version: 66.04
glider: 512
mission: 4
dive: 199
start: 10 24 113 3 17 46
data:
$ID,512
$MISSION,4
$DIVE,199
$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,130
$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,-110416.3
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2697
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$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,68
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2910
$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
$GPS1,030659,2256.695,-15755.392,37,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-83.0
$GPS2,031648,2256.664,-15755.467,14,1.2,19,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.112,-0.216
$KALMAN_X,109831.9,119.4,56.5,-102175.1,-942.5
$KALMAN_Y,85157.7,143.7,-460.5,-61542.5,2683.4
$MHEAD_RNG_PITCHd_Wd,142.4,45073,-18.9,-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,-0.51,-126.5,0.0,0.0,0,87,0.00,0.00,-67.95,0.000,2,0.000,0.000,15,2538,2925
$GC,93,-0.51,-126.5,2.2,-1.9,8,122,9.48,1.55,-10.75,0.000,4,0.201,0.035,2527,1432,3424
$GC,177,-0.51,-126.5,26.8,-25.0,19,186,0.00,1.60,0.00,0.000,6,0.000,0.036,2522,2474,3425
$GC,454,-0.51,-126.5,94.9,-19.3,45,457,0.00,1.65,0.00,0.000,4,0.000,0.042,2514,3561,3425
$GC,595,-0.51,-126.5,121.7,-17.7,57,598,0.00,1.48,0.00,0.000,6,0.000,0.018,2514,2525,3426
$GC,867,-0.51,-126.5,174.8,-18.6,82,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2517,3426
$GC,1127,-0.51,-126.5,221.6,-17.6,98,1131,0.00,1.48,0.00,0.000,4,0.000,0.019,2516,1455,3426
$GC,1157,-0.51,-126.5,227.2,-17.3,98,1160,0.00,1.60,0.00,0.000,6,0.000,0.033,2510,2536,3426
$GC,1423,-0.51,-126.5,267.1,-15.4,105,1426,0.00,1.55,0.00,0.000,4,0.000,0.042,2503,3564,3426
$GC,1474,-0.51,-126.5,274.4,-13.7,106,1477,0.00,1.45,0.00,0.000,6,0.000,0.018,2507,2540,3426
$GC,1768,-0.51,-126.5,312.1,-12.6,113,1771,0.00,1.50,0.00,0.000,4,0.000,0.019,2508,1452,3426
$GC,1888,-0.51,-126.5,327.7,-12.2,115,1891,0.00,1.60,0.00,0.000,6,0.000,0.035,2502,2534,3425
$GC,2154,-0.51,-126.5,362.5,-13.5,122,2157,0.00,1.55,0.00,0.000,4,0.000,0.044,2494,3558,3424
$GC,2211,-0.51,-126.5,371.3,-14.3,123,2215,0.08,1.45,0.00,0.000,6,0.120,0.019,2529,2519,3424
$GC,2494,-0.51,-126.5,401.5,-10.6,130,2498,0.00,1.45,0.00,0.000,4,0.000,0.020,2531,1464,3422
$GC,2544,-0.51,-126.5,406.6,-8.6,131,2548,0.00,1.60,0.00,0.000,6,0.000,0.036,2525,2514,3421
$GC,2838,-0.51,-126.5,436.3,-10.0,138,2842,0.00,1.60,0.00,0.000,4,0.000,0.048,2523,3574,3420
$GC,2880,-0.51,-126.5,440.6,-9.0,138,2889,0.00,1.48,0.00,0.000,6,0.000,0.021,2524,2530,3419
$GC,3136,-0.51,-126.5,464.3,-9.3,145,3140,0.00,1.62,-0.08,0.000,4,0.000,0.064,2523,3560,3442
$GC,3166,-0.51,-126.5,467.6,-9.2,145,3169,0.00,1.45,0.00,0.000,6,0.000,0.021,2523,2540,3442
$GC,3432,-0.51,-126.5,494.3,-10.4,152,3435,0.00,1.52,0.00,0.000,4,0.000,0.021,2523,1452,3440
$GC,3506,-0.51,-126.5,503.1,-11.0,153,3509,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2530,3439
$GC,3773,-0.51,-126.5,533.6,-11.7,160,3776,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3581,3437
$GC,3797,-0.51,-126.5,536.9,-11.5,160,3800,0.00,1.50,0.00,0.000,6,0.000,0.022,2523,2533,3437
$GC,4068,-0.51,-126.5,564.1,-9.8,167,4072,0.00,1.50,0.00,0.000,4,0.000,0.021,2523,1457,3435
$GC,4155,-0.51,-126.5,572.4,-9.2,168,4164,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2512,3434
$GC,4410,-0.51,-126.5,594.9,-8.9,175,4414,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3560,3431
