version: 66.04
glider: 512
mission: 4
dive: 116
start: 10 7 113 13 52 2
data:
$ID,512
$MISSION,4
$DIVE,116
$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,-108832.31
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2689
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,82
$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
$GPS1,133630,2251.857,-15751.728,43,1.7,43,10.1
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-79.2
$GPS2,135043,2251.905,-15751.708,12,1.2,12,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,-0.271
$KALMAN_X,45878.0,94.5,141.1,-31865.0,42.0
$KALMAN_Y,23532.0,46.6,-391.4,-8700.4,3218.3
$MHEAD_RNG_PITCHd_Wd,152.2,34244,-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,-0.46,-146.0,0.0,0.0,0,96,0.00,0.00,-75.78,0.000,2,0.000,0.000,10,2531,2885
$GC,101,-0.46,-146.0,2.2,-1.8,9,130,9.45,1.58,-13.27,0.000,4,0.204,0.039,2538,1438,3489
$GC,190,-0.46,-146.0,27.4,-24.6,21,199,0.00,1.60,0.00,0.000,6,0.000,0.038,2532,2476,3489
$GC,455,-0.46,-146.0,97.3,-22.1,46,459,0.00,1.67,0.00,0.000,4,0.000,0.047,2524,3565,3489
$GC,587,-0.46,-146.0,121.6,-17.4,57,595,0.00,1.42,0.00,0.000,6,0.000,0.018,2526,2558,3489
$GC,854,-0.46,-146.0,169.4,-18.1,82,857,0.00,1.52,0.00,0.000,4,0.000,0.019,2526,1450,3490
$GC,904,-0.46,-146.0,178.3,-16.7,86,908,0.00,1.67,0.00,0.000,6,0.000,0.041,2523,2563,3490
$GC,1170,-0.46,-146.0,219.2,-15.7,102,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3490
$GC,1414,-0.46,-146.0,255.8,-14.7,108,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3489
$GC,1657,-0.46,-146.0,289.1,-13.3,114,1661,0.00,1.55,0.00,0.000,4,0.000,0.019,2523,1454,3489
$GC,1687,-0.46,-146.0,293.2,-11.8,114,1691,0.00,1.70,0.00,0.000,6,0.000,0.042,2523,2563,3489
$GC,1954,-0.46,-146.0,324.6,-12.2,121,1957,0.00,1.52,0.00,0.000,4,0.000,0.048,2517,3567,3487
$GC,1995,-0.46,-146.0,330.5,-12.0,121,2003,0.00,1.40,0.00,0.000,6,0.000,0.020,2517,2566,3486
$GC,2249,-0.46,-146.0,360.7,-11.9,128,2253,0.00,1.55,0.00,0.000,4,0.000,0.021,2521,1453,3484
$GC,2335,-0.46,-146.0,370.4,-10.6,129,2344,0.00,1.67,0.00,0.000,6,0.000,0.040,2515,2552,3484
$GC,2590,-0.46,-146.0,401.3,-12.5,136,2594,0.00,1.55,0.00,0.000,4,0.000,0.048,2507,3569,3482
$GC,2620,-0.46,-146.0,405.6,-13.0,136,2624,0.08,1.42,0.00,0.000,6,0.110,0.021,2538,2551,3482
$GC,2885,-0.46,-146.0,429.7,-8.7,143,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2544,3479
$GC,3129,-0.46,-146.0,448.8,-7.7,149,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2544,3477
$GC,3372,-0.46,-146.0,468.3,-8.2,155,3377,0.00,1.52,-0.08,0.000,4,0.000,0.042,2546,1461,3499
$GC,3403,-0.46,-146.0,471.1,-8.6,155,3406,0.00,1.67,0.00,0.000,6,0.000,0.042,2540,2572,3499
