version: 66.04
glider: 512
mission: 4
dive: 118
start: 10 7 113 23 42 25
data:
$ID,512
$MISSION,4
$DIVE,118
$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,611.03235
$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,-108868.91
$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,60
$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
$GPS1,231045,2249.677,-15749.552,37,1.2,46,10.1
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.0
$GPS2,234108,2249.792,-15749.524,14,1.8,14,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,-0.249
$KALMAN_X,47639.5,-117.7,245.4,-29784.4,295.6
$KALMAN_Y,28781.8,91.1,380.9,-18682.4,1601.5
$MHEAD_RNG_PITCHd_Wd,140.9,28836,-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,18,-0.46,-146.0,0.0,0.0,0,105,0.00,0.00,-85.00,0.000,2,0.000,0.000,10,2513,2863
$GC,111,-0.46,-146.0,2.2,-2.0,10,140,9.45,1.58,-14.12,0.000,4,0.204,0.041,2542,1440,3488
$GC,177,-0.46,-146.0,18.7,-25.2,18,186,0.00,1.62,0.00,0.000,6,0.000,0.037,2536,2500,3489
$GC,451,-0.46,-146.0,85.8,-21.3,46,455,0.00,1.60,0.00,0.000,4,0.000,0.044,2528,3561,3488
$GC,583,-0.46,-146.0,110.3,-17.4,57,591,0.00,1.48,0.00,0.000,6,0.000,0.018,2530,2516,3488
$GC,850,-0.46,-146.0,155.4,-18.8,82,854,0.00,1.45,0.00,0.000,4,0.000,0.019,2530,1454,3488
$GC,879,-0.46,-146.0,161.2,-17.6,84,888,0.00,1.65,0.00,0.000,6,0.000,0.037,2524,2542,3488
$GC,1164,-0.46,-146.0,206.9,-15.8,108,1167,0.00,1.55,0.00,0.000,4,0.000,0.045,2516,3568,3488
$GC,1222,-0.46,-146.0,216.3,-14.8,109,1226,0.00,1.42,0.00,0.000,6,0.000,0.019,2516,2553,3488
$GC,1505,-0.46,-146.0,257.6,-14.9,116,1508,0.00,1.50,0.00,0.000,4,0.000,0.021,2520,1457,3487
$GC,1585,-0.46,-146.0,267.2,-9.9,117,1588,0.00,1.67,0.00,0.000,6,0.000,0.038,2514,2583,3486
$GC,1846,-0.46,-146.0,299.9,-13.1,124,1850,0.00,1.48,0.00,0.000,4,0.000,0.047,2506,3562,3485
$GC,1903,-0.46,-146.0,308.5,-13.3,125,1908,0.08,1.38,0.00,0.000,6,0.120,0.020,2535,2566,3484
$GC,2186,-0.46,-146.0,340.0,-11.1,132,2190,0.00,1.52,0.00,0.000,4,0.000,0.021,2535,1461,3482
$GC,2251,-0.46,-146.0,346.7,-8.9,133,2254,0.00,1.67,0.00,0.000,6,0.000,0.041,2536,2578,3482
$GC,2528,-0.46,-146.0,371.8,-9.2,140,2532,0.00,1.50,0.00,0.000,4,0.000,0.048,2529,3565,3479
$GC,2547,-0.46,-146.0,373.9,-9.4,140,2550,0.00,1.40,0.00,0.000,6,0.000,0.021,2529,2562,3479
$GC,2824,-0.46,-146.0,400.2,-9.5,147,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2554,3477
$GC,3068,-0.46,-146.0,421.9,-8.8,153,3072,0.00,1.52,-0.08,0.000,4,0.000,0.041,2529,1449,3497
$GC,3099,-0.46,-146.0,425.0,-9.3,153,3103,0.00,1.73,0.00,0.000,6,0.000,0.041,2524,2597,3497
$GC,3366,-0.46,-146.0,451.5,-10.3,160,3370,0.00,1.62,0.00,0.000,4,0.000,0.022,2524,1440,3495
