version: 66.04
glider: 512
mission: 4
dive: 119
start: 10 8 113 4 43 31
data:
$ID,512
$MISSION,4
$DIVE,119
$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,160
$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,-108894.06
$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,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,49
$R_STBD_OVSHOOT,40
$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
$GPS1,041406,2248.374,-15747.949,32,1.0,32,10.1
$_CALLS,5
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-77.2
$GPS2,044218,2248.586,-15747.990,14,1.2,24,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.285
$KALMAN_X,48341.5,-169.9,-272.1,-27299.8,1372.9
$KALMAN_Y,31898.9,-6.4,-389.2,-23166.7,3693.7
$MHEAD_RNG_PITCHd_Wd,170.2,25410,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.46,-155.7,0.0,0.0,0,127,0.00,0.00,-102.35,0.000,2,0.000,0.000,10,2520,2975
$GC,133,-0.46,-155.7,2.5,-2.8,12,161,9.32,1.55,-11.65,0.000,4,0.199,0.039,2547,1413,3527
$GC,221,-0.46,-155.7,27.5,-22.6,24,230,0.00,1.65,0.00,0.000,6,0.000,0.035,2542,2495,3527
$GC,496,-0.46,-155.7,94.3,-20.3,50,499,0.00,1.60,0.00,0.000,4,0.000,0.044,2533,3559,3528
$GC,591,-0.46,-155.7,112.3,-17.8,58,595,0.00,1.50,0.00,0.000,6,0.000,0.019,2533,2509,3528
$GC,863,-0.46,-155.7,158.4,-16.0,83,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2500,3528
$GC,1128,-0.46,-155.7,198.0,-14.8,108,1132,0.00,1.48,0.00,0.000,4,0.000,0.021,2533,1438,3528
$GC,1197,-0.46,-155.7,207.3,-12.2,110,1201,0.00,1.65,0.00,0.000,6,0.000,0.037,2526,2551,3528
$GC,1469,-0.46,-155.7,245.4,-14.1,117,1472,0.00,1.52,0.00,0.000,4,0.000,0.047,2523,3562,3527
$GC,1504,-0.46,-155.7,250.2,-12.2,117,1508,0.00,1.45,0.00,0.000,6,0.000,0.019,2523,2527,3526
$GC,1765,-0.46,-155.7,282.2,-12.4,124,1769,0.00,1.58,0.00,0.000,4,0.000,0.043,2515,3556,3525
$GC,1807,-0.46,-155.7,287.8,-11.8,124,1813,0.08,1.42,0.00,0.000,6,0.117,0.020,2542,2525,3525
$GC,2062,-0.46,-155.7,312.9,-9.6,131,2065,0.00,1.45,0.00,0.000,4,0.000,0.021,2544,1470,3523
$GC,2103,-0.46,-155.7,317.2,-8.9,131,2111,0.00,1.58,0.00,0.000,6,0.000,0.038,2539,2514,3523
$GC,2358,-0.46,-155.7,341.1,-9.6,138,2362,0.00,1.58,0.00,0.000,4,0.000,0.048,2531,3554,3521
$GC,2409,-0.46,-155.7,345.7,-8.3,139,2413,0.00,1.42,0.00,0.000,6,0.000,0.021,2531,2547,3521
$GC,2703,-0.46,-155.7,374.6,-10.1,146,2707,0.00,1.50,0.00,0.000,4,0.000,0.022,2531,1463,3518
$GC,2727,-0.46,-155.7,377.6,-10.9,146,2731,0.00,1.60,0.00,0.000,6,0.000,0.039,2524,2536,3518
$GC,2999,-0.46,-155.7,405.2,-10.0,153,3003,0.00,1.55,-0.08,0.000,4,0.000,0.067,2523,3567,3539
$GC,3034,-0.46,-155.7,409.0,-9.3,153,3038,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2525,3539
$GC,3296,-0.46,-155.7,435.5,-10.6,160,3299,0.00,1.50,0.00,0.000,4,0.000,0.024,2523,1452,3536
$GC,3353,-0.46,-155.7,441.8,-10.5,161,3357,0.00,1.62,0.00,0.000,6,0.000,0.043,2523,2512,3536
$GC,3636,-0.46,-155.7,471.2,-10.5,168,3639,0.00,1.62,0.00,0.000,4,0.000,0.052,2523,3583,3533
$GC,3677,-0.46,-155.7,475.7,-10.2,168,3686,0.00,1.52,0.00,0.000,6,0.000,0.024,2523,2504,3532
$GC,3934,-0.46,-155.7,501.0,-10.1,175,3937,0.00,1.45,0.00,0.000,4,0.000,0.024,2523,1473,3530
$GC,3969,-0.46,-155.7,505.2,-10.2,175,3973,0.00,1.58,0.00,0.000,6,0.000,0.043,2523,2501,3529
$GC,4229,-0.46,-155.7,529.3,-9.2,182,4233,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3556,3526
$GC,4304,-0.46,-155.7,535.6,-7.7,183,4308,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2525,3526
$GC,4571,-0.46,-155.7,556.8,-8.3,190,4575,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1466,3524
$GC,4601,-0.46,-155.7,560.0,-9.3,190,4605,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2534,3524
