version: 66.04
glider: 512
mission: 4
dive: 124
start: 10 9 113 5 4 47
data:
$ID,512
$MISSION,4
$DIVE,124
$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,-109036.67
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2705
$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,79
$R_STBD_OVSHOOT,29
$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
$GPS1,045505,2243.183,-15740.976,43,1.0,48,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-79.7
$GPS2,050354,2243.234,-15741.012,15,1.2,26,10.1
$SPEED_LIMITS,0.214,0.267
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,-0.221
$KALMAN_X,49866.8,-377.2,-315.3,-16646.9,462.4
$KALMAN_Y,40509.9,1327.6,66.8,-43502.6,-994.9
$MHEAD_RNG_PITCHd_Wd,135.7,10197,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.50,-155.7,0.0,0.0,0,98,0.00,0.00,-73.82,0.000,2,0.000,0.000,12,2457,2761
$GC,104,-0.50,-155.7,2.1,-2.1,9,139,9.32,1.40,-19.02,0.000,4,0.198,0.040,2542,1449,3524
$GC,199,-0.50,-155.7,21.7,-21.8,22,208,0.00,1.62,0.00,0.000,6,0.000,0.044,2536,2490,3524
$GC,472,-0.50,-155.7,93.4,-21.5,49,476,0.00,1.62,0.00,0.000,4,0.000,0.047,2528,3566,3525
$GC,569,-0.50,-155.7,112.2,-17.9,57,573,0.00,1.50,0.00,0.000,6,0.000,0.019,2528,2513,3525
$GC,842,-0.50,-155.7,159.7,-17.1,82,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2504,3526
$GC,1127,-0.50,-155.7,207.1,-15.2,106,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2504,3526
$GC,1372,-0.50,-155.7,242.3,-14.2,112,1376,0.00,1.45,0.00,0.000,4,0.000,0.019,2528,1461,3526
$GC,1391,-0.50,-155.7,245.7,-13.3,112,1394,0.00,1.62,0.00,0.000,6,0.000,0.038,2523,2551,3526
$GC,1668,-0.50,-155.7,280.9,-12.6,119,1672,0.00,1.55,0.00,0.000,4,0.000,0.046,2516,3574,3525
$GC,1709,-0.50,-155.7,286.6,-12.1,119,1717,0.00,1.50,0.00,0.000,6,0.000,0.020,2516,2498,3524
$GC,1963,-0.50,-155.7,319.6,-13.3,126,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2498,3523
$GC,2207,-0.50,-155.7,349.8,-12.4,132,2210,0.00,1.62,0.00,0.000,4,0.000,0.045,2508,3574,3522
$GC,2288,-0.50,-155.7,360.4,-11.8,133,2292,0.08,1.48,0.00,0.000,6,0.110,0.021,2539,2521,3521
$GC,2547,-0.50,-155.7,387.3,-10.5,140,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2513,3519
$GC,2791,-0.50,-155.7,411.5,-9.8,146,2795,0.00,1.45,0.00,0.000,4,0.000,0.022,2540,1468,3517
$GC,2833,-0.50,-155.7,415.6,-8.8,146,2840,0.00,1.60,-0.05,0.000,6,0.000,0.041,2537,2518,3537
$GC,3088,-0.50,-155.7,438.3,-8.9,153,3091,0.00,1.60,0.00,0.000,4,0.000,0.049,2529,3560,3534
$GC,3112,-0.50,-155.7,440.8,-9.2,153,3116,0.00,1.48,0.00,0.000,6,0.000,0.023,2529,2522,3534
$GC,3385,-0.50,-155.7,466.6,-9.6,160,3389,0.00,1.48,0.00,0.000,4,0.000,0.024,2529,1471,3533