$GC,3417,-0.46,-146.0,456.7,-9.0,161,3420,0.00,1.73,0.00,0.000,6,0.000,0.043,2522,2580,3494
$GC,3711,-0.46,-146.0,487.1,-10.1,168,3714,0.00,1.60,0.00,0.000,4,0.000,0.023,2523,1432,3492
$GC,3752,-0.46,-146.0,491.4,-9.2,168,3761,0.00,1.73,0.00,0.000,6,0.000,0.044,2523,2551,3492
$GC,4009,-0.46,-146.0,515.0,-9.5,175,4012,0.00,1.55,0.00,0.000,4,0.000,0.052,2523,3559,3489
$GC,4045,-0.46,-146.0,519.1,-9.8,175,4049,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2553,3489
$GC,4305,-0.46,-146.0,543.6,-9.7,182,4309,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1461,3487
$GC,4346,-0.46,-146.0,548.0,-9.5,182,4354,0.00,1.67,0.00,0.000,6,0.000,0.044,2524,2547,3487
$GC,4601,-0.46,-146.0,571.9,-9.5,189,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2547,3484
$GC,4844,-0.46,-146.0,594.9,-9.4,195,4848,0.00,1.58,0.00,0.000,4,0.000,0.054,2523,3564,3483
$GC,4898,-0.46,-146.0,599.8,-8.3,196,4901,0.00,1.42,0.00,0.000,6,0.000,0.026,2523,2565,3482
$GC,5186,-0.46,-146.0,624.2,-8.6,203,5190,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1469,3480
$GC,5243,-0.46,-146.0,629.1,-7.7,204,5247,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2556,3479
$GC,5527,-0.46,-146.0,651.6,-8.1,211,5531,0.00,1.55,0.00,0.000,4,0.000,0.055,2523,3557,3477
$GC,5578,-0.46,-146.0,655.6,-7.0,212,5581,0.00,1.42,0.00,0.000,6,0.000,0.027,2523,2566,3476
$GC,5872,-0.46,-146.0,678.9,-7.8,219,5876,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1467,3475
$GC,5914,-0.46,-146.0,682.5,-7.7,219,5921,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2562,3475
$GC,6169,-0.46,-146.0,701.9,-7.8,226,6173,0.00,1.55,0.00,0.000,4,0.000,0.057,2523,3559,3473
$GC,6233,-0.46,-146.0,707.1,-7.5,227,6237,0.00,1.40,0.00,0.000,6,0.000,0.028,2523,2586,3473
$GC,6510,-0.46,-146.0,726.8,-7.3,234,6514,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1473,3472
$GC,6575,-0.46,-146.0,732.0,-7.5,235,6578,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2582,3471
$GC,6852,-0.46,-146.0,752.8,-7.9,242,6856,0.00,1.62,0.00,0.000,4,0.000,0.025,2523,1471,3470
$GC,6876,-0.46,-146.0,755.3,-8.7,242,6880,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2564,3470
$GC,7148,-0.46,-146.0,778.3,-8.7,249,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3468
$GC,7392,-0.46,-146.0,799.6,-8.7,255,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3467
$GC,7636,-0.46,-146.0,819.4,-7.9,261,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3466
$GC,7879,-0.46,-146.0,838.0,-7.7,267,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3465
$GC,8123,-0.46,-146.0,856.5,-7.6,273,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3464
