version: 66.04
glider: 512
mission: 4
dive: 114
start: 10 7 113 3 36 13
data:
$ID,512
$MISSION,4
$DIVE,114
$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,-108801.27
$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,57
$R_STBD_OVSHOOT,52
$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
$GPS1,032354,2254.196,-15753.802,40,1.7,40,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-82.2
$GPS2,033500,2254.216,-15753.828,15,1.8,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.036,-0.282
$KALMAN_X,44418.9,-80.6,-429.4,-33283.4,1791.3
$KALMAN_Y,18432.1,-126.6,-604.0,1070.4,3880.6
$MHEAD_RNG_PITCHd_Wd,177.2,39842,-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,19,-0.47,-146.0,0.0,0.0,0,95,0.00,0.00,-74.03,0.000,2,0.000,0.000,10,2532,3075
$GC,101,-0.47,-146.0,2.7,-3.4,9,127,9.45,0.00,-7.88,0.000,6,0.205,0.000,2533,2532,3487
$GC,396,-0.47,-146.0,88.6,-21.8,39,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2532,3489
$GC,661,-0.47,-146.0,138.9,-17.8,64,665,0.00,1.55,0.00,0.000,4,0.000,0.021,2533,1434,3490
$GC,689,-0.47,-146.0,143.6,-17.2,66,693,0.00,1.60,0.00,0.000,6,0.000,0.038,2527,2485,3490
$GC,961,-0.47,-146.0,189.0,-15.2,91,964,0.00,1.62,0.00,0.000,4,0.000,0.046,2520,3576,3490
$GC,1022,-0.47,-146.0,198.3,-13.8,96,1026,0.00,1.55,0.00,0.000,6,0.000,0.020,2520,2488,3490
$GC,1283,-0.47,-146.0,237.1,-14.9,103,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2480,3490
$GC,1528,-0.47,-146.0,270.3,-13.5,109,1531,0.00,1.42,0.00,0.000,4,0.000,0.021,2521,1449,3490
$GC,1552,-0.47,-146.0,274.1,-12.9,109,1556,0.12,1.60,0.00,0.000,6,0.125,0.037,2551,2526,3490
$GC,1823,-0.47,-146.0,300.7,-9.7,116,1827,0.00,1.58,0.00,0.000,4,0.000,0.048,2544,3561,3489
$GC,1875,-0.47,-146.0,306.0,-8.8,117,1878,0.00,1.50,0.00,0.000,6,0.000,0.021,2544,2499,3488
$GC,2165,-0.47,-146.0,332.8,-9.5,124,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2491,3487
$GC,2409,-0.47,-146.0,355.7,-9.3,130,2413,0.00,1.62,0.00,0.000,4,0.000,0.048,2537,3561,3485
$GC,2478,-0.47,-146.0,362.4,-8.7,131,2482,0.00,1.48,0.00,0.000,6,0.000,0.021,2537,2519,3484
$GC,2750,-0.47,-146.0,387.7,-9.5,138,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2512,3483
$GC,2993,-0.47,-146.0,411.0,-9.7,144,2997,0.00,1.48,0.00,0.000,4,0.000,0.022,2537,1456,3481
$GC,3058,-0.47,-146.0,417.5,-9.1,145,3061,0.00,1.65,0.00,0.000,6,0.000,0.044,2537,2550,3480
$GC,3335,-0.47,-146.0,443.8,-9.7,152,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2551,3479
$GC,3579,-0.47,-146.0,466.9,-9.3,158,3582,0.00,1.55,0.00,0.000,4,0.000,0.051,2529,3561,3476
$GC,3603,-0.47,-146.0,469.5,-9.2,158,3607,0.00,1.48,-0.05,0.000,6,0.000,0.023,2529,2530,3496
$GC,3874,-0.47,-146.0,494.0,-9.2,165,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2523,3494
