version: 66.04
glider: 512
mission: 4
dive: 200
start: 10 24 113 8 1 32
data:
$ID,512
$MISSION,4
$DIVE,200
$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,-110433.59
$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,58
$R_STBD_OVSHOOT,61
$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
$GPS1,074100,2255.405,-15754.917,37,1.6,37,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-81.1
$GPS2,080037,2255.472,-15755.075,16,1.1,16,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.080,-0.230
$KALMAN_X,109149.2,-69.9,-428.2,-100152.0,147.6
$KALMAN_Y,86832.1,-237.9,-63.0,-65430.0,2442.3
$MHEAD_RNG_PITCHd_Wd,150.6,42997,-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,18,-0.51,-126.5,0.0,0.0,0,88,0.00,0.00,-67.78,0.000,2,0.000,0.000,11,2548,2919
$GC,93,-0.51,-126.5,2.3,-1.9,8,122,9.52,1.60,-11.00,0.000,4,0.202,0.037,2531,1425,3427
$GC,171,-0.51,-126.5,25.7,-26.5,18,180,0.00,1.60,0.00,0.000,6,0.000,0.036,2525,2469,3428
$GC,446,-0.51,-126.5,92.6,-21.2,44,450,0.00,1.67,0.00,0.000,4,0.000,0.043,2516,3567,3429
$GC,553,-0.51,-126.5,112.4,-16.5,53,557,0.00,1.50,0.00,0.000,6,0.000,0.018,2518,2505,3430
$GC,824,-0.51,-126.5,161.2,-17.2,78,828,0.00,1.45,0.00,0.000,4,0.000,0.018,2518,1445,3430
$GC,852,-0.51,-126.5,166.0,-17.0,80,856,0.00,1.62,0.00,0.000,6,0.000,0.034,2512,2519,3430
$GC,1141,-0.51,-126.5,214.4,-16.9,101,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2519,3429
$GC,1385,-0.51,-126.5,252.9,-15.3,107,1389,0.00,1.58,0.00,0.000,4,0.000,0.044,2504,3562,3429
$GC,1435,-0.51,-126.5,260.3,-13.4,108,1439,0.00,1.45,0.00,0.000,6,0.000,0.018,2508,2531,3429
$GC,1730,-0.51,-126.5,299.1,-13.3,115,1733,0.00,1.48,0.00,0.000,4,0.000,0.020,2508,1459,3428
$GC,1800,-0.51,-126.5,308.4,-12.0,116,1803,0.00,1.60,0.00,0.000,6,0.000,0.036,2502,2536,3427
$GC,2071,-0.51,-126.5,346.0,-14.2,123,2075,0.00,1.55,0.00,0.000,4,0.000,0.044,2494,3562,3427
$GC,2123,-0.51,-126.5,353.2,-13.9,124,2127,0.08,1.45,0.00,0.000,6,0.123,0.018,2528,2521,3426
$GC,2416,-0.51,-126.5,386.4,-11.0,131,2420,0.00,1.62,0.00,0.000,4,0.000,0.044,2523,3563,3424
$GC,2434,-0.51,-126.5,388.8,-10.9,131,2438,0.00,1.40,0.00,0.000,6,0.000,0.020,2523,2562,3424
$GC,2712,-0.51,-126.5,416.7,-9.9,138,2715,0.00,1.50,0.00,0.000,4,0.000,0.021,2523,1477,3421
$GC,2736,-0.51,-126.5,419.5,-10.5,138,2740,0.00,1.65,0.00,0.000,6,0.000,0.040,2523,2558,3421
$GC,3009,-0.51,-126.5,444.0,-9.0,145,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3419
$GC,3252,-0.51,-126.5,465.9,-8.9,151,3256,0.00,1.52,-0.08,0.000,4,0.000,0.039,2523,1474,3442
$GC,3282,-0.51,-126.5,469.3,-10.0,151,3286,0.00,1.67,0.00,0.000,6,0.000,0.042,2523,2562,3442
$GC,3548,-0.51,-126.5,494.0,-9.4,158,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3439
$GC,3792,-0.51,-126.5,515.8,-8.8,164,3795,0.00,1.55,0.00,0.000,4,0.000,0.021,2523,1478,3437
$GC,3855,-0.51,-126.5,521.6,-8.8,165,3859,0.00,1.62,0.00,0.000,6,0.000,0.041,2516,2556,3437
$GC,4134,-0.51,-126.5,546.6,-9.2,172,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2556,3435
$GC,4377,-0.51,-126.5,568.8,-9.1,178,4381,0.00,1.55,0.00,0.000,4,0.000,0.023,2518,1476,3433
$GC,4446,-0.51,-126.5,575.3,-8.3,179,4450,0.00,1.65,0.00,0.000,6,0.000,0.042,2512,2545,3431
$GC,4718,-0.51,-126.5,598.8,-8.7,186,4721,0.00,1.52,0.00,0.000,4,0.000,0.024,2515,1482,3429
$GC,4759,-0.51,-126.5,602.4,-7.8,186,4769,0.00,1.62,0.00,0.000,6,0.000,0.044,2510,2531,3429
$GC,5016,-0.51,-126.5,623.2,-8.4,193,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2531,3428