$GC,8367,-0.46,-146.0,875.0,-7.6,279,8370,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1448,3462
$GC,8391,-0.46,-146.0,877.1,-7.8,279,8395,0.00,1.75,0.00,0.000,6,0.000,0.051,2523,2562,3462
$GC,8664,-0.46,-146.0,897.1,-7.5,286,8667,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3563,3461
$GC,8694,-0.46,-146.0,899.6,-7.5,286,8698,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2565,3461
$STATE,8702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8702,begin apogee
$GC,8713,-0.18,0.0,900.6,7.6,286,8842,0.30,0.00,122.93,1.262,6,0.097,0.000,2634,2233,2891
$STATE,8843,end apogee,CONTROL_FINISHED_OK
$STATE,8843,begin climb
$GC,8848,0.46,146.0,904.5,0.0,290,8997,0.55,1.67,136.75,1.202,4,0.045,0.028,2869,1178,2293
$GC,9020,0.46,146.0,889.4,17.9,293,9027,0.10,1.73,0.00,0.000,6,0.145,0.041,2841,2222,2289
$GC,9275,0.46,146.0,848.0,16.4,300,9278,0.00,1.67,0.00,0.000,4,0.000,0.049,2841,3295,2283
$GC,9328,0.46,146.0,838.4,17.6,301,9331,0.00,1.60,0.00,0.000,6,0.000,0.027,2846,2229,2282
$GC,9616,0.46,146.0,791.3,16.6,308,9620,0.00,1.58,0.00,0.000,4,0.000,0.030,2855,1159,2280
$GC,9645,0.46,146.0,785.9,16.6,308,9649,0.00,1.70,0.00,0.000,6,0.000,0.044,2855,2259,2280
$GC,9911,0.46,146.0,743.6,16.2,315,9915,0.00,1.65,0.00,0.000,4,0.000,0.030,2860,1142,2279
$GC,9935,0.46,146.0,739.2,15.7,315,9939,0.00,1.70,0.00,0.000,6,0.000,0.044,2860,2220,2278
$GC,10208,0.46,146.0,696.0,16.1,322,10211,0.00,1.62,0.00,0.000,4,0.000,0.051,2860,3281,2278
$GC,10288,0.46,146.0,682.2,17.1,323,10292,0.08,1.55,0.00,0.000,6,0.161,0.028,2835,2243,2278
$GC,10547,0.46,146.0,647.7,13.1,330,10551,0.00,1.58,0.00,0.000,4,0.000,0.029,2841,1162,2277
$GC,10598,0.46,146.0,641.3,12.9,331,10602,0.00,1.67,0.00,0.000,6,0.000,0.044,2841,2249,2276
$GC,10892,0.46,146.0,599.8,14.5,338,10896,0.00,1.60,0.00,0.000,4,0.000,0.051,2837,3277,2276
$GC,10921,0.46,146.0,595.0,15.6,338,10925,0.00,1.58,0.00,0.000,6,0.000,0.028,2844,2221,2276
$GC,11187,0.46,146.0,556.9,14.3,345,11191,0.00,1.67,0.00,0.000,4,0.000,0.049,2844,3294,2276
$GC,11238,0.46,146.0,549.2,15.4,346,11242,0.00,1.58,0.00,0.000,6,0.000,0.028,2847,2244,2275
$GC,11532,0.46,146.0,508.5,13.5,353,11536,0.00,1.58,0.00,0.000,4,0.000,0.031,2847,1165,2275
$GC,11582,0.46,146.0,502.0,12.5,354,11586,0.00,1.65,0.00,0.000,6,0.000,0.044,2847,2241,2274
$GC,11877,0.46,146.0,463.0,13.2,361,11880,0.00,1.62,0.00,0.000,4,0.000,0.051,2847,3306,2274
$GC,11927,0.46,146.0,455.6,14.4,362,11930,0.00,1.62,0.00,0.000,6,0.000,0.028,2855,2193,2273
$GC,12221,0.46,146.0,414.7,13.7,369,12224,0.00,1.50,0.00,0.000,4,0.000,0.030,2857,1159,2274
$GC,12250,0.46,146.0,410.3,12.5,369,12254,0.00,1.65,0.00,0.000,6,0.000,0.042,2857,2224,2274