$GC,3421,-0.50,-155.7,470.4,-9.6,160,3425,0.00,1.60,0.00,0.000,6,0.000,0.042,2524,2513,3532
$GC,3681,-0.50,-155.7,494.9,-9.6,167,3685,0.00,1.62,0.00,0.000,4,0.000,0.052,2521,3567,3529
$GC,3739,-0.50,-155.7,501.0,-9.4,168,3743,0.00,1.50,0.00,0.000,6,0.000,0.024,2521,2517,3529
$GC,4023,-0.50,-155.7,527.7,-9.5,175,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2509,3527
$GC,4268,-0.50,-155.7,549.1,-8.6,181,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2509,3524
$GC,4512,-0.50,-155.7,569.2,-8.2,187,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2509,3523
$GC,4755,-0.50,-155.7,589.3,-8.3,193,4759,0.00,1.62,0.00,0.000,4,0.000,0.051,2513,3566,3521
$GC,4780,-0.50,-155.7,592.0,-8.5,193,4784,0.00,1.52,0.00,0.000,6,0.000,0.025,2518,2505,3521
$GC,5051,-0.50,-155.7,614.5,-8.4,200,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2497,3519
$GC,5295,-0.50,-155.7,635.6,-8.7,206,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2497,3517
$GC,5538,-0.50,-155.7,657.2,-8.8,212,5542,0.00,1.65,0.00,0.000,4,0.000,0.054,2512,3566,3515
$GC,5557,-0.50,-155.7,659.2,-9.0,212,5561,0.00,1.52,0.00,0.000,6,0.000,0.026,2518,2510,3515
$GC,5834,-0.50,-155.7,683.4,-8.7,219,5838,0.00,1.65,0.00,0.000,4,0.000,0.053,2512,3570,3514
$GC,5865,-0.50,-155.7,686.3,-8.9,219,5868,0.00,1.52,0.00,0.000,6,0.000,0.026,2518,2514,3514
$GC,6132,-0.50,-155.7,708.1,-8.4,226,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2506,3512
$GC,6375,-0.50,-155.7,728.7,-8.4,232,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2506,3511
$GC,6619,-0.50,-155.7,749.0,-8.4,238,6623,0.00,1.50,0.00,0.000,4,0.000,0.026,2517,1455,3510
$GC,6643,-0.50,-155.7,751.4,-8.2,238,6648,0.12,1.65,0.00,0.000,6,0.109,0.048,2550,2536,3510
$GC,6916,-0.50,-155.7,766.2,-5.2,245,6919,0.00,1.60,0.00,0.000,4,0.000,0.058,2550,3573,3508
$GC,6940,-0.50,-155.7,767.6,-5.0,245,6944,0.00,1.52,0.00,0.000,6,0.000,0.028,2550,2517,3508
$GC,7211,-0.50,-155.7,780.4,-4.8,252,7215,0.00,1.50,0.00,0.000,4,0.000,0.026,2550,1458,3507
$GC,7241,-0.50,-155.7,782.1,-5.7,252,7245,0.00,1.67,0.00,0.000,6,0.000,0.049,2549,2551,3507
$GC,7508,-0.50,-155.7,794.6,-4.8,259,7512,0.00,1.58,0.00,0.000,4,0.000,0.059,2548,3554,3505
$GC,7544,-0.50,-155.7,796.5,-5.2,259,7548,0.00,1.48,0.00,0.000,6,0.000,0.028,2547,2537,3505
$GC,7805,-0.50,-155.7,809.0,-5.0,266,7809,0.00,1.55,0.00,0.000,4,0.000,0.028,2547,1456,3505
$GC,7855,-0.50,-155.7,811.9,-5.9,267,7859,0.00,1.67,0.00,0.000,6,0.000,0.049,2546,2542,3504
$GC,8151,-0.50,-155.7,828.2,-5.6,274,8154,0.00,1.60,0.00,0.000,4,0.000,0.058,2539,3578,3503
$GC,8201,-0.50,-155.7,831.2,-5.5,275,8204,0.00,1.52,0.00,0.000,6,0.000,0.028,2538,2529,3503