$GC,5259,-0.51,-126.5,643.6,-8.4,199,5263,0.00,1.60,0.00,0.000,4,0.000,0.052,2503,3560,3426
$GC,5289,-0.51,-126.5,646.6,-9.1,199,5292,0.00,1.45,0.00,0.000,6,0.000,0.025,2506,2557,3425
$GC,5555,-0.51,-126.5,667.9,-8.0,206,5558,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,3583,3423
$GC,5580,-0.51,-126.5,670.3,-8.5,206,5583,0.00,1.48,0.00,0.000,6,0.000,0.025,2505,2564,3422
$GC,5851,-0.51,-126.5,690.8,-7.5,213,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2555,3421
$GC,6095,-0.51,-126.5,707.9,-7.1,219,6099,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1483,3420
$GC,6171,-0.51,-126.5,713.5,-7.0,220,6174,0.00,1.60,0.00,0.000,6,0.000,0.044,2502,2531,3419
$GC,6437,-0.51,-126.5,734.4,-8.2,227,6441,0.00,1.60,0.00,0.000,4,0.000,0.053,2494,3575,3418
$GC,6479,-0.51,-126.5,738.5,-9.2,227,6487,0.08,1.45,0.00,0.000,6,0.123,0.026,2528,2564,3417
$GC,6733,-0.51,-126.5,757.2,-7.4,234,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2564,3416
$GC,6978,-0.51,-126.5,775.5,-7.6,240,6981,0.00,1.55,0.00,0.000,4,0.000,0.026,2528,1478,3415
$GC,7029,-0.51,-126.5,779.4,-7.5,241,7033,0.00,1.62,0.00,0.000,6,0.000,0.047,2524,2532,3415
$GC,7324,-0.51,-126.5,802.5,-7.8,248,7327,0.00,1.60,0.00,0.000,4,0.000,0.056,2524,3566,3413
$GC,7356,-0.51,-126.5,805.4,-8.5,248,7359,0.00,1.45,0.00,0.000,6,0.000,0.025,2524,2561,3412
$GC,7622,-0.51,-126.5,825.9,-7.8,255,7626,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1494,3411
$GC,7652,-0.51,-126.5,828.7,-8.5,255,7655,0.00,1.62,0.00,0.000,6,0.000,0.048,2524,2547,3412
$GC,7919,-0.51,-126.5,849.6,-8.0,262,7923,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1477,3411
$GC,7944,-0.51,-126.5,851.9,-8.0,262,7948,0.00,1.62,0.00,0.000,6,0.000,0.049,2523,2526,3411
$GC,8216,-0.51,-126.5,873.5,-8.1,269,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2526,3410
$GC,8460,-0.51,-126.5,893.4,-8.1,275,8463,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3569,3409
$GC,8484,-0.51,-126.5,895.9,-9.1,275,8488,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2539,3409
$STATE,8548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8548,begin apogee
$GC,8560,-0.17,0.0,901.1,8.2,277,8672,0.35,0.00,109.20,1.262,6,0.095,0.000,2642,2216,2910
$STATE,8672,end apogee,CONTROL_FINISHED_OK
$STATE,8672,begin climb
$GC,8677,0.51,126.5,905.7,0.0,280,8832,0.57,1.65,126.78,1.161,4,0.029,0.027,2895,1191,2394
$GC,8861,0.51,126.5,893.9,16.9,284,8864,0.00,1.73,0.00,0.000,6,0.000,0.040,2891,2232,2390
$GC,9149,0.51,126.5,840.9,18.7,291,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2232,2383
$GC,9392,0.51,126.5,794.6,19.0,297,9396,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3284,2383
$GC,9445,0.51,126.5,783.3,21.5,298,9449,0.15,1.58,0.00,0.000,6,0.197,0.027,2864,2236,2381
$GC,9733,0.51,126.5,736.6,15.9,305,9736,0.00,1.65,0.00,0.000,4,0.000,0.047,2863,3284,2380
$GC,9790,0.51,126.5,726.6,16.7,306,9794,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2245,2380
$GC,10074,0.51,126.5,682.3,15.9,313,10077,0.00,1.58,0.00,0.000,4,0.000,0.028,2876,1168,2379
$GC,10117,0.51,126.5,675.0,16.3,313,10125,0.00,1.70,0.00,0.000,6,0.000,0.041,2877,2250,2378
$GC,10371,0.51,126.5,632.7,16.7,320,10375,0.00,1.62,0.00,0.000,4,0.000,0.049,2875,3290,2377
$GC,10513,0.51,126.5,608.0,16.7,323,10516,0.00,1.50,0.00,0.000,6,0.000,0.025,2881,2287,2377
$GC,10807,0.51,126.5,556.3,17.7,330,10810,0.00,1.62,0.00,0.000,4,0.000,0.028,2889,1151,2376
