version: 66.04
glider: 512
mission: 4
dive: 125
start: 10 9 113 9 44 43
data:
$ID,512
$MISSION,4
$DIVE,125
$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,-109055.29
$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,57
$R_STBD_OVSHOOT,54
$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
$GPS1,093154,2242.310,-15739.552,42,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.1
$GPS2,094348,2242.360,-15739.495,12,1.1,17,10.1
$SPEED_LIMITS,0.214,0.267
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,-0.249
$KALMAN_X,49437.3,-231.7,-47.3,-14042.8,345.2
$KALMAN_Y,42313.9,937.3,410.5,-46887.1,-621.1
$MHEAD_RNG_PITCHd_Wd,148.4,7554,-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,12,begin dive
$GC,17,-0.50,-155.7,0.0,0.0,0,88,0.00,0.00,-68.53,0.000,2,0.000,0.000,11,2539,2941
$GC,94,-0.50,-155.7,2.4,-2.3,8,123,9.40,1.60,-12.10,0.000,4,0.199,0.041,2545,1429,3525
$GC,196,-0.50,-155.7,33.4,-21.7,21,199,0.00,1.60,0.00,0.000,6,0.000,0.040,2539,2481,3527
$GC,467,-0.50,-155.7,97.9,-19.9,46,471,0.00,1.65,0.00,0.000,4,0.000,0.045,2531,3562,3527
$GC,552,-0.50,-155.7,113.9,-16.4,53,556,0.00,1.52,0.00,0.000,6,0.000,0.019,2531,2492,3527
$GC,824,-0.50,-155.7,162.2,-17.4,78,827,0.00,1.45,0.00,0.000,4,0.000,0.019,2531,1435,3528
$GC,851,-0.50,-155.7,166.8,-16.6,80,855,0.00,1.67,0.00,0.000,6,0.000,0.037,2524,2532,3528
$GC,1151,-0.50,-155.7,214.3,-16.0,102,1155,0.00,1.55,0.00,0.000,4,0.000,0.044,2517,3562,3529
$GC,1204,-0.50,-155.7,223.2,-15.0,103,1208,0.00,1.45,0.00,0.000,6,0.000,0.019,2518,2525,3529
$GC,1492,-0.50,-155.7,266.2,-14.4,110,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2517,3528
$GC,1736,-0.50,-155.7,298.1,-12.7,116,1739,0.00,1.60,0.00,0.000,4,0.000,0.044,2511,3565,3529
$GC,1776,-0.50,-155.7,303.2,-10.5,116,1785,0.08,1.48,0.00,0.000,6,0.114,0.020,2542,2500,3528
$GC,2031,-0.50,-155.7,325.2,-8.6,123,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2497,3527
$GC,2275,-0.50,-155.7,346.7,-8.7,129,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2497,3525
$GC,2519,-0.50,-155.7,367.5,-8.4,135,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2497,3524
$GC,2763,-0.50,-155.7,387.8,-8.3,141,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2497,3522
$GC,3007,-0.50,-155.7,407.8,-8.2,147,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2497,3519
$GC,3250,-0.50,-155.7,428.2,-8.4,153,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2497,3518
$GC,3494,-0.50,-155.7,448.8,-8.5,159,3498,0.00,1.45,-0.08,0.000,4,0.000,0.044,2542,1451,3540
$GC,3518,-0.50,-155.7,451.3,-9.0,159,3522,0.00,1.65,0.00,0.000,6,0.000,0.042,2537,2527,3541
$GC,3791,-0.50,-155.7,475.2,-9.0,166,3794,0.00,1.60,0.00,0.000,4,0.000,0.051,2529,3564,3539
$GC,3848,-0.50,-155.7,481.0,-9.2,167,3852,0.00,1.42,0.00,0.000,6,0.000,0.025,2529,2558,3539
$GC,4132,-0.50,-155.7,507.1,-9.3,174,4135,0.00,1.50,0.00,0.000,4,0.000,0.024,2529,1477,3535
$GC,4173,-0.50,-155.7,511.3,-8.3,174,4182,0.00,1.62,0.00,0.000,6,0.000,0.044,2524,2532,3535
$GC,4431,-0.50,-155.7,534.8,-9.4,181,4434,0.00,1.60,0.00,0.000,4,0.000,0.053,2518,3590,3534
$GC,4467,-0.50,-155.7,538.6,-9.6,181,4471,0.00,1.48,0.00,0.000,6,0.000,0.025,2518,2561,3533
$GC,4727,-0.50,-155.7,562.5,-9.3,188,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2552,3532
$GC,4971,-0.50,-155.7,584.8,-9.3,194,4974,0.00,1.52,0.00,0.000,4,0.000,0.025,2520,1476,3529
$GC,5001,-0.50,-155.7,587.8,-8.9,194,5005,0.10,1.62,0.00,0.000,6,0.120,0.045,2543,2550,3529
