version: 66.04
glider: 512
mission: 4
dive: 131
start: 10 10 113 12 4 3
data:
$ID,512
$MISSION,4
$DIVE,131
$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,20
$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,-109177.08
$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,40
$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,66
$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
$GPS1,115454,2236.456,-15739.224,44,1.0,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-83.7
$GPS2,120249,2236.482,-15739.223,13,1.7,13,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,0.260
$KALMAN_X,53163.9,-411.4,174.9,-17354.6,1385.3
$KALMAN_Y,48348.2,-601.2,329.7,-62148.8,849.3
$MHEAD_RNG_PITCHd_Wd,8.6,4593,-16.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.47,-155.7,0.0,0.0,0,105,0.00,0.00,-85.05,0.000,2,0.000,0.000,10,2534,2933
$GC,111,-0.47,-155.7,2.0,-1.5,10,140,9.32,1.48,-12.82,0.000,4,0.196,0.056,2539,3532,3525
$GC,201,-0.47,-155.7,31.5,-31.0,22,205,0.00,1.52,0.00,0.000,6,0.000,0.020,2539,2483,3525
$GC,474,-0.47,-155.7,98.9,-21.9,47,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2475,3526
$GC,739,-0.47,-155.7,148.6,-17.3,72,743,0.00,1.60,0.00,0.000,4,0.000,0.042,2531,3540,3526
$GC,791,-0.47,-155.7,156.8,-15.7,76,794,0.00,1.50,0.00,0.000,6,0.000,0.020,2531,2481,3527
$GC,1062,-0.47,-155.7,199.2,-14.9,101,1066,0.00,1.60,0.00,0.000,4,0.000,0.044,2523,3534,3527
$GC,1092,-0.47,-155.7,204.2,-15.5,102,1095,0.00,1.48,0.00,0.000,6,0.000,0.020,2523,2489,3527
$GC,1359,-0.47,-155.7,240.9,-13.5,109,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2482,3526
$GC,1604,-0.47,-155.7,274.6,-13.7,115,1607,0.00,1.42,0.00,0.000,4,0.000,0.020,2523,1449,3527
$GC,1706,-0.47,-155.7,289.0,-13.0,117,1710,0.00,1.52,0.00,0.000,6,0.000,0.039,2523,2454,3527
$GC,1990,-0.47,-155.7,323.4,-12.4,124,1994,0.10,1.65,0.00,0.000,4,0.132,0.046,2544,3565,3525
$GC,2102,-0.47,-155.7,334.4,-8.6,126,2106,0.00,1.48,0.00,0.000,6,0.000,0.021,2543,2519,3525
$GC,2375,-0.47,-155.7,358.4,-9.0,133,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2511,3523
$GC,2620,-0.47,-155.7,379.5,-8.6,139,2624,0.00,1.45,0.00,0.000,4,0.000,0.021,2544,1462,3521
$GC,2644,-0.47,-155.7,382.2,-9.0,139,2648,0.00,1.60,0.00,0.000,6,0.000,0.040,2537,2533,3521
$GC,2917,-0.47,-155.7,407.9,-9.6,146,2920,0.00,1.58,0.00,0.000,4,0.000,0.050,2534,3560,3519
$GC,2958,-0.47,-155.7,412.1,-8.7,146,2965,0.00,1.45,0.00,0.000,6,0.000,0.024,2534,2529,3518
$GC,3213,-0.47,-155.7,433.6,-8.3,153,3217,0.00,1.48,-0.08,0.000,4,0.000,0.042,2534,1458,3540
$GC,3265,-0.47,-155.7,437.6,-7.4,154,3268,0.00,1.62,0.00,0.000,6,0.000,0.041,2527,2536,3539
$GC,3559,-0.47,-155.7,464.2,-9.3,161,3563,0.00,1.58,0.00,0.000,4,0.000,0.051,2524,3554,3539
$GC,3588,-0.47,-155.7,467.5,-10.0,161,3592,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2537,3538
$GC,3855,-0.47,-155.7,493.3,-9.9,168,3858,0.00,1.50,0.00,0.000,4,0.000,0.023,2524,1462,3535
$GC,3884,-0.47,-155.7,496.5,-10.3,168,3888,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2532,3535
$GC,4153,-0.47,-155.7,522.1,-9.9,175,4156,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3586,3533
$GC,4189,-0.47,-155.7,526.1,-9.7,175,4193,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2541,3532
$GC,4449,-0.47,-155.7,550.8,-9.6,182,4453,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1453,3530
$GC,4485,-0.47,-155.7,554.6,-9.4,182,4488,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2537,3530