$GC,4867,-0.46,-155.7,584.1,-9.4,197,4871,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3588,3522
$GC,4919,-0.46,-155.7,588.7,-8.5,198,4923,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2542,3522
$GC,5215,-0.46,-155.7,614.5,-8.4,205,5218,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1460,3519
$GC,5267,-0.46,-155.7,619.1,-7.5,206,5271,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2538,3518
$GC,5556,-0.46,-155.7,641.3,-8.0,213,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3517
$GC,5799,-0.46,-155.7,662.7,-9.0,219,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3514
$GC,6043,-0.46,-155.7,685.2,-9.1,225,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3513
$GC,6286,-0.46,-155.7,705.7,-8.3,231,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3512
$GC,6530,-0.46,-155.7,723.1,-7.0,237,6533,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3584,3510
$GC,6572,-0.46,-155.7,726.0,-6.7,237,6581,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2540,3509
$GC,6829,-0.46,-155.7,742.8,-6.8,244,6832,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1470,3508
$GC,6892,-0.46,-155.7,747.5,-6.5,245,6896,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2528,3508
$GC,7170,-0.46,-155.7,767.4,-7.3,252,7173,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3507
$GC,7201,-0.46,-155.7,769.9,-8.7,252,7205,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2536,3506
$GC,7468,-0.46,-155.7,789.2,-7.3,259,7472,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1460,3505
$GC,7499,-0.46,-155.7,791.7,-7.5,259,7502,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2533,3505
$GC,7765,-0.46,-155.7,809.4,-6.6,266,7768,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3504
$GC,7806,-0.46,-155.7,812.3,-5.7,266,7814,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2530,3504
$GC,8061,-0.46,-155.7,826.9,-5.8,273,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3503
$GC,8305,-0.46,-155.7,841.8,-6.3,279,8308,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1465,3502
$GC,8335,-0.46,-155.7,844.1,-7.1,279,8338,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2552,3502
$GC,8602,-0.46,-155.7,862.0,-6.9,286,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3500
$GC,8847,-0.46,-155.7,879.6,-7.3,292,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3500
$GC,9091,-0.46,-155.7,897.4,-7.3,298,9094,0.00,1.58,0.00,0.000,4,0.000,0.058,2517,3557,3498
$STATE,9115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9116,begin apogee
$GC,9129,-0.18,0.0,900.1,7.7,298,9267,0.32,0.00,131.00,1.266,6,0.097,0.000,2636,2233,2890
$STATE,9268,end apogee,CONTROL_FINISHED_OK
$STATE,9268,begin climb
$GC,9273,0.46,155.7,904.8,0.0,302,9471,0.55,1.70,156.10,1.141,4,0.043,0.028,2878,1177,2254
$GC,9546,0.46,155.7,873.0,18.9,308,9550,0.12,1.67,0.00,0.000,6,0.156,0.041,2847,2226,2248
$GC,9828,0.46,155.7,823.6,17.7,315,9832,0.00,1.65,0.00,0.000,4,0.000,0.050,2847,3285,2244
$GC,9869,0.46,155.7,815.4,18.7,315,9878,0.00,1.62,0.00,0.000,6,0.000,0.028,2847,2213,2242
$GC,10126,0.46,155.7,771.1,17.6,322,10130,0.00,1.52,0.00,0.000,4,0.000,0.029,2855,1167,2242
$GC,10183,0.46,155.7,760.5,15.3,323,10187,0.00,1.65,0.00,0.000,6,0.000,0.044,2855,2216,2241
$GC,10466,0.46,155.7,712.5,17.1,330,10470,0.00,1.65,0.00,0.000,4,0.000,0.048,2855,3294,2240
$GC,10485,0.46,155.7,708.7,17.3,330,10489,0.00,1.62,0.00,0.000,6,0.000,0.028,2860,2205,2240
$GC,10763,0.46,155.7,661.7,16.9,337,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2198,2239
$GC,11007,0.46,155.7,621.3,16.6,343,11011,0.00,1.52,0.00,0.000,4,0.000,0.033,2860,1167,2238
