version: 66.04
glider: 512
mission: 4
dive: 127
start: 10 9 113 19 10 31
data:
$ID,512
$MISSION,4
$DIVE,127
$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,-109107.76
$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,65
$R_STBD_OVSHOOT,43
$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
$GPS1,185406,2239.387,-15737.108,36,0.9,36,10.1
$_CALLS,2
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-78.2
$GPS2,190936,2239.427,-15737.125,11,0.9,17,10.1
$SPEED_LIMITS,0.214,0.267
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.026,-0.266
$KALMAN_X,49402.9,522.3,-13.2,-10761.4,-247.6
$KALMAN_Y,47469.9,-487.8,-320.7,-55292.5,3828.6
$MHEAD_RNG_PITCHd_Wd,175.5,1939,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.50,-155.7,0.0,0.0,0,123,0.00,0.00,-98.62,0.000,2,0.000,0.000,12,2523,2889
$GC,128,-0.50,-155.7,2.4,-2.5,12,156,9.20,1.60,-13.50,0.000,4,0.193,0.041,2542,1439,3526
$GC,263,-0.50,-155.7,36.7,-21.3,30,266,0.00,1.60,0.00,0.000,6,0.000,0.040,2536,2495,3527
$GC,535,-0.50,-155.7,104.6,-20.6,55,539,0.00,1.62,0.00,0.000,4,0.000,0.046,2528,3562,3527
$GC,597,-0.50,-155.7,116.0,-17.9,60,601,0.00,1.52,0.00,0.000,6,0.000,0.019,2528,2496,3527
$GC,870,-0.50,-155.7,163.9,-16.0,85,873,0.00,1.65,0.00,0.000,4,0.000,0.044,2523,3562,3527
$GC,897,-0.50,-155.7,168.3,-16.0,87,900,0.00,1.50,0.00,0.000,6,0.000,0.019,2523,2497,3527
$GC,1175,-0.50,-155.7,213.6,-16.4,107,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2489,3527
$GC,1418,-0.50,-155.7,248.7,-13.8,113,1422,0.00,1.65,0.00,0.000,4,0.000,0.044,2515,3567,3526
$GC,1476,-0.50,-155.7,256.0,-11.7,114,1479,0.00,1.45,0.00,0.000,6,0.000,0.019,2516,2534,3526
$GC,1759,-0.50,-155.7,296.1,-15.2,121,1763,0.00,1.50,0.00,0.000,4,0.000,0.021,2520,1441,3525
$GC,1828,-0.50,-155.7,305.7,-11.9,122,1832,0.00,1.62,0.00,0.000,6,0.000,0.038,2515,2517,3525
$GC,2099,-0.50,-155.7,338.0,-11.9,129,2103,0.10,1.55,0.00,0.000,4,0.140,0.047,2536,3567,3524
$GC,2150,-0.50,-155.7,343.2,-9.2,130,2153,0.00,1.48,0.00,0.000,6,0.000,0.021,2536,2519,3523
$GC,2443,-0.50,-155.7,374.6,-10.8,137,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2512,3522
$GC,2688,-0.50,-155.7,398.6,-9.6,143,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2511,3519
$GC,2931,-0.50,-155.7,420.7,-9.0,149,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2511,3517
$GC,3175,-0.50,-155.7,442.4,-8.8,155,3177,0.00,0.00,-0.08,0.000,6,0.000,0.000,2536,2511,3538
$GC,3419,-0.50,-155.7,464.0,-9.0,161,3422,0.00,1.62,0.00,0.000,4,0.000,0.049,2528,3575,3537
$GC,3448,-0.50,-155.7,467.3,-10.4,161,3452,0.00,1.48,0.00,0.000,6,0.000,0.024,2528,2535,3537
$GC,3714,-0.50,-155.7,496.0,-11.2,168,3717,0.00,1.50,0.00,0.000,4,0.000,0.024,2528,1469,3534
$GC,3744,-0.50,-155.7,500.0,-11.4,168,3748,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2529,3534
$GC,4011,-0.50,-155.7,527.6,-10.2,175,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2529,3532
$GC,4256,-0.50,-155.7,549.7,-9.0,181,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2529,3529
$GC,4499,-0.50,-155.7,570.0,-8.2,187,4503,0.00,1.60,0.00,0.000,4,0.000,0.052,2524,3585,3527
$GC,4542,-0.50,-155.7,573.9,-8.0,187,4550,0.00,1.52,0.00,0.000,6,0.000,0.026,2524,2519,3526
$GC,4797,-0.50,-155.7,594.2,-8.1,194,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2519,3525
