version: 66.04
glider: 512
mission: 4
dive: 121
start: 10 8 113 15 2 19
data:
$ID,512
$MISSION,4
$DIVE,121
$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,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,-108926.86
$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,67
$R_STBD_OVSHOOT,51
$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
$GPS1,142730,2245.956,-15745.718,62,1.1,62,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-80.3
$GPS2,150100,2246.087,-15745.831,12,1.3,17,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,-0.275
$KALMAN_X,49701.2,143.1,-66.0,-25491.0,542.8
$KALMAN_Y,37164.2,-75.2,-297.2,-33077.0,3030.4
$MHEAD_RNG_PITCHd_Wd,154.7,19517,-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,18,-0.46,-155.7,0.0,0.0,0,114,0.00,0.00,-94.47,0.000,2,0.000,0.000,11,2532,2859
$GC,120,-0.46,-155.7,2.1,-2.0,11,150,9.38,1.58,-15.18,0.000,4,0.201,0.040,2546,1448,3527
$GC,236,-0.46,-155.7,29.0,-20.3,27,245,0.00,1.58,0.00,0.000,6,0.000,0.038,2540,2475,3528
$GC,501,-0.46,-155.7,90.9,-19.4,52,505,0.00,1.65,0.00,0.000,4,0.000,0.045,2532,3561,3527
$GC,532,-0.46,-155.7,97.7,-21.3,54,541,0.00,1.58,0.00,0.000,6,0.000,0.018,2532,2455,3527
$GC,798,-0.46,-155.7,144.4,-17.0,79,802,0.00,1.70,0.00,0.000,4,0.000,0.043,2525,3572,3528
$GC,850,-0.46,-155.7,154.1,-16.9,83,858,0.00,1.52,0.00,0.000,6,0.000,0.019,2525,2499,3527
$GC,1116,-0.46,-155.7,200.2,-16.1,108,1119,0.00,1.62,0.00,0.000,4,0.000,0.043,2517,3575,3526
$GC,1147,-0.46,-155.7,205.6,-15.8,108,1152,0.08,1.50,0.00,0.000,6,0.116,0.020,2544,2502,3526
$GC,1414,-0.46,-155.7,236.4,-11.4,115,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2494,3526
$GC,1659,-0.46,-155.7,261.8,-10.0,121,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2493,3525
$GC,1903,-0.46,-155.7,283.7,-9.3,127,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2493,3525
$GC,2146,-0.46,-155.7,309.8,-10.8,133,2150,0.00,1.62,0.00,0.000,4,0.000,0.044,2537,3574,3523
$GC,2176,-0.46,-155.7,313.6,-10.9,133,2180,0.00,1.48,0.00,0.000,6,0.000,0.020,2537,2524,3523
$GC,2441,-0.46,-155.7,340.1,-10.1,140,2445,0.00,1.48,0.00,0.000,4,0.000,0.021,2537,1451,3520
$GC,2471,-0.46,-155.7,343.4,-10.3,140,2475,0.00,1.62,0.00,0.000,6,0.000,0.041,2537,2537,3520
$GC,2738,-0.46,-155.7,370.0,-10.2,147,2741,0.00,1.55,0.00,0.000,4,0.000,0.048,2529,3559,3517
$GC,2779,-0.46,-155.7,374.7,-10.3,147,2788,0.00,1.48,0.00,0.000,6,0.000,0.021,2529,2511,3517
$GC,3035,-0.46,-155.7,400.6,-10.3,154,3039,0.00,1.45,-0.08,0.000,4,0.000,0.041,2529,1449,3537
$GC,3071,-0.46,-155.7,404.7,-9.3,154,3075,0.00,1.65,0.00,0.000,6,0.000,0.041,2524,2527,3537
$GC,3332,-0.46,-155.7,430.0,-9.9,161,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2528,3535
$GC,3575,-0.46,-155.7,453.9,-9.8,167,3579,0.00,1.60,0.00,0.000,4,0.000,0.051,2522,3567,3532
$GC,3655,-0.46,-155.7,461.7,-9.0,168,3659,0.00,1.48,0.00,0.000,6,0.000,0.023,2522,2531,3532
$GC,3917,-0.46,-155.7,487.1,-9.9,175,3920,0.00,1.50,0.00,0.000,4,0.000,0.023,2522,1454,3529
$GC,3941,-0.46,-155.7,490.2,-10.6,175,3945,0.08,1.65,0.00,0.000,6,0.100,0.042,2545,2530,3529
$GC,4212,-0.46,-155.7,510.3,-7.5,182,4216,0.00,1.58,0.00,0.000,4,0.000,0.051,2539,3558,3526
$GC,4264,-0.46,-155.7,514.1,-7.0,183,4267,0.00,1.48,0.00,0.000,6,0.000,0.025,2539,2526,3525
$GC,4559,-0.46,-155.7,536.4,-7.4,190,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2518,3524
$GC,4804,-0.46,-155.7,554.2,-7.3,196,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2518,3522
$GC,5048,-0.46,-155.7,573.3,-7.9,202,5051,0.00,1.50,0.00,0.000,4,0.000,0.025,2539,1461,3520
$GC,5067,-0.46,-155.7,575.2,-8.1,202,5070,0.00,1.62,0.00,0.000,6,0.000,0.045,2537,2531,3520