$GC,8495,-0.50,-155.7,848.7,-5.9,282,8498,0.00,1.52,0.00,0.000,4,0.000,0.028,2538,1461,3502
$GC,8525,-0.50,-155.7,850.8,-6.5,282,8529,0.00,1.67,0.00,0.000,6,0.000,0.051,2537,2550,3502
$GC,8792,-0.50,-155.7,866.3,-5.9,289,8796,0.00,1.60,0.00,0.000,4,0.000,0.061,2537,3578,3500
$GC,8834,-0.50,-155.7,869.2,-6.2,289,8842,0.00,1.50,0.00,0.000,6,0.000,0.030,2537,2540,3500
$GC,9089,-0.50,-155.7,884.1,-5.9,296,9093,0.00,1.55,0.00,0.000,4,0.000,0.028,2537,1463,3500
$GC,9139,-0.50,-155.7,887.1,-6.3,297,9143,0.00,1.70,0.00,0.000,6,0.000,0.051,2537,2564,3500
$STATE,9387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9387,begin apogee
$GC,9398,-0.18,0.0,900.9,5.4,303,9532,0.32,0.00,130.93,1.271,6,0.085,0.000,2651,2228,2890
$STATE,9533,end apogee,CONTROL_FINISHED_OK
$STATE,9533,begin climb
$GC,9538,0.50,155.7,904.2,0.0,306,9694,0.55,1.77,144.50,1.208,4,0.029,0.046,2887,3284,2254
$GC,9729,0.50,155.7,881.6,23.8,310,9733,0.00,1.65,0.00,0.000,6,0.000,0.028,2895,2230,2250
$GC,10006,0.50,155.7,818.5,22.9,317,10010,0.12,1.70,0.00,0.000,4,0.206,0.048,2864,3292,2245
$GC,10065,0.50,155.7,805.3,21.2,318,10069,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2230,2244
$GC,10349,0.50,155.7,750.2,19.7,325,10352,0.00,1.67,0.00,0.000,4,0.000,0.048,2864,3289,2242
$GC,10373,0.50,155.7,744.5,19.6,325,10377,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2247,2242
$GC,10644,0.50,155.7,694.1,18.7,332,10648,0.00,1.60,0.00,0.000,4,0.000,0.031,2877,1160,2240
$GC,10740,0.50,155.7,677.7,17.4,334,10744,0.00,1.70,0.00,0.000,6,0.000,0.044,2878,2237,2240
$GC,11034,0.50,155.7,624.1,18.4,341,11038,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3277,2239
$GC,11084,0.50,155.7,614.7,19.7,342,11087,0.00,1.58,0.00,0.000,6,0.000,0.028,2881,2232,2239
$GC,11378,0.50,155.7,562.2,17.5,349,11382,0.00,1.58,0.00,0.000,4,0.000,0.031,2889,1155,2238
$GC,11408,0.50,155.7,556.4,17.1,349,11412,0.00,1.67,0.00,0.000,6,0.000,0.043,2889,2228,2239
$GC,11674,0.50,155.7,510.4,17.7,356,11678,0.00,1.62,0.00,0.000,4,0.000,0.049,2889,3278,2238
$GC,11759,0.50,155.7,494.4,17.6,357,11768,0.10,1.52,0.00,0.000,6,0.182,0.028,2868,2265,2238
$GC,12015,0.50,155.7,456.1,15.3,364,12019,0.00,1.62,0.00,0.000,4,0.000,0.050,2865,3287,2238
$GC,12045,0.50,155.7,450.7,15.8,364,12049,0.00,1.55,0.00,0.000,6,0.000,0.028,2871,2246,2237
$GC,12311,0.50,155.7,409.9,15.7,371,12315,0.00,1.58,0.00,0.000,4,0.000,0.029,2879,1161,2237
$GC,12431,0.50,155.7,392.1,14.4,373,12434,0.00,1.65,0.00,0.000,6,0.000,0.043,2876,2243,2237
$GC,12697,0.50,155.7,353.6,14.2,380,12700,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3306,2237