$GC,5267,-0.50,-155.7,605.4,-6.5,201,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2550,3527
$GC,5511,-0.50,-155.7,620.4,-6.1,207,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2550,3525
$GC,5754,-0.50,-155.7,634.3,-5.6,213,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2550,3524
$GC,5998,-0.50,-155.7,648.4,-6.0,219,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2550,3523
$GC,6242,-0.50,-155.7,663.2,-6.1,225,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2550,3522
$GC,6485,-0.50,-155.7,678.9,-6.6,231,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2550,3520
$GC,6729,-0.50,-155.7,695.4,-6.7,237,6732,0.00,1.55,0.00,0.000,4,0.000,0.027,2544,1481,3519
$GC,6753,-0.50,-155.7,697.3,-6.8,237,6757,0.00,1.65,0.00,0.000,6,0.000,0.048,2538,2539,3519
$GC,7026,-0.50,-155.7,717.1,-7.5,244,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2539,3518
$GC,7271,-0.50,-155.7,734.8,-7.2,250,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2539,3516
$GC,7515,-0.50,-155.7,751.3,-6.7,256,7518,0.00,1.60,0.00,0.000,4,0.000,0.056,2531,3582,3515
$GC,7551,-0.50,-155.7,754.2,-7.2,256,7554,0.00,1.48,0.00,0.000,6,0.000,0.030,2531,2567,3515
$GC,7811,-0.50,-155.7,772.1,-7.1,263,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2562,3514
$GC,8054,-0.50,-155.7,789.6,-7.3,269,8058,0.00,1.55,0.00,0.000,4,0.000,0.028,2531,1481,3513
$GC,8085,-0.50,-155.7,792.4,-8.4,269,8088,0.00,1.65,0.00,0.000,6,0.000,0.048,2524,2557,3514
$GC,8351,-0.50,-155.7,813.2,-8.0,276,8355,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3561,3512
$GC,8387,-0.50,-155.7,816.5,-8.2,276,8391,0.00,1.42,0.00,0.000,6,0.000,0.030,2523,2582,3512
$GC,8649,-0.50,-155.7,836.5,-7.7,283,8652,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1481,3511
$GC,8679,-0.50,-155.7,839.3,-8.3,283,8683,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2562,3511
$GC,8945,-0.50,-155.7,858.4,-7.1,290,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3510
$GC,9188,-0.50,-155.7,874.8,-6.5,296,9192,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1492,3510
$GC,9213,-0.50,-155.7,876.7,-7.1,296,9216,0.00,1.65,0.00,0.000,6,0.000,0.051,2523,2564,3510
$GC,9485,-0.50,-155.7,894.2,-6.6,303,9488,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1493,3509
$GC,9515,-0.50,-155.7,896.4,-6.5,303,9519,0.00,1.65,0.00,0.000,6,0.000,0.051,2523,2543,3509
$STATE,9572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9572,begin apogee
$GC,9583,-0.18,0.0,900.2,6.5,305,9719,0.38,0.00,132.90,1.271,6,0.093,0.000,2652,2261,2890
$STATE,9720,end apogee,CONTROL_FINISHED_OK
$STATE,9720,begin climb
$GC,9725,0.50,155.7,904.0,0.0,308,9907,0.55,1.77,151.40,1.169,4,0.028,0.048,2888,3284,2254
$GC,9977,0.50,155.7,873.0,21.5,313,9981,0.00,1.65,0.00,0.000,6,0.000,0.028,2895,2220,2248
$GC,10237,0.50,155.7,818.6,20.9,320,10239,0.12,0.00,0.00,0.000,6,0.208,0.000,2870,2213,2244
$GC,10481,0.50,155.7,774.1,17.8,326,10485,0.00,1.70,0.00,0.000,4,0.000,0.049,2864,3291,2242
$GC,10538,0.50,155.7,762.9,19.1,327,10542,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2220,2242
$GC,10822,0.50,155.7,712.0,18.3,334,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2214,2241
$GC,11067,0.50,155.7,667.5,18.2,340,11070,0.00,1.58,0.00,0.000,4,0.000,0.031,2877,1142,2241
$GC,11117,0.50,155.7,658.5,16.7,341,11121,0.00,1.73,0.00,0.000,6,0.000,0.044,2877,2255,2239
$GC,11411,0.50,155.7,605.5,18.4,348,11414,0.00,1.62,0.00,0.000,4,0.000,0.030,2885,1145,2238
$GC,11429,0.50,155.7,601.5,18.3,348,11433,0.00,1.73,0.00,0.000,6,0.000,0.043,2885,2246,2239