$GC,4118,-0.47,-146.0,517.1,-9.6,171,4121,0.00,1.50,0.00,0.000,4,0.000,0.025,2529,1458,3493
$GC,4154,-0.47,-146.0,521.0,-9.3,171,4158,0.00,1.65,0.00,0.000,6,0.000,0.044,2524,2547,3493
$GC,4416,-0.47,-146.0,546.3,-9.9,178,4419,0.00,1.58,0.00,0.000,4,0.000,0.054,2523,3565,3491
$GC,4479,-0.47,-146.0,552.7,-9.4,179,4483,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2563,3490
$GC,4757,-0.47,-146.0,577.4,-8.9,186,4760,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1460,3489
$GC,4821,-0.47,-146.0,583.3,-8.7,187,4825,0.12,1.67,0.00,0.000,6,0.115,0.045,2552,2566,3488
$GC,5098,-0.47,-146.0,600.0,-6.0,194,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2566,3487
$GC,5342,-0.47,-146.0,613.7,-5.5,200,5346,0.00,1.60,0.00,0.000,4,0.000,0.026,2552,1436,3485
$GC,5372,-0.47,-146.0,615.6,-6.2,200,5376,0.00,1.73,0.00,0.000,6,0.000,0.048,2550,2565,3485
$GC,5638,-0.47,-146.0,629.5,-5.2,207,5642,0.00,1.60,0.00,0.000,4,0.000,0.026,2550,1434,3483
$GC,5669,-0.47,-146.0,631.3,-6.1,207,5672,0.00,1.73,0.00,0.000,6,0.000,0.049,2550,2539,3483
$GC,5936,-0.47,-146.0,645.9,-5.7,214,5939,0.00,1.60,0.00,0.000,4,0.000,0.057,2544,3586,3481
$GC,5973,-0.47,-146.0,648.2,-6.0,214,5977,0.00,1.48,0.00,0.000,6,0.000,0.027,2544,2555,3481
$GC,6233,-0.47,-146.0,665.2,-6.7,221,6237,0.00,1.55,0.00,0.000,4,0.000,0.027,2544,1468,3479
$GC,6269,-0.47,-146.0,667.9,-6.7,221,6273,0.00,1.67,0.00,0.000,6,0.000,0.048,2537,2563,3479
$GC,6530,-0.47,-146.0,686.5,-7.3,228,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2564,3477
$GC,6773,-0.47,-146.0,704.2,-7.2,234,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2564,3476
$GC,7017,-0.47,-146.0,721.6,-7.2,240,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2564,3475
$GC,7261,-0.47,-146.0,738.8,-7.1,246,7264,0.00,1.60,0.00,0.000,4,0.000,0.028,2537,1441,3474
$GC,7291,-0.47,-146.0,741.3,-7.8,246,7295,0.00,1.75,0.00,0.000,6,0.000,0.049,2537,2558,3474
$GC,7558,-0.47,-146.0,758.5,-6.5,253,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2559,3473
$GC,7803,-0.47,-146.0,774.0,-6.4,259,7807,0.00,1.58,0.00,0.000,4,0.000,0.059,2536,3560,3472
$GC,7833,-0.47,-146.0,776.3,-6.6,259,7837,0.00,1.45,0.00,0.000,6,0.000,0.029,2537,2563,3472
$GC,8099,-0.47,-146.0,793.2,-6.4,266,8103,0.00,1.58,0.00,0.000,4,0.000,0.028,2537,1459,3471
$GC,8150,-0.47,-146.0,796.5,-6.6,267,8153,0.00,1.70,0.00,0.000,6,0.000,0.051,2536,2559,3470
$GC,8445,-0.47,-146.0,815.3,-6.3,274,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2559,3470
$GC,8690,-0.47,-146.0,829.7,-5.9,280,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2559,3469
$GC,8933,-0.47,-146.0,844.2,-6.0,286,8937,0.00,1.60,0.00,0.000,4,0.000,0.028,2537,1440,3468