$GC,12517,0.46,146.0,373.5,14.0,376,12521,0.00,1.62,0.00,0.000,4,0.000,0.051,2857,3295,2273
$GC,12569,0.46,146.0,365.4,14.5,377,12573,0.00,1.60,0.00,0.000,6,0.000,0.027,2865,2212,2273
$GC,12857,0.46,146.0,329.0,11.9,384,12861,0.00,1.52,0.00,0.000,4,0.000,0.029,2872,1150,2274
$GC,12921,0.46,146.0,321.8,10.5,385,12925,0.12,1.62,0.00,0.000,6,0.146,0.041,2841,2221,2274
$GC,13199,0.46,158.1,295.7,9.5,392,13209,0.00,0.00,8.12,0.772,6,0.000,0.000,2842,2221,2245
$GC,13442,0.46,158.1,271.0,10.3,398,13445,0.00,1.60,0.00,0.000,4,0.000,0.049,2842,3279,2244
$GC,13646,0.46,158.1,248.1,10.7,402,13649,0.00,1.60,0.00,0.000,6,0.000,0.027,2846,2182,2244
$GC,13918,0.49,232.3,226.3,7.2,409,13985,0.00,1.50,62.65,0.783,4,0.000,0.029,2846,1164,1942
$GC,14083,0.52,290.5,213.9,7.8,412,14136,0.00,1.60,48.47,0.745,6,0.000,0.040,2847,2192,1705
$GC,14396,0.52,290.5,181.1,12.0,428,14399,0.00,1.67,0.00,0.000,4,0.000,0.044,2846,3287,1698
$GC,14481,0.52,290.5,170.8,10.2,435,14490,0.00,1.67,0.00,0.000,6,0.000,0.025,2847,2173,1697
$GC,14747,0.52,290.5,144.1,10.9,460,14750,0.00,1.48,0.00,0.000,4,0.000,0.028,2846,1158,1697
$GC,14833,0.55,367.9,136.6,7.1,467,14900,0.00,1.55,62.22,0.670,6,0.000,0.038,2846,2160,1389
$GC,15158,0.57,420.2,105.5,8.0,496,15211,0.00,1.80,42.47,0.634,4,0.000,0.041,2846,3288,1176
$GC,15264,0.60,502.9,98.0,6.9,504,15339,0.08,1.67,66.90,0.620,6,0.048,0.021,2901,2153,837
$GC,15598,0.60,502.9,66.0,11.2,534,15601,0.00,1.45,0.00,0.000,4,0.000,0.025,2901,1168,833
$GC,15840,0.60,502.9,34.8,12.3,554,15844,0.00,1.60,0.00,0.000,6,0.000,0.031,2901,2218,833
$STATE,16109,end climb,SURFACE_DEPTH_REACHED
$STATE,16109,begin surface coast
$FINISH,0.3,1.007805
$STATE,16142,end surface coast,CONTROL_FINISHED_OK
$STATE,16142,begin surface
$SM_CCo,16167,52.85,0.530,0,0,397,611.03
$SM_GC,1.19,0.00,0.00,52.85,0.000,0.000,0.530,31,2524,397,-8.29,0.68,611.03
$IRIDIUM_FIX,2239.35,-15747.62,010103,232338
$TT8_MAMPS,0.023777
$HUMID,2213
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.60
$XPDR_PINGS,5
$24V_AH,24.0,19.792
$10V_AH,10.7,20.779
$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,17.925,131.100,550.525,52.850,0.000,143.692,194.788,997.698,1.250,0.000,0.000,18.365,1321.299,10893.185,581.515,3222.930,2042.493,33.383,1687.568,0.000,3213.074,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,59.826,1261.715,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,406.199,1963.552,2034.034,567.237,1293.353,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50942,597
$CAP_FILE_SIZE,152296,0
$CFSIZE,260165632,250900480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081013,041406,2248.374,-15747.949,32,1.0,32,10.1