version: 66.04
glider: 512
mission: 4
dive: 126
start: 10 9 113 14 49 22
data:
$ID,512
$MISSION,4
$DIVE,126
$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,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,-109089.77
$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,73
$R_STBD_OVSHOOT,35
$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
$GPS1,141905,2240.792,-15738.194,41,1.8,41,10.1
$_CALLS,5
$_XMS_NAKs,41
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.0
$GPS2,144824,2240.764,-15738.266,16,1.4,33,10.1
$SPEED_LIMITS,0.214,0.267
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,-0.233
$KALMAN_X,49086.7,210.4,191.0,-12278.5,-680.9
$KALMAN_Y,44758.5,-370.7,625.5,-51173.1,178.4
$MHEAD_RNG_PITCHd_Wd,150.6,4102,-18.6,-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,17,-0.53,-130.2,0.0,0.0,0,95,0.00,0.00,-75.68,0.000,2,0.000,0.000,10,2572,2877
$GC,101,-0.54,-155.7,2.2,-1.9,9,131,9.23,1.62,-14.38,0.000,4,0.196,0.037,2530,1429,3527
$GC,251,-0.54,-155.7,40.7,-20.5,27,255,0.00,1.60,0.00,0.000,6,0.000,0.038,2525,2493,3527
$GC,522,-0.54,-155.7,102.6,-18.0,52,526,0.00,1.62,0.00,0.000,4,0.000,0.043,2516,3588,3526
$GC,573,-0.54,-155.7,112.7,-19.7,56,577,0.00,1.55,0.00,0.000,6,0.000,0.019,2516,2498,3527
$GC,845,-0.54,-155.7,162.6,-19.0,81,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2491,3527
$GC,1139,-0.54,-155.7,214.0,-17.0,103,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2490,3527
$GC,1383,-0.54,-155.7,249.5,-14.1,109,1387,0.00,1.42,0.00,0.000,4,0.000,0.020,2517,1449,3527
$GC,1407,-0.54,-155.7,253.7,-14.8,109,1411,0.00,1.60,0.00,0.000,6,0.000,0.038,2511,2526,3527
$GC,1679,-0.54,-155.7,289.2,-12.8,116,1682,0.00,1.58,0.00,0.000,4,0.000,0.045,2503,3570,3526
$GC,1819,-0.54,-155.7,308.1,-13.3,119,1822,0.00,1.48,0.00,0.000,6,0.000,0.020,2508,2533,3525
$GC,2113,-0.54,-155.7,345.8,-12.3,126,2116,0.00,1.50,0.00,0.000,4,0.000,0.021,2508,1446,3523
$GC,2137,-0.54,-155.7,349.2,-12.4,126,2141,0.00,1.65,0.00,0.000,6,0.000,0.038,2502,2534,3523
$GC,2409,-0.54,-155.7,381.2,-12.1,133,2413,0.00,1.55,0.00,0.000,4,0.000,0.047,2494,3558,3521
$GC,2445,-0.54,-155.7,385.9,-11.8,133,2449,0.08,1.42,0.00,0.000,6,0.117,0.021,2529,2540,3521
$GC,2705,-0.54,-155.7,409.5,-8.9,140,2708,0.00,1.48,0.00,0.000,4,0.000,0.022,2529,1468,3517
$GC,2735,-0.54,-155.7,412.5,-8.8,140,2738,0.00,1.62,0.00,0.000,6,0.000,0.040,2523,2557,3517
$GC,3001,-0.54,-155.7,436.7,-9.3,147,3005,0.00,1.52,-0.08,0.000,4,0.000,0.069,2521,3569,3538
$GC,3052,-0.54,-155.7,441.4,-9.5,148,3056,0.00,1.45,0.00,0.000,6,0.000,0.023,2521,2551,3538
$GC,3346,-0.54,-155.7,471.6,-10.4,155,3350,0.00,1.52,0.00,0.000,4,0.000,0.023,2521,1460,3536
$GC,3396,-0.54,-155.7,476.7,-9.8,156,3400,0.00,1.65,0.00,0.000,6,0.000,0.041,2513,2555,3535
$GC,3691,-0.54,-155.7,507.9,-10.6,163,3695,0.00,1.55,0.00,0.000,4,0.000,0.051,2510,3562,3532
$GC,3716,-0.54,-155.7,511.2,-11.2,163,3719,0.00,1.42,0.00,0.000,6,0.000,0.025,2510,2560,3532
$GC,3987,-0.54,-155.7,539.1,-10.4,170,3990,0.00,1.52,0.00,0.000,4,0.000,0.025,2510,1464,3529
$GC,4016,-0.54,-155.7,542.4,-10.6,170,4020,0.00,1.65,0.00,0.000,6,0.000,0.044,2509,2554,3529
$GC,4283,-0.54,-155.7,569.0,-10.2,177,4286,0.00,1.55,0.00,0.000,4,0.000,0.052,2509,3557,3527