$GC,8976,-0.47,-146.0,847.1,-6.1,286,8984,0.00,1.75,0.00,0.000,6,0.000,0.050,2537,2554,3468
$GC,9231,-0.47,-146.0,862.4,-6.1,293,9235,0.00,1.58,0.00,0.000,4,0.000,0.060,2536,3554,3467
$GC,9261,-0.47,-146.0,864.6,-6.9,293,9265,0.00,1.48,0.00,0.000,6,0.000,0.030,2536,2542,3466
$GC,9527,-0.47,-146.0,880.8,-6.1,300,9531,0.00,1.55,0.00,0.000,4,0.000,0.028,2536,1457,3466
$GC,9564,-0.47,-146.0,883.3,-6.3,300,9567,0.00,1.70,0.00,0.000,6,0.000,0.052,2536,2557,3466
$GC,9825,-0.47,-146.0,898.7,-5.9,307,9829,0.00,1.58,0.00,0.000,4,0.000,0.060,2533,3555,3465
$STATE,9839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9839,begin apogee
$GC,9852,-0.18,0.0,900.2,5.8,307,9980,0.28,0.00,125.25,1.260,6,0.094,0.000,2635,2219,2890
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9986,0.47,146.0,903.6,0.0,310,10131,0.57,1.67,136.38,1.216,4,0.037,0.029,2876,1165,2294
$GC,10172,0.47,146.0,884.0,19.8,314,10176,0.00,1.73,0.00,0.000,6,0.000,0.043,2876,2225,2288
$GC,10460,0.47,146.0,825.2,20.5,321,10464,0.00,1.67,0.00,0.000,4,0.000,0.050,2875,3296,2283
$GC,10513,0.47,146.0,813.5,20.9,322,10517,0.12,1.60,0.00,0.000,6,0.203,0.027,2854,2228,2282
$GC,10801,0.47,146.0,764.1,16.8,329,10805,0.00,1.58,0.00,0.000,4,0.000,0.030,2860,1165,2281
$GC,10836,0.47,146.0,757.8,16.6,329,10840,0.00,1.67,0.00,0.000,6,0.000,0.044,2859,2242,2280
$GC,11096,0.47,146.0,714.7,16.9,336,11100,0.00,1.62,0.00,0.000,4,0.000,0.051,2860,3295,2279
$GC,11147,0.47,146.0,705.9,17.6,337,11151,0.00,1.60,0.00,0.000,6,0.000,0.027,2867,2236,2279
$GC,11441,0.47,146.0,655.7,16.9,344,11445,0.00,1.58,0.00,0.000,4,0.000,0.031,2873,1164,2278
$GC,11476,0.47,146.0,649.4,16.5,344,11480,0.00,1.67,0.00,0.000,6,0.000,0.044,2873,2249,2278
$GC,11736,0.47,146.0,606.4,16.9,351,11740,0.00,1.62,0.00,0.000,4,0.000,0.029,2881,1149,2277
$GC,11772,0.47,146.0,600.0,16.1,351,11776,0.00,1.62,0.00,0.000,6,0.000,0.043,2878,2206,2277
$GC,12033,0.47,146.0,556.6,16.7,358,12037,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3281,2277
$GC,12103,0.47,146.0,543.3,18.8,359,12107,0.12,1.60,0.00,0.000,6,0.184,0.028,2852,2194,2277
$GC,12375,0.47,146.0,503.1,14.4,366,12379,0.00,1.70,0.00,0.000,4,0.000,0.048,2850,3287,2277
$GC,12393,0.47,146.0,499.9,13.9,366,12397,0.00,1.60,0.00,0.000,6,0.000,0.027,2856,2220,2277
$GC,12671,0.47,146.0,460.8,14.2,373,12675,0.00,1.55,0.00,0.000,4,0.000,0.031,2860,1161,2276
$GC,12740,0.47,146.0,450.8,12.5,374,12744,0.00,1.65,0.00,0.000,6,0.000,0.043,2860,2219,2276
$GC,13011,0.47,146.0,414.7,13.5,381,13015,0.00,1.62,0.00,0.000,4,0.000,0.051,2860,3284,2276
$GC,13097,0.47,146.0,401.6,13.5,382,13106,0.00,1.58,0.00,0.000,6,0.000,0.028,2868,2224,2275
$GC,13352,0.47,146.0,370.1,12.1,389,13356,0.00,1.55,0.00,0.000,4,0.000,0.031,2873,1166,2275