$GC,11708,0.50,155.7,551.5,18.3,355,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2245,2239
$GC,11952,0.50,155.7,509.0,17.7,361,11956,0.00,1.60,0.00,0.000,4,0.000,0.048,2878,3278,2238
$GC,11987,0.50,155.7,501.7,17.4,361,11991,0.00,1.55,0.00,0.000,6,0.000,0.028,2884,2246,2237
$GC,12247,0.50,155.7,455.5,18.0,368,12251,0.00,1.65,0.00,0.000,4,0.000,0.051,2885,3278,2238
$GC,12283,0.50,155.7,448.3,18.4,368,12286,0.00,1.52,0.00,0.000,6,0.000,0.028,2890,2255,2238
$GC,12543,0.50,155.7,400.7,18.1,375,12547,0.00,1.60,0.00,0.000,4,0.000,0.030,2899,1157,2237
$GC,12618,0.50,155.7,387.5,15.2,376,12623,0.12,1.67,0.00,0.000,6,0.163,0.043,2868,2256,2237
$GC,12884,0.50,155.7,348.8,15.0,383,12888,0.00,1.60,0.00,0.000,4,0.000,0.048,2867,3286,2237
$GC,12936,0.50,155.7,340.5,15.2,384,12940,0.00,1.52,0.00,0.000,6,0.000,0.027,2873,2262,2237
$GC,13225,0.50,155.7,301.6,13.1,391,13229,0.00,1.60,0.00,0.000,4,0.000,0.029,2881,1156,2237
$GC,13283,0.50,155.7,294.4,11.7,392,13286,0.00,1.70,0.00,0.000,6,0.000,0.041,2878,2253,2236
$GC,13566,0.50,155.7,260.3,11.2,399,13569,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3288,2237
$GC,13624,0.50,155.7,251.9,13.9,400,13627,0.00,1.48,0.00,0.000,6,0.000,0.025,2881,2284,2236
$GC,13906,0.50,155.7,220.2,10.2,407,13910,0.00,1.58,0.00,0.000,4,0.000,0.046,2878,3283,2236
$GC,14002,0.50,155.7,209.9,10.8,409,14006,0.00,1.48,0.00,0.000,6,0.000,0.025,2883,2285,2237
$GC,14274,0.50,155.7,180.5,11.3,428,14277,0.00,1.62,0.00,0.000,4,0.000,0.027,2891,1148,2237
$GC,14304,0.50,155.7,176.7,11.6,430,14312,0.00,1.73,0.00,0.000,6,0.000,0.038,2891,2274,2237
$GC,14571,0.50,155.7,146.1,10.9,455,14574,0.00,1.62,0.00,0.000,4,0.000,0.025,2897,1128,2237
$GC,14622,0.50,155.7,140.5,10.7,459,14626,0.08,1.73,0.00,0.000,6,0.133,0.038,2870,2253,2237
$GC,14897,0.51,190.2,115.5,8.5,484,14928,0.00,1.55,26.92,0.666,4,0.000,0.041,2871,3281,2115
$GC,14963,0.51,191.8,109.3,9.9,489,14967,0.00,1.58,0.00,0.000,6,0.000,0.024,2873,2211,2114
$GC,15239,0.52,223.5,85.3,8.6,514,15273,0.00,0.00,28.73,0.630,6,0.000,0.000,2873,2205,1977
$GC,15536,0.55,302.2,63.0,6.6,541,15605,0.00,1.70,63.42,0.607,4,0.000,0.041,2872,3285,1656
$GC,15659,0.56,318.7,53.3,9.3,550,15677,0.00,1.55,14.25,0.565,6,0.000,0.022,2872,2233,1590
$GC,15940,0.60,419.7,35.1,5.6,575,16031,0.00,1.58,79.28,0.572,4,0.000,0.023,2872,1182,1177
$GC,16069,0.61,447.3,23.6,8.8,588,16096,0.00,1.67,23.00,0.543,6,0.000,0.031,2872,2259,1065
$STATE,16265,end climb,SURFACE_DEPTH_REACHED
$STATE,16265,begin surface coast
$FINISH,0.4,0.998575
$STATE,16292,end surface coast,CONTROL_FINISHED_OK
$STATE,16292,begin surface
$SM_CCo,16377,0.00,0.000,0,0,1058,449.14
$SM_GC,1.38,7.25,0.00,0.00,0.023,0.000,0.000,29,2575,1058,-8.25,2.12,449.14
$IRIDIUM_FIX,2234.68,-15740.24,030103,050555
$TT8_MAMPS,0.023777
$HUMID,2159
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.50
$XPDR_PINGS,6
$24V_AH,23.9,21.136
$10V_AH,10.7,22.241
$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,18.075,105.850,519.900,0.000,0.000,29.651,38.461,465.484,1.500,0.000,0.000,17.995,1283.379,11110.755,481.405,3044.926,1162.473,33.364,1466.940,0.000,3062.713,0.000,0.546,0.000
$DEVICE_MAMPS,207.857,57.525,1270.919,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,423.251,2049.139,2130.815,579.547,1399.205,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54089,622
$CAP_FILE_SIZE,126979,0
$CFSIZE,260165632,250445824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,091013,141905,2240.792,-15738.194,41,1.8,41,10.1