$GC,5344,-0.46,-155.7,597.2,-8.0,209,5348,0.00,1.60,0.00,0.000,4,0.000,0.054,2534,3564,3518
$GC,5374,-0.46,-155.7,599.9,-8.3,209,5377,0.00,1.48,0.00,0.000,6,0.000,0.025,2534,2534,3517
$GC,5640,-0.46,-155.7,620.1,-7.7,216,5644,0.00,1.52,0.00,0.000,4,0.000,0.025,2534,1459,3516
$GC,5676,-0.46,-155.7,623.2,-7.6,216,5680,0.00,1.62,0.00,0.000,6,0.000,0.045,2527,2531,3515
$GC,5938,-0.46,-155.7,643.1,-7.8,223,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2531,3514
$GC,6183,-0.46,-155.7,661.9,-7.7,229,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2531,3512
$GC,6426,-0.46,-155.7,679.9,-7.3,235,6430,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3579,3511
$GC,6451,-0.46,-155.7,682.2,-7.3,235,6455,0.00,1.55,0.00,0.000,6,0.000,0.028,2524,2511,3511
$GC,6722,-0.46,-155.7,703.3,-8.1,242,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2503,3509
$GC,6966,-0.46,-155.7,723.7,-8.5,248,6970,0.00,1.65,0.00,0.000,4,0.000,0.054,2523,3554,3508
$GC,6995,-0.46,-155.7,726.4,-8.9,248,6999,0.00,1.50,0.00,0.000,6,0.000,0.027,2524,2514,3508
$GC,7262,-0.46,-155.7,747.5,-7.9,255,7265,0.00,1.65,0.00,0.000,4,0.000,0.055,2524,3567,3507
$GC,7303,-0.46,-155.7,751.0,-7.6,255,7312,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2524,3506
$GC,7561,-0.46,-155.7,770.5,-7.9,262,7564,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1456,3505
$GC,7591,-0.46,-155.7,773.4,-8.4,262,7595,0.00,1.67,0.00,0.000,6,0.000,0.049,2524,2529,3505
$GC,7857,-0.46,-155.7,794.1,-7.9,269,7860,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3583,3504
$GC,7908,-0.46,-155.7,798.1,-8.5,270,7912,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2554,3503
$GC,8204,-0.46,-155.7,820.8,-7.6,277,8207,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1465,3502
$GC,8254,-0.46,-155.7,824.7,-7.5,278,8257,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2554,3502
$GC,8548,-0.46,-155.7,844.3,-6.4,285,8552,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3558,3501
$GC,8590,-0.46,-155.7,847.3,-6.9,285,8599,0.00,1.48,0.00,0.000,6,0.000,0.030,2523,2536,3500
$GC,8847,-0.46,-155.7,862.4,-6.0,292,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3500
$GC,9091,-0.46,-155.7,877.1,-6.0,298,9094,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1460,3499
$GC,9127,-0.46,-155.7,879.8,-6.7,298,9130,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2542,3499
$GC,9387,-0.46,-155.7,896.5,-6.6,305,9391,0.00,1.60,0.00,0.000,4,0.000,0.059,2524,3558,3498
$STATE,9432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9432,begin apogee
$GC,9445,-0.18,0.0,900.1,7.7,306,9579,0.35,0.00,130.65,1.269,6,0.094,0.000,2645,2216,2890
$STATE,9579,end apogee,CONTROL_FINISHED_OK
$STATE,9580,begin climb
$GC,9585,0.46,155.7,904.9,0.0,309,9762,0.52,1.83,150.27,1.170,4,0.032,0.049,2873,3277,2254
$GC,9797,0.46,155.7,886.6,20.6,313,9804,0.10,1.65,0.00,0.000,6,0.179,0.026,2854,2228,2251
$GC,10051,0.46,155.7,840.7,17.8,320,10055,0.00,1.60,0.00,0.000,4,0.000,0.030,2861,1161,2246
$GC,10114,0.46,155.7,829.6,14.9,321,10117,0.00,1.65,0.00,0.000,6,0.000,0.044,2861,2215,2244
$GC,10392,0.46,155.7,780.6,17.9,328,10395,0.00,1.65,0.00,0.000,4,0.000,0.049,2861,3282,2243
$GC,10433,0.46,155.7,772.0,19.0,328,10441,0.00,1.62,0.00,0.000,6,0.000,0.028,2868,2209,2242
$GC,10688,0.46,155.7,724.9,18.5,335,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2203,2241
$GC,10931,0.46,155.7,680.8,18.1,341,10935,0.00,1.55,0.00,0.000,4,0.000,0.031,2873,1156,2241
$GC,10949,0.46,155.7,677.2,17.7,341,10952,0.00,1.62,0.00,0.000,6,0.000,0.042,2873,2216,2240
$GC,11226,0.46,155.7,628.7,17.8,348,11229,0.00,1.65,0.00,0.000,4,0.000,0.051,2873,3290,2240
