version: 66.04
glider: 512
mission: 4
dive: 123
start: 10 9 113 0 38 35
data:
$ID,512
$MISSION,4
$DIVE,123
$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,25
$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,-109009.01
$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,59
$R_STBD_OVSHOOT,39
$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
$GPS1,002035,2244.414,-15742.545,46,1.2,53,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-81.3
$GPS2,003742,2244.448,-15742.536,13,1.4,18,10.1
$SPEED_LIMITS,0.214,0.267
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,-0.175
$KALMAN_X,50156.3,-161.2,60.8,-20139.7,-228.7
$KALMAN_Y,39864.6,773.8,803.2,-40793.4,-1430.3
$MHEAD_RNG_PITCHd_Wd,120.7,13530,-16.9,-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,13,begin dive
$GC,18,-0.50,-155.7,0.0,0.0,0,86,0.00,0.00,-65.75,0.000,2,0.000,0.000,11,2555,2780
$GC,92,-0.50,-155.7,2.1,-1.5,8,127,9.30,1.60,-17.60,0.000,4,0.199,0.037,2536,1428,3523
$GC,164,-0.50,-155.7,19.1,-27.3,17,173,0.00,1.65,0.00,0.000,6,0.000,0.041,2530,2492,3523
$GC,438,-0.50,-155.7,94.1,-24.7,45,442,0.00,1.62,0.00,0.000,4,0.000,0.046,2522,3575,3523
$GC,512,-0.50,-155.7,108.7,-17.1,51,516,0.00,1.55,0.00,0.000,6,0.000,0.019,2521,2487,3524
$GC,784,-0.50,-155.7,157.1,-16.5,76,788,0.00,1.65,0.00,0.000,4,0.000,0.041,2514,3582,3524
$GC,801,-0.50,-155.7,160.1,-16.7,77,804,0.00,1.52,0.00,0.000,6,0.000,0.019,2514,2497,3524
$GC,1082,-0.50,-155.7,207.0,-16.2,100,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2491,3524
$GC,1326,-0.50,-155.7,242.9,-14.5,106,1330,0.00,1.62,0.00,0.000,4,0.000,0.042,2507,3574,3524
$GC,1384,-0.50,-155.7,252.1,-13.6,107,1388,0.00,1.50,0.00,0.000,6,0.000,0.019,2508,2509,3524
$GC,1667,-0.50,-155.7,289.5,-13.2,114,1668,0.10,0.00,0.00,0.000,6,0.131,0.000,2537,2500,3524
$GC,1910,-0.50,-155.7,315.6,-10.5,120,1914,0.00,1.62,0.00,0.000,4,0.000,0.046,2530,3577,3523
$GC,1928,-0.50,-155.7,318.0,-10.5,120,1932,0.00,1.52,0.00,0.000,6,0.000,0.021,2530,2494,3523
$GC,2207,-0.50,-155.7,347.6,-10.9,127,2210,0.00,1.65,0.00,0.000,4,0.000,0.046,2524,3575,3521
$GC,2225,-0.50,-155.7,350.1,-10.4,127,2229,0.00,1.52,0.00,0.000,6,0.000,0.021,2524,2496,3521
$GC,2502,-0.50,-155.7,378.9,-10.5,134,2506,0.00,1.42,0.00,0.000,4,0.000,0.021,2523,1456,3518
$GC,2526,-0.50,-155.7,381.8,-10.9,134,2530,0.00,1.60,0.00,0.000,6,0.000,0.041,2523,2524,3517
$GC,2797,-0.50,-155.7,409.6,-10.4,141,2799,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2524,3539
$GC,3041,-0.50,-155.7,435.4,-10.6,147,3045,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3560,3537
$GC,3100,-0.50,-155.7,441.9,-9.4,148,3103,0.00,1.52,0.00,0.000,6,0.000,0.024,2523,2493,3537
$GC,3383,-0.50,-155.7,468.9,-9.6,155,3387,0.00,1.45,0.00,0.000,4,0.000,0.022,2523,1451,3534
$GC,3424,-0.50,-155.7,473.1,-8.9,155,3433,0.00,1.58,0.00,0.000,6,0.000,0.043,2523,2477,3534
$GC,3679,-0.50,-155.7,495.6,-9.0,162,3683,0.00,1.65,0.00,0.000,4,0.000,0.053,2523,3564,3531
$GC,3761,-0.50,-155.7,502.9,-8.6,163,3764,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2501,3530
$GC,4021,-0.50,-155.7,525.4,-9.0,170,4025,0.00,1.45,0.00,0.000,4,0.000,0.024,2523,1455,3527
$GC,4073,-0.50,-155.7,530.3,-8.1,171,4076,0.00,1.60,0.00,0.000,6,0.000,0.044,2523,2515,3527
$GC,4363,-0.50,-155.7,556.8,-9.4,178,4366,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3567,3525