$GC,13432,0.47,146.0,360.6,11.5,390,13436,0.00,1.62,0.00,0.000,6,0.000,0.043,2873,2229,2275
$GC,13693,0.47,146.0,326.6,13.4,397,13697,0.00,1.62,0.00,0.000,4,0.000,0.050,2873,3298,2275
$GC,13796,0.47,146.0,310.8,14.8,399,13800,0.08,1.55,0.00,0.000,6,0.146,0.026,2847,2242,2276
$GC,14080,0.47,146.0,278.6,11.0,406,14084,0.00,1.55,0.00,0.000,4,0.000,0.028,2854,1166,2275
$GC,14154,0.47,157.5,270.7,9.6,407,14173,0.00,1.60,8.05,0.752,6,0.000,0.042,2854,2220,2247
$GC,14419,0.47,157.5,242.6,10.8,414,14423,0.00,1.62,0.00,0.000,4,0.000,0.049,2854,3296,2246
$GC,14500,0.47,157.5,234.2,10.1,415,14504,0.00,1.58,0.00,0.000,6,0.000,0.025,2860,2243,2246
$GC,14760,0.47,157.5,208.7,10.2,422,14764,0.00,1.62,0.00,0.000,4,0.000,0.045,2860,3280,2246
$GC,14867,0.47,157.5,196.9,11.3,425,14871,0.00,1.52,0.00,0.000,6,0.000,0.025,2867,2236,2246
$GC,15143,0.48,180.7,169.2,9.1,450,15171,0.00,1.62,21.20,0.714,4,0.000,0.042,2863,3288,2152
$GC,15210,0.48,180.7,161.7,11.6,455,15214,0.00,1.48,0.00,0.000,6,0.000,0.024,2868,2296,2151
$GC,15481,0.48,180.7,132.1,11.7,480,15490,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2290,2150
$GC,15748,0.48,180.7,104.7,10.9,505,15751,0.00,1.60,0.00,0.000,4,0.000,0.027,2873,1161,2150
$GC,15856,0.50,218.3,94.7,8.6,514,15897,0.00,1.75,32.12,0.638,6,0.000,0.038,2873,2323,1998
$GC,16154,0.51,256.5,68.0,8.6,541,16196,0.00,1.50,31.77,0.607,4,0.000,0.041,2873,3291,1843
$GC,16273,0.54,314.7,57.0,7.8,550,16328,0.00,1.40,47.40,0.597,6,0.000,0.021,2873,2339,1604
$GC,16586,0.55,360.8,32.4,8.3,578,16631,0.00,1.73,36.60,0.569,4,0.000,0.025,2873,1177,1417
$GC,16715,0.58,413.2,22.4,8.0,595,16768,0.00,1.75,41.58,0.556,6,0.000,0.032,2873,2310,1204
$STATE,17009,end climb,SURFACE_DEPTH_REACHED
$STATE,17009,begin surface coast
$FINISH,0.3,1.022912
$STATE,17091,end surface coast,CONTROL_FINISHED_OK
$STATE,17091,begin surface
$SM_CCo,17176,0.00,0.000,0,0,1198,415.04
$SM_GC,1.37,7.25,0.00,0.00,0.026,0.000,0.000,39,2575,1198,-8.23,2.12,415.04
$IRIDIUM_FIX,2248.70,-15753.23,311202,222253
$TT8_MAMPS,0.023777
$HUMID,2160
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.60
$XPDR_PINGS,5
$24V_AH,24.0,18.973
$10V_AH,10.6,19.945
$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,18.125,128.425,480.350,0.000,0.000,24.491,43.165,405.506,1.250,0.000,0.000,15.193,1409.592,11545.872,463.086,3300.632,1130.423,33.381,1550.968,0.000,3307.651,0.000,0.544,0.000
$DEVICE_MAMPS,204.789,59.826,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,445.286,2153.677,2219.841,280.608,1456.509,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57473,654
$CAP_FILE_SIZE,137322,0
$CFSIZE,260165632,251191296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071013,082353,2253.004,-15753.454,41,0.8,41,10.1