$GC,5040,-0.50,-155.7,614.5,-8.4,200,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2519,3523
$GC,5284,-0.50,-155.7,633.5,-7.6,206,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3521
$GC,5528,-0.50,-155.7,651.6,-7.4,212,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2519,3520
$GC,5772,-0.50,-155.7,670.6,-8.0,218,5775,0.00,1.50,0.00,0.000,4,0.000,0.027,2523,1468,3518
$GC,5791,-0.50,-155.7,672.5,-7.9,218,5794,0.00,1.62,0.00,0.000,6,0.000,0.045,2524,2537,3518
$GC,6068,-0.50,-155.7,693.9,-7.8,225,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3516
$GC,6312,-0.50,-155.7,712.5,-7.5,231,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2537,3515
$GC,6556,-0.50,-155.7,729.9,-7.0,237,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2537,3514
$GC,6799,-0.50,-155.7,746.8,-7.0,243,6803,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3579,3512
$GC,6831,-0.50,-155.7,749.3,-7.6,243,6834,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2548,3512
$GC,7098,-0.50,-155.7,766.8,-6.6,250,7101,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1460,3511
$GC,7134,-0.50,-155.7,769.4,-6.5,250,7138,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2533,3511
$GC,7394,-0.50,-155.7,784.6,-5.9,257,7398,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3556,3510
$GC,7418,-0.50,-155.7,786.4,-6.5,257,7422,0.00,1.50,0.00,0.000,6,0.000,0.029,2523,2528,3509
$GC,7690,-0.50,-155.7,801.6,-5.7,264,7694,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1458,3508
$GC,7742,-0.50,-155.7,804.6,-5.5,265,7745,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2529,3508
$GC,8036,-0.50,-155.7,822.7,-6.2,272,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3507
$GC,8279,-0.50,-155.7,838.4,-6.5,278,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3506
$GC,8523,-0.50,-155.7,854.5,-6.7,284,8527,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3562,3505
$GC,8564,-0.50,-155.7,857.5,-7.2,284,8572,0.00,1.52,0.00,0.000,6,0.000,0.029,2523,2516,3505
$GC,8819,-0.50,-155.7,874.5,-6.8,291,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3503
$GC,9062,-0.50,-155.7,890.7,-6.6,297,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3503
$STATE,9222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9222,begin apogee
$GC,9233,-0.18,0.0,901.4,6.6,301,9369,0.38,0.00,132.55,1.266,6,0.092,0.000,2652,2233,2890
$STATE,9369,end apogee,CONTROL_FINISHED_OK
$STATE,9369,begin climb
$GC,9374,0.50,155.7,905.1,0.0,304,9561,0.55,1.67,150.88,1.167,4,0.028,0.028,2893,1180,2253
$GC,9626,0.50,155.7,874.1,21.5,310,9630,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2221,2248
$GC,9902,0.50,155.7,812.9,22.5,317,9906,0.00,1.67,0.00,0.000,4,0.000,0.050,2891,3290,2244
$GC,9954,0.50,155.7,801.5,23.8,318,9958,0.12,1.60,0.00,0.000,6,0.208,0.027,2871,2242,2243
$GC,10249,0.50,155.7,743.8,19.4,325,10252,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1157,2241
$GC,10328,0.50,155.7,728.7,17.6,326,10332,0.00,1.65,0.00,0.000,6,0.000,0.042,2878,2225,2241
$GC,10589,0.50,155.7,678.7,19.5,333,10592,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3281,2241
$GC,10684,0.50,155.7,659.9,18.9,335,10688,0.00,1.55,0.00,0.000,6,0.000,0.029,2882,2249,2240