$GC,4745,-0.47,-155.7,578.7,-9.5,189,4749,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3585,3528
$GC,4799,-0.47,-155.7,584.0,-8.9,190,4802,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2546,3527
$GC,5087,-0.47,-155.7,610.2,-9.1,197,5091,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1452,3525
$GC,5138,-0.47,-155.7,614.7,-8.6,198,5141,0.00,1.67,0.00,0.000,6,0.000,0.045,2523,2546,3525
$GC,5433,-0.47,-155.7,641.6,-9.1,205,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2547,3523
$GC,5677,-0.47,-155.7,664.1,-9.3,211,5680,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3557,3521
$GC,5712,-0.47,-155.7,668.1,-9.6,211,5716,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2523,3520
$GC,5973,-0.47,-155.7,690.7,-8.8,218,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2515,3519
$GC,6217,-0.47,-155.7,710.4,-7.9,224,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2514,3518
$GC,6460,-0.47,-155.7,728.3,-7.1,230,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2515,3516
$GC,6704,-0.47,-155.7,746.0,-7.4,236,6708,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3570,3515
$GC,6740,-0.47,-155.7,749.2,-8.1,236,6744,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2526,3514
$GC,7001,-0.47,-155.7,768.8,-7.7,243,7004,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1463,3514
$GC,7052,-0.47,-155.7,772.8,-7.9,244,7056,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2537,3513
$GC,7347,-0.47,-155.7,795.5,-7.7,251,7350,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3573,3512
$GC,7397,-0.47,-155.7,799.5,-8.2,252,7401,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2531,3512
$GC,7692,-0.47,-155.7,822.2,-7.8,259,7696,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1456,3511
$GC,7767,-0.47,-155.7,828.5,-8.2,260,7770,0.00,1.65,0.00,0.000,6,0.000,0.049,2523,2528,3511
$GC,8033,-0.47,-155.7,848.6,-7.7,267,8037,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3558,3509
$GC,8063,-0.47,-155.7,851.2,-7.7,267,8066,0.00,1.52,0.00,0.000,6,0.000,0.030,2523,2521,3509
$GC,8331,-0.47,-155.7,870.6,-7.3,274,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2513,3509
$GC,8574,-0.47,-155.7,887.6,-6.9,280,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2513,3507
$STATE,8770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8770,begin apogee
$GC,8782,-0.17,0.0,900.7,6.3,285,8919,0.38,0.00,134.43,1.257,6,0.091,0.000,2653,2216,2890
$STATE,8920,end apogee,CONTROL_FINISHED_OK
$STATE,8920,begin climb
$GC,8925,0.47,155.7,904.0,0.0,288,9106,0.52,1.70,150.40,1.168,4,0.028,0.030,2891,1172,2255
$GC,9214,0.47,155.7,864.5,20.2,294,9219,0.12,1.70,0.00,0.000,6,0.173,0.041,2861,2236,2247
$GC,9494,0.47,155.7,810.3,19.6,301,9497,0.00,1.62,0.00,0.000,4,0.000,0.048,2862,3281,2243
$GC,9523,0.47,155.7,803.3,19.8,301,9527,0.00,1.62,0.00,0.000,6,0.000,0.028,2867,2218,2242
$GC,9789,0.47,155.7,753.0,18.9,308,9793,0.00,1.58,0.00,0.000,4,0.000,0.030,2876,1150,2241
$GC,9839,0.47,155.7,743.6,18.0,309,9842,0.00,1.65,0.00,0.000,6,0.000,0.042,2876,2213,2241
$GC,10135,0.47,155.7,688.5,18.8,316,10139,0.00,1.65,0.00,0.000,4,0.000,0.050,2875,3288,2240
$GC,10265,0.47,155.7,663.3,19.2,318,10275,0.00,1.60,0.00,0.000,6,0.000,0.028,2881,2226,2239
$GC,10520,0.47,155.7,618.5,17.9,325,10524,0.00,1.58,0.00,0.000,4,0.000,0.031,2889,1151,2239
$GC,10578,0.47,155.7,608.4,16.2,326,10582,0.08,1.65,0.00,0.000,6,0.167,0.042,2866,2208,2238