$GC,3669,-0.46,-146.0,492.6,-8.3,162,3672,0.00,1.60,0.00,0.000,4,0.000,0.023,2540,1457,3497
$GC,3699,-0.46,-146.0,495.5,-8.3,162,3703,0.00,1.70,0.00,0.000,6,0.000,0.044,2537,2558,3497
$GC,3966,-0.46,-146.0,517.1,-8.3,169,3970,0.00,1.55,0.00,0.000,4,0.000,0.052,2529,3564,3495
$GC,4016,-0.46,-146.0,521.2,-7.5,170,4020,0.00,1.40,0.00,0.000,6,0.000,0.025,2529,2587,3494
$GC,4311,-0.46,-146.0,545.9,-8.3,177,4314,0.00,1.58,0.00,0.000,4,0.000,0.024,2529,1462,3492
$GC,4352,-0.46,-146.0,549.6,-8.4,177,4362,0.00,1.73,0.00,0.000,6,0.000,0.044,2524,2578,3492
$GC,4610,-0.46,-146.0,571.0,-8.6,184,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2579,3489
$GC,4853,-0.46,-146.0,592.5,-9.1,190,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2579,3488
$GC,5097,-0.46,-146.0,614.2,-8.8,196,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2578,3486
$GC,5341,-0.46,-146.0,635.4,-8.7,202,5344,0.00,1.60,0.00,0.000,4,0.000,0.025,2524,1450,3485
$GC,5377,-0.46,-146.0,638.8,-8.1,202,5380,0.00,1.75,0.00,0.000,6,0.000,0.048,2524,2572,3485
$GC,5637,-0.46,-146.0,659.1,-8.0,209,5641,0.00,1.52,0.00,0.000,4,0.000,0.056,2524,3551,3483
$GC,5673,-0.46,-146.0,662.1,-8.3,209,5676,0.00,1.40,0.00,0.000,6,0.000,0.027,2524,2577,3483
$GC,5933,-0.46,-146.0,681.7,-7.6,216,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2569,3481
$GC,6177,-0.46,-146.0,699.9,-7.3,222,6180,0.00,1.58,0.00,0.000,4,0.000,0.028,2524,1467,3479
$GC,6218,-0.46,-146.0,703.3,-7.3,222,6227,0.00,1.73,0.00,0.000,6,0.000,0.048,2524,2574,3478
$GC,6475,-0.46,-146.0,720.9,-7.0,229,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2574,3477
$GC,6719,-0.46,-146.0,738.9,-7.5,235,6722,0.00,1.60,0.00,0.000,4,0.000,0.027,2524,1452,3477
$GC,6743,-0.46,-146.0,741.3,-8.0,235,6747,0.00,1.73,0.00,0.000,6,0.000,0.050,2523,2572,3476
$GC,7015,-0.46,-146.0,762.0,-7.8,242,7019,0.00,1.55,0.00,0.000,4,0.000,0.058,2523,3558,3475
$GC,7051,-0.46,-146.0,765.0,-7.4,242,7054,0.00,1.42,0.00,0.000,6,0.000,0.029,2523,2577,3474
$GC,7312,-0.46,-146.0,784.6,-7.5,249,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2569,3474
$GC,7555,-0.46,-146.0,801.9,-7.1,255,7558,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1479,3472
$GC,7606,-0.46,-146.0,805.5,-6.9,256,7610,0.00,1.67,0.00,0.000,6,0.000,0.050,2523,2565,3472
$GC,7900,-0.46,-146.0,827.1,-7.5,263,7904,0.00,1.55,0.00,0.000,4,0.000,0.058,2523,3553,3471
$GC,7930,-0.46,-146.0,829.6,-8.3,263,7934,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2569,3471
$GC,8197,-0.46,-146.0,850.7,-8.1,270,8200,0.00,1.58,0.00,0.000,4,0.000,0.028,2524,1476,3470
$GC,8248,-0.46,-146.0,854.9,-8.3,271,8252,0.00,1.67,0.00,0.000,6,0.000,0.050,2523,2562,3470
