GC,15327,0.48,171.6,110.7,11.2,493,15331,0.00,1.67,0.00,0.000,4,0.000,0.044,2877,3287,2190
$GC,15423,0.48,171.6,100.3,10.2,501,15427,0.00,1.50,0.00,0.000,6,0.000,0.023,2883,2255,2190
$GC,15696,0.48,171.6,72.7,11.5,526,15700,0.00,1.55,0.00,0.000,4,0.000,0.024,2891,1150,2190
$GC,15883,0.53,303.2,60.6,5.1,541,15995,0.00,1.73,106.57,0.610,6,0.000,0.036,2891,2309,1652
$GC,16255,0.53,303.2,25.2,12.5,576,16264,0.00,1.50,0.00,0.000,4,0.000,0.040,2891,3289,1646
$GC,16288,0.53,303.2,20.3,14.2,580,16298,0.00,1.48,0.00,0.000,6,0.000,0.021,2897,2279,1645
$STATE,16429,end climb,SURFACE_DEPTH_REACHED
$STATE,16429,begin surface coast
$FINISH,0.5,1.023036
$STATE,16460,end surface coast,CONTROL_FINISHED_OK
$STATE,16460,begin surface
$SM_CCo,16485,34.80,0.543,0,0,1299,390.02
$SM_GC,1.38,0.00,0.00,34.80,0.000,0.000,0.543,33,2540,1299,-8.31,1.13,390.02
$IRIDIUM_FIX,2248.70,-15831.04,311202,222207
$TT8_MAMPS,0.023777
$HUMID,2225
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,5
$24V_AH,24.0,18.816
$10V_AH,10.7,19.732
$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,18.125,133.550,389.925,34.800,0.000,108.787,166.032,1204.550,1.250,0.000,0.000,37.254,1363.325,11237.196,464.523,3214.341,2143.370,33.375,1525.718,0.000,3200.566,0.000,0.545,0.000
$DEVICE_MAMPS,204.789,60.593,1260.181,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,413.463,1996.459,2059.835,306.939,1296.936,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54120,606
$CAP_FILE_SIZE,152145,0
$CFSIZE,260165632,251252736
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071013,032354,2254.196,-15753.802,40,1.7,40,10.1