$GC,10978,0.50,155.7,604.5,18.5,342,10982,0.00,1.60,0.00,0.000,4,0.000,0.031,2889,1162,2239
$GC,11031,0.50,155.7,595.0,16.2,343,11035,0.00,1.67,0.00,0.000,6,0.000,0.045,2889,2249,2239
$GC,11319,0.50,155.7,542.3,18.7,350,11323,0.00,1.62,0.00,0.000,4,0.000,0.051,2889,3289,2238
$GC,11370,0.50,155.7,532.0,20.4,351,11374,0.08,1.58,0.00,0.000,6,0.173,0.028,2866,2238,2238
$GC,11665,0.50,155.7,482.0,16.6,358,11668,0.00,1.58,0.00,0.000,4,0.000,0.030,2873,1156,2238
$GC,11715,0.50,155.7,474.3,14.4,359,11718,0.00,1.70,0.00,0.000,6,0.000,0.043,2873,2263,2237
$GC,12008,0.50,155.7,428.1,15.7,366,12012,0.00,1.58,0.00,0.000,4,0.000,0.050,2873,3277,2237
$GC,12040,0.50,155.7,422.7,17.2,366,12043,0.00,1.52,0.00,0.000,6,0.000,0.027,2880,2253,2237
$GC,12307,0.50,155.7,380.7,15.6,373,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2248,2237
$GC,12551,0.50,155.7,344.1,14.8,379,12555,0.00,1.62,0.00,0.000,4,0.000,0.049,2878,3300,2237
$GC,12587,0.50,155.7,338.1,15.1,379,12590,0.00,1.55,0.00,0.000,6,0.000,0.027,2884,2258,2237
$GC,12847,0.50,155.7,300.8,14.1,386,12851,0.00,1.62,0.00,0.000,4,0.000,0.049,2884,3284,2237
$GC,12943,0.50,155.7,287.1,14.7,388,12947,0.00,1.45,0.00,0.000,6,0.000,0.027,2890,2305,2236
$GC,13237,0.50,155.7,248.9,13.6,395,13241,0.00,1.67,0.00,0.000,4,0.000,0.028,2898,1150,2236
$GC,13385,0.50,155.7,230.6,11.5,398,13389,0.12,1.73,0.00,0.000,6,0.165,0.039,2867,2296,2236
$GC,13667,0.50,155.7,199.8,11.0,405,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2296,2236
$GC,13934,0.50,155.7,173.3,10.3,430,13937,0.00,1.52,0.00,0.000,4,0.000,0.046,2867,3291,2237
$GC,14019,0.50,155.7,162.7,11.8,437,14027,0.00,1.45,0.00,0.000,6,0.000,0.023,2873,2294,2237
$GC,14285,0.50,155.7,132.1,11.5,462,14288,0.00,1.62,0.00,0.000,4,0.000,0.025,2881,1135,2236
$GC,14406,0.51,181.9,120.6,8.9,472,14433,0.00,1.77,20.10,0.663,6,0.000,0.039,2878,2314,2148
$GC,14695,0.52,207.8,90.8,8.9,498,14724,0.00,0.00,22.40,0.630,6,0.000,0.000,2878,2315,2045
$GC,14987,0.56,310.9,66.8,5.5,525,15077,0.00,0.00,83.07,0.611,6,0.000,0.000,2877,2314,1621
$GC,15337,0.56,326.1,37.4,9.3,558,15356,0.00,1.75,12.70,0.551,4,0.000,0.024,2883,1148,1559
$GC,15416,0.58,375.6,30.3,7.9,564,15466,0.00,1.73,39.50,0.568,6,0.000,0.035,2882,2283,1359
$STATE,15730,end climb,SURFACE_DEPTH_REACHED
$STATE,15730,begin surface coast
$FINISH,0.3,1.011126
$STATE,15812,end surface coast,CONTROL_FINISHED_OK
$STATE,15812,begin surface
$SM_CCo,15838,7.03,0.470,0,0,1299,390.02
$SM_GC,1.79,0.00,0.00,7.03,0.000,0.000,0.470,6,2548,1299,-8.43,1.36,390.02
$IRIDIUM_FIX,2230.01,-15736.81,030103,191942
$TT8_MAMPS,0.023777
$HUMID,2202
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.50
$XPDR_PINGS,9
$24V_AH,23.9,21.513
$10V_AH,10.6,22.650
$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,17.850,93.100,461.200,7.025,0.000,54.404,73.945,556.477,2.250,0.000,0.000,17.349,1269.914,10663.098,470.482,3091.046,1278.235,33.356,1455.506,0.000,3107.933,0.000,0.545,0.000
$DEVICE_MAMPS,207.857,58.292,1266.317,470.171,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,423.931,2054.947,2127.308,600.976,1428.447,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54029,624
$CAP_FILE_SIZE,124361,0
$CFSIZE,260165632,250322944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,091013,233706,2237.716,-15736.646,101,0.9,101,10.1