$GC,8542,-0.46,-146.0,879.7,-8.4,278,8546,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3560,3469
$GC,8566,-0.46,-146.0,882.1,-8.5,278,8569,0.00,1.45,0.00,0.000,6,0.000,0.029,2523,2561,3468
$STATE,8791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8791,begin apogee
$GC,8803,-0.18,0.0,900.6,8.2,284,8930,0.32,0.00,124.62,1.262,6,0.097,0.000,2635,2233,2890
$STATE,8931,end apogee,CONTROL_FINISHED_OK
$STATE,8931,begin climb
$GC,8936,0.46,146.0,904.8,0.0,287,9093,0.57,1.67,138.38,1.190,4,0.035,0.028,2876,1189,2293
$GC,9116,0.46,146.0,889.9,17.6,291,9120,0.15,1.67,0.00,0.000,6,0.158,0.042,2840,2221,2289
$GC,9382,0.46,146.0,846.1,16.6,298,9386,0.00,1.67,0.00,0.000,4,0.000,0.050,2840,3287,2282
$GC,9439,0.46,146.0,835.6,16.9,299,9443,0.00,1.60,0.00,0.000,6,0.000,0.027,2847,2252,2281
$GC,9722,0.46,146.0,788.9,16.4,306,9726,0.00,1.62,0.00,0.000,4,0.000,0.031,2847,1138,2280
$GC,9773,0.46,146.0,781.3,14.1,307,9777,0.00,1.70,0.00,0.000,6,0.000,0.043,2846,2231,2279
$GC,10067,0.46,146.0,736.0,15.5,314,10071,0.00,1.65,0.00,0.000,4,0.000,0.050,2846,3284,2278
$GC,10124,0.46,146.0,725.8,17.0,315,10128,0.00,1.60,0.00,0.000,6,0.000,0.027,2854,2203,2278
$GC,10408,0.46,146.0,681.4,15.7,322,10411,0.00,1.55,0.00,0.000,4,0.000,0.032,2857,1155,2277
$GC,10449,0.46,146.0,674.4,14.8,322,10457,0.00,1.67,0.00,0.000,6,0.000,0.042,2857,2223,2277
$GC,10703,0.46,146.0,635.5,15.5,329,10707,0.00,1.62,0.00,0.000,4,0.000,0.051,2857,3282,2277
$GC,10783,0.46,146.0,621.9,17.5,330,10787,0.00,1.55,0.00,0.000,6,0.000,0.028,2864,2251,2276
$GC,11044,0.46,146.0,579.8,16.4,337,11048,0.00,1.60,0.00,0.000,4,0.000,0.031,2872,1156,2276
$GC,11094,0.46,146.0,571.9,15.3,338,11098,0.12,1.70,0.00,0.000,6,0.156,0.044,2840,2262,2276
$GC,11387,0.46,146.0,531.5,13.4,345,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2261,2275
$GC,11631,0.46,146.0,499.5,12.9,351,11635,0.00,1.58,0.00,0.000,4,0.000,0.049,2840,3276,2275
$GC,11745,0.46,146.0,483.5,13.7,353,11749,0.00,1.45,0.00,0.000,6,0.000,0.028,2846,2294,2275
$GC,12017,0.46,146.0,450.6,11.8,360,12020,0.00,1.65,0.00,0.000,4,0.000,0.031,2847,1150,2274
$GC,12075,0.46,146.0,443.5,10.4,361,12079,0.00,1.80,0.00,0.000,6,0.000,0.042,2847,2327,2274
$GC,12358,0.46,146.0,409.7,12.2,368,12362,0.00,1.48,0.00,0.000,4,0.000,0.048,2847,3283,2274
$GC,12421,0.46,146.0,401.1,12.9,369,12424,0.00,1.42,0.00,0.000,6,0.000,0.028,2854,2317,2274
$GC,12699,0.46,146.0,366.2,12.7,376,12702,0.00,1.67,0.00,0.000,4,0.000,0.031,2857,1146,2274
$GC,12749,0.46,146.0,360.1,11.7,377,12752,0.00,1.80,0.00,0.000,6,0.000,0.044,2856,2318,2273
$GC,13043,0.46,146.0,325.2,11.7,384,13046,0.00,1.50,0.00,0.000,4,0.000,0.049,2857,3286,2274