$GC,10842,0.51,126.5,550.0,16.3,330,10846,0.00,1.75,0.00,0.000,6,0.000,0.041,2890,2292,2376
$GC,11105,0.51,126.5,506.4,17.0,337,11108,0.00,1.67,0.00,0.000,4,0.000,0.028,2897,1148,2376
$GC,11199,0.51,126.5,491.3,15.8,339,11203,0.00,1.77,0.00,0.000,6,0.000,0.039,2891,2287,2375
$GC,11494,0.51,126.5,447.2,15.0,346,11498,0.00,1.65,0.00,0.000,4,0.000,0.028,2897,1161,2375
$GC,11557,0.51,126.5,438.0,12.3,347,11561,0.00,1.75,0.00,0.000,6,0.000,0.041,2891,2284,2375
$GC,11834,0.51,126.5,402.0,13.0,354,11837,0.00,1.55,0.00,0.000,4,0.000,0.048,2892,3279,2375
$GC,11886,0.51,126.5,394.4,13.7,355,11890,0.10,1.48,0.00,0.000,6,0.181,0.026,2857,2285,2374
$GC,12175,0.51,126.5,364.0,10.7,362,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2279,2374
$GC,12418,0.51,126.5,339.1,10.3,368,12422,0.00,1.58,0.00,0.000,4,0.000,0.046,2857,3277,2374
$GC,12521,0.51,126.5,327.7,12.0,370,12525,0.00,1.45,0.00,0.000,6,0.000,0.025,2864,2288,2374
$GC,12804,0.51,127.3,299.5,10.0,377,12808,0.00,1.58,0.00,0.000,4,0.000,0.047,2863,3277,2374
$GC,12873,0.51,127.3,291.7,10.6,378,12877,0.00,1.40,0.00,0.000,6,0.000,0.025,2868,2328,2374
$GC,13146,0.52,137.4,266.6,9.5,385,13160,0.00,1.73,7.40,0.730,4,0.000,0.026,2877,1152,2349
$GC,13388,0.53,182.0,246.5,7.6,390,13432,0.00,1.80,39.45,0.798,6,0.000,0.040,2877,2331,2167
$GC,13704,0.53,182.0,212.2,11.5,398,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2331,2161
$GC,13953,0.53,182.0,183.8,10.9,413,13960,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2330,2160
$GC,14218,0.53,182.0,155.7,10.5,438,14222,0.00,1.73,0.00,0.000,4,0.000,0.024,2884,1154,2160
$GC,14269,0.53,182.0,150.5,10.3,442,14273,0.00,1.80,0.00,0.000,6,0.000,0.038,2884,2316,2160
$GC,14542,0.53,182.0,119.8,11.0,467,14546,0.00,1.70,0.00,0.000,4,0.000,0.024,2891,1156,2159
$GC,14571,0.53,182.0,116.6,11.7,469,14574,0.00,1.75,0.00,0.000,6,0.000,0.037,2891,2284,2159
$GC,14842,0.53,182.0,83.3,11.1,494,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2284,2159
$GC,15109,0.54,187.7,57.7,9.7,519,15124,0.00,1.52,5.30,0.494,4,0.000,0.042,2891,3286,2145
$GC,15397,0.55,232.7,43.9,7.6,542,15440,0.00,1.55,38.60,0.592,6,0.000,0.021,2898,2204,1960
$GC,15727,0.56,247.7,16.4,9.2,581,15745,0.00,1.65,11.90,0.535,4,0.000,0.040,2898,3285,1904
$GC,15838,0.56,247.7,3.5,12.6,597,15847,0.00,1.55,0.00,0.000,6,0.000,0.019,2904,2222,1903
$STATE,15854,end climb,SURFACE_DEPTH_REACHED
$STATE,15854,begin surface coast
$FINISH,0.4,1.019865
$STATE,15887,end surface coast,CONTROL_FINISHED_OK
$STATE,15887,begin surface
$SM_CCo,15912,58.25,0.544,0,0,1319,390.02
$SM_GC,1.38,0.00,0.00,58.25,0.000,0.000,0.544,32,2533,1319,-8.32,0.90,390.02
$IRIDIUM_FIX,2248.70,-15755.40,180103,070749
$TT8_MAMPS,0.023777
$HUMID,2188
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.10
$XPDR_PINGS,3
$24V_AH,23.8,32.829
$10V_AH,10.6,37.683
$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,18.100,118.475,338.625,58.250,0.000,51.911,70.442,794.476,0.750,0.000,0.000,16.663,1314.566,10636.361,443.924,3194.191,1554.751,33.386,1455.134,0.000,3193.708,0.000,0.546,0.000
$DEVICE_MAMPS,202.488,57.525,1261.715,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,412.280,1989.836,2062.755,1366.091,1372.112,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50965,604
$CAP_FILE_SIZE,138171,0
$CFSIZE,260165632,245465088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,241013,122906,2254.121,-15754.104,34,0.8,34,10.1