$GC,11322,0.46,155.7,611.0,18.2,350,11326,0.12,1.60,0.00,0.000,6,0.185,0.026,2851,2216,2240
$GC,11615,0.46,155.7,566.2,15.3,357,11618,0.00,1.52,0.00,0.000,4,0.000,0.029,2858,1166,2239
$GC,11645,0.46,155.7,561.1,15.2,357,11648,0.00,1.67,0.00,0.000,6,0.000,0.043,2858,2241,2238
$GC,11912,0.46,155.7,518.7,15.7,364,11915,0.00,1.62,0.00,0.000,4,0.000,0.051,2858,3306,2238
$GC,11982,0.46,155.7,506.5,17.3,365,11985,0.00,1.55,0.00,0.000,6,0.000,0.028,2865,2266,2237
$GC,12253,0.46,155.7,462.9,15.8,372,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2259,2238
$GC,12497,0.46,155.7,426.5,15.2,378,12500,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3277,2238
$GC,12532,0.46,155.7,420.5,16.1,378,12536,0.00,1.50,0.00,0.000,6,0.000,0.026,2868,2266,2238
$GC,12793,0.46,155.7,380.2,15.5,385,12797,0.00,1.60,0.00,0.000,4,0.000,0.030,2873,1164,2238
$GC,12835,0.46,155.7,373.5,12.9,385,12843,0.00,1.73,0.00,0.000,6,0.000,0.043,2873,2277,2236
$GC,13089,0.46,155.7,337.4,14.4,392,13093,0.00,1.55,0.00,0.000,4,0.000,0.049,2873,3280,2237
$GC,13130,0.46,155.7,330.8,14.9,392,13139,0.10,1.50,0.00,0.000,6,0.161,0.027,2849,2264,2237
$GC,13385,0.46,155.7,301.4,11.5,399,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2257,2237
$GC,13629,0.47,163.4,276.9,9.7,405,13635,0.00,0.00,4.85,0.650,6,0.000,0.000,2849,2257,2223
$GC,13872,0.47,179.1,253.8,9.4,411,13890,0.00,0.00,15.40,0.787,6,0.000,0.000,2849,2257,2159
$GC,14116,0.47,179.1,228.9,10.1,417,14119,0.00,1.60,0.00,0.000,4,0.000,0.029,2850,1144,2156
$GC,14167,0.48,201.8,224.3,9.1,418,14191,0.00,1.77,20.00,0.765,6,0.000,0.040,2849,2307,2067
$GC,14458,0.49,220.2,196.8,9.3,425,14485,0.00,1.52,16.35,0.723,4,0.000,0.044,2849,3281,1991
$GC,14513,0.49,221.9,191.8,9.9,429,14517,0.00,1.45,0.00,0.000,6,0.000,0.024,2849,2313,1991
$GC,14786,0.49,222.8,166.2,10.0,454,14790,0.00,1.67,0.00,0.000,4,0.000,0.027,2849,1165,1989
$GC,14881,0.51,279.6,157.5,7.9,462,14936,0.00,1.73,49.10,0.693,6,0.000,0.038,2849,2300,1749
$GC,15191,0.51,279.6,125.1,11.0,490,15195,0.00,1.52,0.00,0.000,4,0.000,0.042,2849,3290,1744
$GC,15254,0.51,279.6,118.3,10.5,495,15257,0.00,1.42,0.00,0.000,6,0.000,0.022,2849,2323,1744
$GC,15525,0.56,392.9,96.2,5.7,520,15621,0.00,1.70,89.03,0.627,4,0.000,0.023,2849,1159,1289
$GC,15758,0.56,392.9,81.0,10.2,538,15767,0.00,1.77,0.00,0.000,6,0.000,0.032,2849,2305,1284
$GC,16025,0.56,392.9,54.0,10.3,563,16033,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2304,1282
$GC,16296,0.56,392.9,24.7,11.3,591,16305,0.00,1.67,0.00,0.000,4,0.000,0.022,2849,1158,1283
$STATE,16483,end climb,SURFACE_DEPTH_REACHED
$STATE,16483,begin surface coast
$FINISH,0.6,1.012265
$STATE,16503,end surface coast,CONTROL_FINISHED_OK
$STATE,16503,begin surface
$SM_CCo,16590,0.00,0.000,0,0,1281,394.68
$SM_GC,1.47,7.07,0.00,0.00,0.023,0.000,0.000,28,2510,1281,-8.24,0.28,394.68
$IRIDIUM_FIX,2237.01,-15747.62,020103,141420
$TT8_MAMPS,0.023777
$HUMID,2209
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,24.0,20.471
$10V_AH,10.7,21.440
$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,17.800,124.775,475.650,0.000,0.000,116.960,157.788,1345.696,1.000,0.000,0.000,17.925,1335.466,11394.277,536.783,3067.469,2280.723,33.381,1540.841,0.000,3075.239,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,59.059,1268.618,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,423.538,2050.734,2125.989,428.200,1356.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54157,623
$CAP_FILE_SIZE,147903,0
$CFSIZE,260165632,250687488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,071013,204114,2246.123,-15745.834,52,1.7,52,14.0