$GC,4404,-0.50,-155.7,561.1,-8.7,178,4412,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2484,3525
$GC,4659,-0.50,-155.7,585.5,-9.9,185,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2484,3523
$GC,4903,-0.50,-155.7,609.0,-10.0,191,4907,0.00,1.70,0.00,0.000,4,0.000,0.054,2523,3563,3520
$GC,4961,-0.50,-155.7,615.0,-9.6,192,4964,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2521,3520
$GC,5245,-0.50,-155.7,640.3,-9.0,199,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2514,3518
$GC,5490,-0.50,-155.7,661.8,-8.8,205,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2514,3516
$GC,5733,-0.50,-155.7,682.1,-8.2,211,5737,0.00,1.62,0.00,0.000,4,0.000,0.055,2523,3562,3515
$GC,5758,-0.50,-155.7,684.5,-8.3,211,5762,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2524,3515
$GC,6029,-0.50,-155.7,706.0,-8.0,218,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2517,3514
$GC,6273,-0.50,-155.7,726.2,-8.4,224,6276,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1446,3512
$GC,6303,-0.50,-155.7,729.0,-8.7,224,6306,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2540,3512
$GC,6569,-0.50,-155.7,750.5,-8.2,231,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3511
$GC,6813,-0.50,-155.7,769.4,-7.6,237,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3510
$GC,7056,-0.50,-155.7,787.5,-7.3,243,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3509
$GC,7300,-0.50,-155.7,805.0,-7.2,249,7304,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1465,3508
$GC,7330,-0.50,-155.7,807.6,-7.6,249,7334,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2553,3507
$GC,7597,-0.50,-155.7,827.2,-7.5,256,7601,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3557,3507
$GC,7635,-0.50,-155.7,830.3,-7.4,256,7638,0.00,1.48,0.00,0.000,6,0.000,0.029,2523,2542,3506
$GC,7895,-0.50,-155.7,849.9,-7.6,263,7899,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1467,3505
$GC,7925,-0.50,-155.7,852.5,-8.0,263,7929,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2559,3505
$GC,8192,-0.50,-155.7,871.9,-7.5,270,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2559,3504
$GC,8435,-0.50,-155.7,890.7,-7.8,276,8439,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3557,3503
$GC,8471,-0.50,-155.7,894.0,-7.9,276,8475,0.00,1.48,0.00,0.000,6,0.000,0.030,2522,2543,3503
$STATE,8564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8564,begin apogee
$GC,8576,-0.18,0.0,901.7,8.2,279,8709,0.35,0.00,130.82,1.269,6,0.094,0.000,2644,2220,2890
$STATE,8710,end apogee,CONTROL_FINISHED_OK
$STATE,8710,begin climb
$GC,8715,0.50,155.7,906.9,0.0,282,8869,0.55,0.00,143.65,1.207,6,0.028,0.000,2885,2220,2256
$GC,9137,0.50,155.7,840.2,21.5,292,9141,0.00,1.70,0.00,0.000,4,0.000,0.050,2884,3290,2246
$GC,9241,0.50,155.7,816.1,23.8,294,9245,0.12,1.58,0.00,0.000,6,0.198,0.028,2864,2252,2245
$GC,9524,0.50,155.7,761.1,19.1,301,9528,0.00,1.60,0.00,0.000,4,0.000,0.029,2870,1170,2242
$GC,9594,0.50,155.7,747.6,17.9,302,9598,0.00,1.67,0.00,0.000,6,0.000,0.043,2870,2252,2242
$GC,9866,0.50,155.7,694.8,19.8,309,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2252,2240
$GC,10109,0.50,155.7,648.5,18.7,315,10113,0.00,1.62,0.00,0.000,4,0.000,0.051,2870,3309,2240
$GC,10185,0.50,155.7,633.4,18.9,316,10188,0.00,1.60,0.00,0.000,6,0.000,0.028,2878,2224,2239