$GC,4461,-0.51,-126.5,599.4,-8.8,176,4464,0.00,1.50,0.00,0.000,6,0.000,0.023,2523,2524,3431
$GC,4755,-0.51,-126.5,623.8,-8.0,183,4758,0.00,1.50,0.00,0.000,4,0.000,0.023,2523,1457,3429
$GC,4806,-0.51,-126.5,627.7,-8.2,184,4810,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2522,3429
$GC,5100,-0.51,-126.5,651.5,-8.3,191,5104,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3565,3427
$GC,5158,-0.51,-126.5,656.6,-7.9,192,5162,0.00,1.52,0.00,0.000,6,0.000,0.024,2523,2508,3426
$GC,5442,-0.51,-126.5,682.2,-9.3,199,5446,0.00,1.65,0.00,0.000,4,0.000,0.052,2523,3562,3424
$GC,5467,-0.51,-126.5,684.9,-9.7,199,5470,0.00,1.52,0.00,0.000,6,0.000,0.024,2523,2507,3423
$GC,5738,-0.51,-126.5,710.7,-9.6,206,5742,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3572,3421
$GC,5779,-0.51,-126.5,715.2,-10.7,206,5788,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2525,3421
$GC,6035,-0.51,-126.5,739.6,-9.7,213,6038,0.00,1.50,0.00,0.000,4,0.000,0.024,2523,1468,3420
$GC,6071,-0.51,-126.5,743.5,-10.0,213,6074,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2531,3420
$GC,6332,-0.51,-126.5,766.2,-8.7,220,6336,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3566,3418
$GC,6357,-0.51,-126.5,768.6,-8.2,220,6361,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2545,3418
$GC,6628,-0.51,-126.5,790.5,-8.3,227,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3416
$GC,6872,-0.51,-126.5,809.8,-7.9,233,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3415
$GC,7116,-0.51,-126.5,828.3,-7.4,239,7120,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1451,3415
$GC,7140,-0.51,-126.5,830.4,-7.4,239,7144,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2540,3414
$GC,7412,-0.51,-126.5,849.3,-7.0,246,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3413
$GC,7656,-0.51,-126.5,866.3,-7.0,252,7659,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3570,3412
$GC,7681,-0.51,-126.5,868.4,-7.4,252,7684,0.00,1.50,0.00,0.000,6,0.000,0.025,2524,2537,3411
$GC,7953,-0.51,-126.5,887.5,-7.2,259,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3411
$STATE,8150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8150,begin apogee
$GC,8161,-0.17,0.0,902.2,7.3,264,8273,0.35,0.00,109.22,1.264,6,0.095,0.000,2643,2216,2910
$STATE,8274,end apogee,CONTROL_FINISHED_OK
$STATE,8274,begin climb
$GC,8279,0.51,126.5,906.3,0.0,267,8410,0.57,0.00,120.97,1.206,6,0.028,0.000,2888,2217,2394
$GC,8661,0.51,126.5,855.3,18.7,276,8664,0.00,1.73,0.00,0.000,4,0.000,0.047,2888,3298,2384
$GC,8719,0.51,126.5,842.4,20.0,277,8723,0.12,1.60,0.00,0.000,6,0.196,0.024,2868,2223,2383
$GC,9001,0.51,126.5,795.0,16.7,284,9005,0.00,1.58,0.00,0.000,4,0.000,0.028,2874,1161,2381
$GC,9024,0.51,126.5,790.6,15.7,284,9028,0.00,1.65,0.00,0.000,6,0.000,0.041,2874,2226,2381
$GC,9296,0.51,126.5,743.8,17.8,291,9300,0.00,1.65,0.00,0.000,4,0.000,0.049,2875,3294,2380
$GC,9366,0.51,126.5,729.4,19.1,292,9370,0.00,1.58,0.00,0.000,6,0.000,0.025,2882,2232,2379
$GC,9638,0.51,126.5,682.4,17.3,299,9641,0.00,1.67,0.00,0.000,4,0.000,0.046,2878,3278,2378
$GC,9701,0.51,126.5,670.2,18.0,300,9704,0.00,1.52,0.00,0.000,6,0.000,0.025,2884,2253,2378
$GC,9979,0.51,126.5,626.2,15.4,307,9982,0.00,1.62,0.00,0.000,4,0.000,0.047,2884,3290,2377
$GC,10042,0.51,126.5,615.9,16.2,308,10046,0.00,1.50,0.00,0.000,6,0.000,0.025,2891,2273,2377
$GC,10319,0.51,126.5,575.4,14.6,315,10323,0.00,1.60,0.00,0.000,4,0.000,0.048,2891,3276,2376