$GC,12792,0.50,155.7,339.5,14.8,382,12795,0.00,1.60,0.00,0.000,6,0.000,0.028,2882,2235,2237
$GC,13086,0.50,155.7,298.0,13.8,389,13089,0.00,1.58,0.00,0.000,4,0.000,0.029,2890,1145,2237
$GC,13150,0.50,155.7,288.9,13.6,390,13154,0.00,1.65,0.00,0.000,6,0.000,0.041,2890,2231,2237
$GC,13428,0.50,155.7,252.8,12.8,397,13432,0.00,1.62,0.00,0.000,4,0.000,0.047,2890,3308,2237
$GC,13478,0.50,155.7,245.5,15.2,398,13483,0.10,1.62,0.00,0.000,6,0.156,0.026,2866,2224,2237
$GC,13772,0.50,161.8,215.5,9.7,405,13776,0.00,1.65,0.00,0.000,4,0.000,0.047,2863,3279,2236
$GC,13869,0.50,165.1,205.7,9.9,407,13880,0.00,1.55,6.55,0.666,6,0.000,0.025,2869,2227,2215
$GC,14150,0.50,165.1,176.3,11.6,427,14154,0.00,1.62,0.00,0.000,4,0.000,0.044,2864,3295,2215
$GC,14223,0.50,165.1,167.0,12.0,433,14227,0.00,1.50,0.00,0.000,6,0.000,0.024,2868,2275,2215
$GC,14495,0.50,169.6,136.8,9.8,458,14510,0.00,1.60,5.68,0.574,4,0.000,0.025,2877,1154,2198
$GC,14550,0.52,223.1,131.9,7.7,462,14605,0.00,1.73,45.15,0.689,6,0.000,0.037,2877,2306,1978
$GC,14862,0.52,223.1,100.1,10.2,490,14865,0.00,1.67,0.00,0.000,4,0.000,0.024,2884,1150,1974
$GC,14891,0.52,223.1,96.7,11.0,492,14900,0.00,1.75,0.00,0.000,6,0.000,0.035,2884,2283,1973
$GC,15159,0.54,271.8,70.3,7.9,517,15202,0.00,1.60,39.45,0.617,4,0.000,0.042,2884,3295,1781
$GC,15257,0.54,273.9,61.8,9.9,524,15266,0.00,1.50,0.00,0.000,6,0.000,0.021,2885,2280,1779
$GC,15524,0.55,300.5,36.6,8.8,549,15553,0.00,1.65,23.85,0.574,4,0.000,0.023,2893,1162,1663
$GC,15612,0.58,378.1,29.5,6.6,556,15682,0.00,1.75,61.58,0.571,6,0.000,0.037,2893,2287,1346
$STATE,15878,end climb,SURFACE_DEPTH_REACHED
$STATE,15879,begin surface coast
$FINISH,0.4,1.022272
$STATE,15905,end surface coast,CONTROL_FINISHED_OK
$STATE,15905,begin surface
$SM_CCo,15930,5.70,0.443,0,0,1300,390.02
$SM_GC,1.69,0.00,0.00,5.70,0.000,0.000,0.443,20,2538,1300,-8.39,1.19,390.02
$IRIDIUM_FIX,2237.01,-15740.24,030103,000044
$TT8_MAMPS,0.023777
$HUMID,2202
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.20
$XPDR_PINGS,4
$24V_AH,23.9,20.968
$10V_AH,10.7,22.035
$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,18.000,124.950,457.675,5.700,0.000,28.156,41.340,261.376,1.000,0.000,0.000,27.043,1287.560,10654.186,465.761,3094.930,958.781,33.356,1498.013,0.000,3077.734,0.000,0.544,0.000
$DEVICE_MAMPS,206.323,60.593,1270.919,442.559,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,407.316,1969.658,2033.824,960.678,1316.166,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50863,599
$CAP_FILE_SIZE,130445,0
$CFSIZE,260165632,250515456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091013,093154,2242.310,-15739.552,42,1.0,42,10.1