$GC,4319,-0.54,-155.7,572.9,-9.8,177,4322,0.00,1.42,0.00,0.000,6,0.000,0.026,2510,2562,3526
$GC,4580,-0.54,-155.7,599.0,-10.3,184,4583,0.00,1.52,0.00,0.000,4,0.000,0.025,2510,1477,3524
$GC,4604,-0.54,-155.7,602.1,-10.7,184,4608,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2563,3524
$GC,4875,-0.54,-155.7,632.3,-11.5,191,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2563,3522
$GC,5119,-0.54,-155.7,660.0,-11.4,197,5122,0.00,1.52,0.00,0.000,4,0.000,0.052,2494,3556,3520
$GC,5143,-0.54,-155.7,663.1,-11.0,197,5147,0.08,1.40,0.00,0.000,6,0.111,0.027,2530,2581,3519
$GC,5415,-0.54,-155.7,684.5,-7.5,204,5418,0.00,1.58,0.00,0.000,4,0.000,0.025,2531,1479,3519
$GC,5485,-0.54,-155.7,690.0,-7.7,205,5488,0.00,1.62,0.00,0.000,6,0.000,0.045,2525,2552,3518
$GC,5756,-0.54,-155.7,710.0,-7.6,212,5760,0.00,1.55,0.00,0.000,4,0.000,0.026,2525,1480,3516
$GC,5787,-0.54,-155.7,712.8,-7.6,212,5790,0.00,1.62,0.00,0.000,6,0.000,0.048,2524,2544,3515
$GC,6053,-0.54,-155.7,733.0,-7.7,219,6057,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1479,3514
$GC,6085,-0.54,-155.7,735.7,-8.4,219,6089,0.00,1.60,0.00,0.000,6,0.000,0.048,2523,2525,3514
$GC,6352,-0.54,-155.7,755.8,-7.7,226,6356,0.00,1.60,0.00,0.000,4,0.000,0.057,2524,3567,3512
$GC,6394,-0.54,-155.7,759.5,-8.1,226,6402,0.00,1.48,0.00,0.000,6,0.000,0.028,2524,2544,3512
$GC,6649,-0.54,-155.7,778.7,-7.7,233,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2544,3511
$GC,6893,-0.54,-155.7,797.5,-7.7,239,6896,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1466,3510
$GC,6923,-0.54,-155.7,800.1,-8.5,239,6926,0.00,1.62,0.00,0.000,6,0.000,0.048,2524,2527,3510
$GC,7189,-0.54,-155.7,821.0,-8.1,246,7193,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3568,3509
$GC,7248,-0.54,-155.7,826.2,-7.8,247,7251,0.00,1.48,0.00,0.000,6,0.000,0.029,2523,2554,3508
$GC,7531,-0.54,-155.7,849.7,-8.4,254,7535,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1470,3507
$GC,7583,-0.54,-155.7,854.3,-8.3,255,7587,0.00,1.65,0.00,0.000,6,0.000,0.049,2524,2542,3507
$GC,7873,-0.54,-155.7,878.1,-8.4,262,7876,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3577,3505
$GC,7925,-0.54,-155.7,882.8,-8.5,263,7929,0.00,1.50,0.00,0.000,6,0.000,0.030,2523,2550,3505
$STATE,8167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8167,begin apogee
$GC,8179,-0.18,0.0,902.5,8.0,269,8314,0.38,0.00,132.98,1.262,6,0.097,0.000,2653,2226,2890
$STATE,8315,end apogee,CONTROL_FINISHED_OK
$STATE,8315,begin climb
$GC,8320,0.54,155.7,908.0,0.0,272,8479,0.60,1.83,144.73,1.203,4,0.028,0.046,2892,3287,2255
$GC,8619,0.54,155.7,863.8,23.4,278,8623,0.00,1.62,0.00,0.000,6,0.000,0.028,2898,2219,2248
$GC,8880,0.54,155.7,808.5,21.2,285,8883,0.00,1.70,0.00,0.000,4,0.000,0.047,2899,3294,2244
$GC,8904,0.54,155.7,802.5,22.2,285,8908,0.00,1.60,0.00,0.000,6,0.000,0.028,2908,2238,2244
$GC,9176,0.54,155.7,742.3,22.5,292,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2232,2243
$GC,9421,0.54,155.7,688.3,22.1,298,9425,0.00,1.58,0.00,0.000,4,0.000,0.030,2916,1156,2242
$GC,9445,0.54,155.7,682.0,20.9,298,9449,0.15,1.70,0.00,0.000,6,0.177,0.041,2880,2269,2241
$GC,9716,0.54,155.7,632.0,18.5,305,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2269,2240
$GC,9960,0.54,155.7,589.0,17.4,311,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2269,2239