$GC,13129,0.46,146.0,314.3,12.5,385,13137,0.00,1.42,0.00,0.000,6,0.000,0.027,2864,2318,2274
$GC,13384,0.46,146.0,286.4,11.0,392,13387,0.00,1.67,0.00,0.000,4,0.000,0.028,2872,1163,2274
$GC,13463,0.46,146.0,277.2,10.8,393,13468,0.12,1.75,0.00,0.000,6,0.143,0.042,2839,2314,2274
$GC,13725,0.47,169.0,253.2,9.1,400,13748,0.00,1.52,17.33,0.793,4,0.000,0.048,2838,3279,2200
$GC,13884,0.48,195.1,238.3,9.0,403,13911,0.00,1.38,23.55,0.776,6,0.000,0.026,2843,2347,2094
$GC,14194,0.48,195.1,207.4,10.4,411,14198,0.00,1.73,0.00,0.000,4,0.000,0.028,2847,1156,2089
$GC,14290,0.49,236.0,199.2,8.5,413,14331,0.00,1.83,34.45,0.740,6,0.000,0.040,2846,2343,1928
$GC,14588,0.49,236.0,169.5,11.1,440,14591,0.00,1.75,0.00,0.000,4,0.000,0.027,2846,1159,1924
$GC,14650,0.50,248.3,163.2,9.5,445,14667,0.00,1.83,11.45,0.661,6,0.000,0.039,2846,2344,1876
$GC,14939,0.50,248.3,132.7,10.9,471,14943,0.00,1.75,0.00,0.000,4,0.000,0.025,2846,1152,1874
$GC,15002,0.52,307.3,126.5,7.8,476,15056,0.00,1.73,48.92,0.663,6,0.000,0.036,2847,2292,1636
$GC,15313,0.54,339.8,98.7,8.8,504,15344,0.00,1.52,26.70,0.624,4,0.000,0.041,2846,3295,1503
$GC,15409,0.57,421.8,90.7,6.9,511,15483,0.00,1.50,65.93,0.617,6,0.000,0.022,2846,2275,1170
$GC,15742,0.58,457.4,64.8,8.7,541,15775,0.00,1.70,29.05,0.584,4,0.000,0.024,2846,1144,1025
$GC,15829,0.58,460.0,56.0,9.9,547,15843,0.00,1.75,3.47,0.360,6,0.000,0.032,2846,2294,1015
$GC,16110,0.58,460.0,23.3,12.1,576,16119,0.00,1.52,0.00,0.000,4,0.000,0.044,2846,3289,1014
$GC,16149,0.58,460.0,17.5,13.5,581,16159,0.00,1.45,0.00,0.000,6,0.000,0.020,2846,2269,1014
$STATE,16283,end climb,SURFACE_DEPTH_REACHED
$STATE,16283,begin surface coast
$FINISH,0.3,0.999603
$STATE,16314,end surface coast,CONTROL_FINISHED_OK
$STATE,16314,begin surface
$SM_CCo,16399,0.00,0.000,0,0,1013,460.42
$SM_GC,1.26,7.10,0.00,0.00,0.026,0.000,0.000,36,2577,1013,-8.19,2.18,460.42
$IRIDIUM_FIX,2244.02,-15754.11,010103,090949
$TT8_MAMPS,0.023777
$HUMID,2214
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.80
$XPDR_PINGS,4
$24V_AH,24.0,19.388
$10V_AH,10.7,20.366
$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,17.925,128.800,523.850,0.000,0.000,22.558,33.690,610.442,1.000,0.000,0.000,12.805,1323.482,10973.749,516.240,3142.989,1309.827,33.383,1592.519,0.000,3145.662,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,59.826,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,411.931,1996.438,2063.414,388.262,1291.951,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54122,606
$CAP_FILE_SIZE,137334,0
$CFSIZE,260165632,251056128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071013,182636,2250.679,-15750.432,32,1.7,32,10.1