$GC,11050,0.46,155.7,613.7,15.6,343,11058,0.00,1.65,0.00,0.000,6,0.000,0.044,2860,2222,2238
$GC,11304,0.46,155.7,570.1,17.5,350,11308,0.00,1.62,0.00,0.000,4,0.000,0.051,2861,3284,2238
$GC,11356,0.46,155.7,560.8,17.8,351,11360,0.00,1.55,0.00,0.000,6,0.000,0.028,2867,2246,2237
$GC,11646,0.46,155.7,515.4,15.3,358,11649,0.00,1.60,0.00,0.000,4,0.000,0.030,2876,1143,2237
$GC,11664,0.46,155.7,512.1,14.6,358,11668,0.00,1.67,0.00,0.000,6,0.000,0.044,2875,2240,2237
$GC,11941,0.46,155.7,470.7,15.3,365,11945,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3286,2237
$GC,12052,0.46,155.7,452.2,16.5,367,12056,0.08,1.55,0.00,0.000,6,0.152,0.028,2849,2241,2236
$GC,12328,0.46,155.7,415.6,12.8,374,12332,0.00,1.58,0.00,0.000,4,0.000,0.031,2849,1166,2236
$GC,12403,0.46,155.7,406.1,11.1,375,12406,0.00,1.65,0.00,0.000,6,0.000,0.043,2849,2247,2235
$GC,12669,0.46,155.7,373.8,12.2,382,12673,0.00,1.60,0.00,0.000,4,0.000,0.050,2849,3284,2236
$GC,12809,0.46,155.7,355.8,12.6,385,12813,0.00,1.50,0.00,0.000,6,0.000,0.027,2849,2278,2236
$GC,13103,0.46,155.7,322.1,11.3,392,13107,0.00,1.62,0.00,0.000,4,0.000,0.028,2854,1153,2236
$GC,13138,0.46,155.7,317.9,10.2,392,13142,0.00,1.70,0.00,0.000,6,0.000,0.040,2855,2281,2235
$GC,13398,0.46,155.7,287.9,11.9,399,13402,0.00,1.62,0.00,0.000,4,0.000,0.028,2857,1159,2236
$GC,13468,0.46,155.7,279.1,11.2,400,13472,0.00,1.65,0.00,0.000,6,0.000,0.040,2857,2254,2235
$GC,13739,0.46,155.7,247.2,12.1,407,13743,0.00,1.58,0.00,0.000,4,0.000,0.047,2857,3279,2236
$GC,13808,0.46,155.7,238.7,11.2,408,13812,0.00,1.48,0.00,0.000,6,0.000,0.026,2865,2266,2235
$GC,14081,0.46,155.7,210.3,10.1,415,14082,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2258,2236
$GC,14330,0.46,155.7,185.1,10.6,430,14334,0.00,1.58,0.00,0.000,4,0.000,0.045,2863,3275,2236
$GC,14402,0.46,155.7,176.6,12.4,436,14406,0.00,1.42,0.00,0.000,6,0.000,0.024,2869,2293,2236
$GC,14675,0.46,155.7,147.6,11.0,461,14682,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2288,2237
$GC,14940,0.46,155.7,118.6,10.3,486,14944,0.00,1.52,0.00,0.000,4,0.000,0.042,2864,3277,2236
$GC,15017,0.47,172.3,111.1,9.4,492,15039,0.00,1.35,12.38,0.631,6,0.000,0.022,2869,2326,2188
$GC,15301,0.50,245.7,89.4,7.2,518,15368,0.00,1.50,60.60,0.635,4,0.000,0.039,2863,3298,1889
$GC,15397,0.51,285.8,81.9,8.5,525,15438,0.00,1.33,33.72,0.611,6,0.000,0.021,2868,2384,1724
$GC,15695,0.54,338.9,59.0,8.0,552,15742,0.00,1.85,42.28,0.591,4,0.000,0.025,2869,1167,1507
$GC,15858,0.60,511.2,49.5,3.5,564,16005,0.00,1.88,134.70,0.576,6,0.000,0.034,2869,2380,805
$GC,16278,0.62,542.2,12.9,8.8,612,16314,0.00,1.83,25.15,0.531,4,0.000,0.024,2869,1169,677
$STATE,16382,end climb,SURFACE_DEPTH_REACHED
$STATE,16382,begin surface coast
$FINISH,0.4,0.998184
$STATE,16425,end surface coast,CONTROL_FINISHED_OK
$STATE,16425,begin surface
$SM_CCo,16452,34.85,0.520,0,0,399,611.03
$SM_GC,1.25,0.00,0.00,34.85,0.000,0.000,0.520,31,2514,399,-8.32,0.40,611.03
$IRIDIUM_FIX,2241.69,-15746.73,020103,040437
$TT8_MAMPS,0.023777
$HUMID,2162
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,26.40
$XPDR_PINGS,6
$24V_AH,24.0,20.013
$10V_AH,10.7,21.000
$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,17.700,130.050,595.925,34.850,0.000,141.572,180.615,888.113,1.500,0.000,0.000,24.526,1347.436,11054.964,611.172,3287.204,1890.560,33.378,1771.621,0.000,3267.385,0.000,0.547,0.000
$DEVICE_MAMPS,198.653,67.496,1265.550,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,428.626,2083.061,2148.063,508.928,1411.394,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54008,633
$CAP_FILE_SIZE,152143,0
$CFSIZE,260165632,250818560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,081013,091953,2247.455,-15747.411,28,1.1,46,10.1