$GC,10450,0.50,155.7,584.8,18.3,323,10454,0.00,1.55,0.00,0.000,4,0.000,0.030,2886,1161,2239
$GC,10480,0.50,155.7,579.0,17.5,323,10484,0.00,1.65,0.00,0.000,6,0.000,0.044,2886,2235,2239
$GC,10746,0.50,155.7,529.3,19.2,330,10749,0.00,1.62,0.00,0.000,4,0.000,0.050,2886,3302,2239
$GC,10843,0.50,155.7,508.5,20.2,332,10848,0.08,1.55,0.00,0.000,6,0.150,0.028,2860,2264,2238
$GC,11132,0.50,155.7,464.6,14.9,339,11135,0.00,1.60,0.00,0.000,4,0.000,0.028,2866,1163,2238
$GC,11161,0.50,155.7,459.8,14.7,339,11165,0.00,1.75,0.00,0.000,6,0.000,0.043,2867,2287,2238
$GC,11428,0.50,155.7,423.6,13.7,346,11432,0.00,1.55,0.00,0.000,4,0.000,0.050,2864,3284,2238
$GC,11458,0.50,155.7,418.8,14.7,346,11462,0.00,1.50,0.00,0.000,6,0.000,0.027,2869,2278,2238
$GC,11724,0.50,155.7,381.9,14.2,353,11727,0.00,1.62,0.00,0.000,4,0.000,0.029,2877,1152,2238
$GC,11781,0.50,155.7,373.7,13.5,354,11785,0.00,1.73,0.00,0.000,6,0.000,0.041,2877,2287,2238
$GC,12065,0.50,155.7,332.8,15.0,361,12068,0.00,1.65,0.00,0.000,4,0.000,0.028,2884,1144,2237
$GC,12144,0.50,155.7,320.6,14.5,362,12148,0.00,1.67,0.00,0.000,6,0.000,0.044,2884,2242,2237
$GC,12405,0.50,155.7,283.7,14.4,369,12408,0.00,1.60,0.00,0.000,4,0.000,0.048,2878,3278,2237
$GC,12457,0.50,155.7,275.8,13.6,370,12461,0.00,1.55,0.00,0.000,6,0.000,0.026,2884,2229,2237
$GC,12746,0.50,155.7,237.9,13.4,377,12749,0.00,1.67,0.00,0.000,4,0.000,0.048,2885,3290,2237
$GC,12775,0.50,155.7,233.8,13.2,377,12780,0.08,1.52,0.00,0.000,6,0.151,0.025,2855,2248,2237
$GC,13041,0.51,192.0,209.5,8.4,384,13072,0.00,0.00,28.60,0.775,6,0.000,0.000,2855,2243,2107
$GC,13335,0.51,192.0,178.7,11.8,403,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2243,2103
$GC,13601,0.51,192.0,144.7,12.0,428,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2243,2103
$GC,13868,0.52,207.9,116.6,9.3,453,13891,0.00,0.00,14.27,0.654,6,0.000,0.000,2855,2243,2041
$GC,14149,0.53,237.7,90.3,8.7,479,14181,0.00,1.67,25.73,0.640,4,0.000,0.042,2855,3290,1919
$GC,14228,0.53,253.5,82.8,9.3,486,14246,0.00,1.48,14.12,0.604,6,0.000,0.022,2856,2291,1856
$GC,14519,0.57,350.8,63.8,5.8,512,14602,0.00,1.65,77.18,0.607,4,0.000,0.024,2856,1169,1458
$GC,14695,0.62,468.4,54.6,4.9,525,14793,0.12,1.70,92.45,0.588,6,0.177,0.033,2904,2286,979
$GC,15061,0.62,468.4,14.6,11.9,566,15071,0.00,1.55,0.00,0.000,4,0.000,0.042,2904,3294,975
$STATE,15170,end climb,SURFACE_DEPTH_REACHED
$STATE,15170,begin surface coast
$FINISH,0.4,1.023046
$STATE,15209,end surface coast,CONTROL_FINISHED_OK
$STATE,15213,begin surface
$SM_CCo,15299,0.00,0.000,0,0,973,470.23
$SM_GC,1.29,7.28,0.00,0.00,0.025,0.000,0.000,25,2458,973,-8.22,-1.07,470.23
$IRIDIUM_FIX,2239.35,-15744.57,030103,000056
$TT8_MAMPS,0.023777
$HUMID,2238
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,4
$24V_AH,23.9,20.820
$10V_AH,10.7,21.836
$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,17.975,104.925,526.825,0.000,0.000,89.802,112.063,496.799,1.000,0.000,0.000,18.896,1227.065,10335.961,490.294,2960.853,1301.355,33.370,1463.305,0.000,2964.979,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,59.826,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,400.530,1940.425,2007.010,241.918,1328.558,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50940,589
$CAP_FILE_SIZE,126297,0
$CFSIZE,260165632,250580992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,091013,045505,2243.183,-15740.976,43,1.0,48,10.1