$GC,10203,0.54,155.7,549.2,16.3,317,10207,0.00,1.58,0.00,0.000,4,0.000,0.051,2876,3277,2238
$GC,10260,0.54,155.7,538.8,16.0,318,10264,0.00,1.52,0.00,0.000,6,0.000,0.028,2882,2251,2238
$GC,10544,0.54,155.7,493.2,16.6,325,10548,0.00,1.58,0.00,0.000,4,0.000,0.031,2890,1172,2238
$GC,10586,0.54,155.7,485.6,16.1,325,10594,0.00,1.67,0.00,0.000,6,0.000,0.044,2890,2249,2238
$GC,10840,0.54,155.7,442.0,17.2,332,10843,0.00,1.60,0.00,0.000,4,0.000,0.050,2890,3278,2238
$GC,10891,0.54,155.7,433.0,18.6,333,10895,0.00,1.50,0.00,0.000,6,0.000,0.028,2897,2269,2237
$GC,11186,0.54,155.7,382.7,16.6,340,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2263,2237
$GC,11431,0.54,155.7,344.1,15.6,346,11435,0.00,1.60,0.00,0.000,4,0.000,0.048,2892,3282,2237
$GC,11534,0.54,155.7,326.0,16.3,348,11538,0.00,1.50,0.00,0.000,6,0.000,0.028,2898,2267,2236
$GC,11818,0.54,155.7,281.4,16.4,355,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2260,2237
$GC,12063,0.54,155.7,249.0,13.0,361,12067,0.00,1.60,0.00,0.000,4,0.000,0.028,2906,1156,2237
$GC,12157,0.54,155.7,236.3,12.0,363,12161,0.00,1.77,0.00,0.000,6,0.000,0.041,2905,2301,2237
$GC,12452,0.54,155.7,198.8,13.1,370,12456,0.00,1.65,0.00,0.000,4,0.000,0.026,2911,1150,2236
$GC,12481,0.54,155.7,194.3,13.5,372,12491,0.10,1.73,0.00,0.000,6,0.156,0.038,2881,2280,2237
$GC,12752,0.54,155.7,162.7,11.8,397,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2280,2236
$GC,13018,0.54,155.7,131.8,11.3,422,13021,0.00,1.52,0.00,0.000,4,0.000,0.042,2878,3284,2237
$GC,13058,0.54,155.7,126.9,13.0,425,13062,0.00,1.48,0.00,0.000,6,0.000,0.024,2884,2266,2237
$GC,13330,0.55,182.2,100.2,8.6,450,13359,0.00,0.00,20.67,0.648,6,0.000,0.000,2884,2259,2146
$GC,13622,0.56,216.2,74.3,8.2,477,13655,0.00,1.62,29.12,0.623,4,0.000,0.024,2892,1159,2008
$GC,13720,0.57,241.1,66.1,8.7,484,13748,0.00,1.70,21.08,0.601,6,0.000,0.036,2891,2281,1906
$GC,14011,0.58,255.9,41.4,9.2,510,14030,0.00,0.00,13.15,0.565,6,0.000,0.000,2891,2281,1845
$GC,14310,0.60,302.1,11.3,7.6,551,14354,0.00,1.62,37.85,0.558,4,0.000,0.022,2897,1165,1656
$GC,14379,0.60,302.1,3.8,12.1,559,14388,0.00,1.73,0.00,0.000,6,0.000,0.032,2897,2286,1654
$STATE,14395,end climb,SURFACE_DEPTH_REACHED
$STATE,14395,begin surface coast
$FINISH,0.4,1.023099
$STATE,14428,end surface coast,CONTROL_FINISHED_OK
$STATE,14428,begin surface
$SM_CCo,14453,144.52,0.539,0,0,399,611.03
$SM_GC,1.16,0.00,0.00,144.52,0.000,0.000,0.539,15,2520,399,-8.39,0.57,611.03
$IRIDIUM_FIX,2234.68,-15738.08,030103,141437
$TT8_MAMPS,0.023777
$HUMID,2132
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.70
$XPDR_PINGS,8
$24V_AH,24.0,21.345
$10V_AH,10.6,22.442
$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,17.875,108.000,399.575,144.525,0.000,134.826,238.880,906.824,2.000,0.000,0.000,33.854,1205.278,9797.055,561.121,2899.123,1895.335,33.361,1496.720,0.000,2880.944,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,69.030,1261.715,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,385.122,1864.648,1928.057,503.385,1286.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,48039,566
$CAP_FILE_SIZE,131570,0
$CFSIZE,260165632,250368000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091013,185406,2239.387,-15737.108,36,0.9,36,10.1