$GC,10860,0.47,155.7,564.6,15.7,333,10863,0.00,1.67,0.00,0.000,4,0.000,0.050,2863,3284,2238
$GC,10895,0.47,155.7,558.2,17.7,333,10899,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2202,2237
$GC,11157,0.47,155.7,515.5,16.4,340,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2196,2237
$GC,11400,0.47,155.7,476.0,16.2,346,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2195,2237
$GC,11644,0.47,155.7,437.5,15.6,352,11647,0.00,1.73,0.00,0.000,4,0.000,0.048,2864,3290,2237
$GC,11668,0.47,155.7,433.1,15.5,352,11671,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2200,2237
$GC,11939,0.47,155.7,392.9,14.7,359,11943,0.00,1.52,0.00,0.000,4,0.000,0.030,2877,1148,2237
$GC,11969,0.47,155.7,388.1,14.5,359,11972,0.00,1.67,0.00,0.000,6,0.000,0.041,2877,2226,2237
$GC,12234,0.47,155.7,348.4,15.1,366,12238,0.00,1.62,0.00,0.000,4,0.000,0.050,2877,3292,2237
$GC,12388,0.47,155.7,324.2,13.7,369,12391,0.00,1.58,0.00,0.000,6,0.000,0.026,2883,2234,2236
$GC,12666,0.47,155.7,287.6,12.7,376,12669,0.00,1.58,0.00,0.000,4,0.000,0.029,2891,1146,2236
$GC,12717,0.47,155.7,280.8,12.6,377,12721,0.12,1.65,0.00,0.000,6,0.165,0.041,2859,2232,2236
$GC,13005,0.47,155.7,250.4,10.5,384,13008,0.00,1.60,0.00,0.000,4,0.000,0.028,2865,1142,2236
$GC,13063,0.47,155.7,243.7,11.0,385,13067,0.00,1.60,0.00,0.000,6,0.000,0.039,2865,2199,2236
$GC,13346,0.47,155.7,210.7,11.2,392,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2200,2236
$GC,13595,0.47,166.9,187.1,9.5,407,13609,0.00,1.65,7.62,0.679,4,0.000,0.046,2864,3293,2209
$GC,13705,0.48,168.7,176.2,9.9,416,13708,0.00,1.65,0.00,0.000,6,0.000,0.025,2870,2158,2209
$GC,13977,0.48,168.7,147.9,11.0,441,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2151,2209
$GC,14243,0.48,168.7,122.1,10.1,466,14246,0.00,1.75,0.00,0.000,4,0.000,0.045,2870,3279,2209
$GC,14328,0.48,168.7,112.8,11.0,473,14332,0.00,1.60,0.00,0.000,6,0.000,0.024,2878,2180,2209
$GC,14604,0.51,252.5,89.4,6.6,498,14685,0.00,1.77,70.68,0.643,4,0.000,0.043,2878,3276,1858
$GC,14750,0.51,252.5,76.7,10.8,509,14754,0.00,1.55,0.00,0.000,6,0.000,0.022,2883,2242,1856
$GC,15022,0.52,281.8,54.8,8.8,534,15056,0.00,0.00,24.00,0.595,6,0.000,0.000,2883,2235,1739
$GC,15321,0.53,297.7,27.1,9.4,563,15340,0.00,1.60,14.05,0.550,4,0.000,0.025,2886,1157,1674
$GC,15359,0.55,365.3,24.1,7.3,567,15420,0.00,1.67,53.85,0.566,6,0.000,0.035,2886,2246,1399
$STATE,15561,end climb,SURFACE_DEPTH_REACHED
$STATE,15561,begin surface coast
$FINISH,0.9,1.023056
$STATE,15593,end surface coast,CONTROL_FINISHED_OK
$STATE,15593,begin surface
$SM_CCo,15618,10.98,0.506,0,0,1299,390.02
$SM_GC,1.09,0.00,0.00,10.98,0.000,0.000,0.506,27,2518,1299,-8.37,0.51,390.02
$IRIDIUM_FIX,2230.01,-15738.97,040103,070718
$TT8_MAMPS,0.023777
$HUMID,2207
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,2
$24V_AH,23.9,22.130
$10V_AH,10.6,23.398
$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,17.900,111.875,455.025,10.975,0.000,25.825,35.334,222.632,0.500,0.000,0.000,13.674,1287.533,10376.781,466.887,3089.254,899.570,33.361,1484.629,0.000,3097.748,0.000,0.544,0.000
$DEVICE_MAMPS,195.585,58.292,1257.113,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,408.688,1978.044,2048.302,1249.896,1325.063,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50787,601
$CAP_FILE_SIZE,122898,0
$CFSIZE,260165632,250077184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,101013,162600,2238.596,-15738.554,39,1.6,39,10.1