$GC,10355,0.51,126.5,569.6,16.3,315,10359,0.10,1.45,0.00,0.000,6,0.170,0.025,2868,2296,2376
$GC,10616,0.51,126.5,536.4,12.8,322,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2289,2376
$GC,10861,0.51,126.5,503.7,13.3,328,10864,0.00,1.62,0.00,0.000,4,0.000,0.029,2873,1164,2375
$GC,10955,0.51,126.5,490.7,13.7,330,10959,0.00,1.77,0.00,0.000,6,0.000,0.041,2873,2301,2374
$GC,11250,0.51,126.5,451.4,13.9,337,11253,0.00,1.52,0.00,0.000,4,0.000,0.048,2873,3279,2374
$GC,11324,0.51,126.5,440.5,14.1,338,11328,0.00,1.40,0.00,0.000,6,0.000,0.025,2880,2332,2374
$GC,11590,0.51,126.5,404.5,13.4,345,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2326,2374
$GC,11834,0.51,126.5,372.3,13.2,351,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2326,2374
$GC,12077,0.51,126.5,342.2,12.5,357,12081,0.00,1.50,0.00,0.000,4,0.000,0.044,2877,3279,2374
$GC,12159,0.51,126.5,330.6,13.9,358,12162,0.00,1.38,0.00,0.000,6,0.000,0.025,2883,2347,2374
$GC,12419,0.51,126.5,301.7,11.2,365,12422,0.00,1.48,0.00,0.000,4,0.000,0.044,2878,3279,2374
$GC,12450,0.51,126.5,297.7,12.6,365,12454,0.00,1.35,0.00,0.000,6,0.000,0.025,2883,2355,2374
$GC,12716,0.52,151.8,272.9,8.7,372,12740,0.00,1.75,19.60,0.812,4,0.000,0.026,2891,1156,2290
$GC,12900,0.53,164.5,258.0,9.3,376,12919,0.00,1.83,12.43,0.764,6,0.000,0.039,2891,2342,2239
$GC,13192,0.53,164.5,225.7,11.1,383,13196,0.00,1.45,0.00,0.000,4,0.000,0.044,2891,3281,2235
$GC,13242,0.53,164.5,219.5,13.0,384,13246,0.00,1.38,0.00,0.000,6,0.000,0.023,2896,2348,2234
$GC,13511,0.53,164.5,187.0,12.4,397,13514,0.00,1.70,0.00,0.000,4,0.000,0.026,2902,1157,2234
$GC,13575,0.53,164.5,178.7,13.2,402,13584,0.10,1.85,0.00,0.000,6,0.140,0.038,2871,2354,2233
$GC,13846,0.53,182.4,151.7,9.0,427,13864,0.00,0.00,16.15,0.677,6,0.000,0.000,2871,2354,2166
$GC,14130,0.54,196.5,127.0,9.2,452,14148,0.00,0.00,13.25,0.637,6,0.000,0.000,2871,2354,2107
$GC,14405,0.54,196.5,97.2,10.5,478,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2354,2106
$GC,14673,0.55,214.2,71.4,9.1,503,14693,0.00,1.45,16.27,0.597,4,0.000,0.040,2870,3286,2036
$GC,14847,0.56,248.0,54.0,8.2,516,14884,0.00,1.35,28.65,0.592,6,0.000,0.021,2870,2351,1897
$GC,15145,0.58,298.9,37.7,7.3,543,15191,0.00,1.73,41.30,0.576,4,0.000,0.022,2871,1162,1690
$GC,15282,0.60,333.6,27.1,8.1,556,15318,0.00,1.85,28.40,0.558,6,0.000,0.033,2870,2357,1548
$STATE,15613,end climb,SURFACE_DEPTH_REACHED
$STATE,15613,begin surface coast
$FINISH,0.4,1.011440
$STATE,15658,end surface coast,CONTROL_FINISHED_OK
$STATE,15658,begin surface
$SM_CCo,15683,23.83,0.527,0,0,1319,390.02
$SM_GC,1.56,0.00,0.00,23.83,0.000,0.000,0.527,37,2551,1319,-8.31,1.44,390.02
$IRIDIUM_FIX,2248.70,-15758.45,170103,222255
$TT8_MAMPS,0.025311
$HUMID,2190
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.70
$XPDR_PINGS,7
$24V_AH,23.8,32.666
$10V_AH,10.7,37.470
$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,17.975,113.375,406.250,23.825,0.000,22.837,35.223,345.935,1.750,0.000,0.000,19.704,1305.660,10330.112,432.718,3210.335,1018.378,33.403,1460.965,0.000,3199.444,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,63.661,1264.016,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,417.994,2021.250,2084.247,1275.823,1398.693,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51060,614
$CAP_FILE_SIZE,127285,0
$CFSIZE,260165632,245538816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241013,074100,2255.405,-15754.917,37,1.6,37,10.1