version: 66.04
glider: 512
mission: 4
dive: 201
start: 10 24 113 12 43 18
data:
$ID,512
$MISSION,4
$DIVE,201
$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,-110453.34
$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,67
$R_STBD_OVSHOOT,48
$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
$GPS1,122906,2254.121,-15754.104,34,0.8,34,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-81.9
$GPS2,124225,2254.148,-15754.179,19,0.9,19,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,-0.191
$KALMAN_X,108535.4,-252.6,448.8,-98703.8,-1150.3
$KALMAN_Y,88462.2,-403.9,148.9,-69559.3,1809.4
$MHEAD_RNG_PITCHd_Wd,131.5,40167,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.51,-126.5,0.0,0.0,0,89,0.00,0.00,-68.38,0.000,2,0.000,0.000,11,2525,2930
$GC,95,-0.51,-126.5,2.3,-2.0,8,124,9.43,1.55,-10.73,0.000,4,0.196,0.039,2531,1448,3427
$GC,292,-0.51,-126.5,53.3,-23.4,30,296,0.00,1.60,0.00,0.000,6,0.000,0.040,2525,2504,3428
$GC,564,-0.51,-126.5,118.9,-21.6,55,568,0.00,1.60,0.00,0.000,4,0.000,0.046,2517,3566,3429
$GC,706,-0.51,-126.5,147.3,-18.9,67,710,0.00,1.52,0.00,0.000,6,0.000,0.018,2517,2497,3430
$GC,977,-0.51,-126.5,194.7,-15.9,92,981,0.00,1.45,0.00,0.000,4,0.000,0.020,2517,1441,3430
$GC,993,-0.51,-126.5,197.4,-15.7,93,997,0.00,1.62,0.00,0.000,6,0.000,0.034,2512,2519,3430
$GC,1264,-0.51,-126.5,237.2,-14.8,101,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2519,3430
$GC,1508,-0.51,-126.5,271.8,-14.0,107,1511,0.00,1.52,0.00,0.000,4,0.000,0.021,2517,1441,3430
$GC,1573,-0.51,-126.5,280.7,-12.5,108,1576,0.00,1.60,0.00,0.000,6,0.000,0.038,2511,2517,3430
$GC,1851,-0.51,-126.5,317.7,-13.3,115,1854,0.00,1.58,0.00,0.000,4,0.000,0.047,2503,3555,3429
$GC,1880,-0.51,-126.5,322.3,-14.1,115,1884,0.00,1.48,0.00,0.000,6,0.000,0.020,2508,2510,3429
$GC,2146,-0.51,-126.5,356.0,-13.0,122,2150,0.00,1.62,0.00,0.000,4,0.000,0.044,2502,3557,3427
$GC,2187,-0.51,-126.5,362.1,-13.5,122,2195,0.00,1.42,0.00,0.000,6,0.000,0.021,2507,2543,3427
$GC,2441,-0.51,-126.5,390.5,-10.6,129,2445,0.00,1.50,0.00,0.000,4,0.000,0.022,2515,1461,3426
$GC,2540,-0.51,-126.5,399.1,-7.8,131,2543,0.00,1.60,0.00,0.000,6,0.000,0.039,2510,2530,3426
$GC,2828,-0.51,-126.5,426.0,-9.9,138,2832,0.00,1.58,0.00,0.000,4,0.000,0.048,2502,3558,3423
$GC,2880,-0.51,-126.5,431.6,-11.1,139,2884,0.00,1.45,0.00,0.000,6,0.000,0.021,2507,2540,3422
$GC,3173,-0.51,-126.5,467.4,-12.5,146,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2532,3420
$GC,3417,-0.51,-126.5,497.6,-12.1,152,3421,0.00,1.50,0.00,0.000,4,0.000,0.023,2515,1466,3418
$GC,3467,-0.51,-126.5,503.0,-10.7,153,3470,0.00,1.65,0.00,0.000,6,0.000,0.042,2510,2554,3417
$GC,3762,-0.51,-126.5,532.8,-9.8,160,3766,0.00,1.55,0.00,0.000,4,0.000,0.050,2502,3558,3414
$GC,3820,-0.51,-126.5,538.7,-9.6,161,3824,0.00,1.45,0.00,0.000,6,0.000,0.024,2508,2552,3414
$GC,4103,-0.51,-126.5,564.0,-8.9,168,4106,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1465,3412
$GC,4199,-0.51,-126.5,571.6,-7.6,170,4203,0.00,1.62,0.00,0.000,6,0.000,0.042,2502,2533,3411
$GC,4493,-0.51,-126.5,597.5,-9.0,177,4497,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3580,3409
$GC,4535,-0.51,-126.5,602.0,-9.6,177,4545,0.08,1.50,0.00,0.000,6,0.116,0.023,2530,2530,3409
$GC,4791,-0.51,-126.5,622.1,-8.1,184,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2530,3407
$GC,5034,-0.51,-126.5,642.4,-8.3,190,5038,0.00,1.60,0.00,0.000,4,0.000,0.051,2524,3561,3404
$GC,5059,-0.51,-126.5,645.1,-9.1,190,5063,0.00,1.45,0.00,0.000,6,0.000,0.023,2524,2551,3404
$GC,5330,-0.51,-126.5,668.9,-8.9,197,5334,0.00,1.52,0.00,0.000,4,0.000,0.024,2524,1466,3403
$GC,5382,-0.51,-126.5,673.5,-8.6,198,5386,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2538,3402
$GC,5677,-0.51,-126.5,699.2,-8.8,205,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3400
$GC,5921,-0.51,-126.5,719.2,-8.1,211,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3399
$GC,6164,-0.51,-126.5,736.8,-7.1,217,6168,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3571,3398
$GC,6189,-0.51,-126.5,738.8,-7.2,217,6193,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2537,3398
$GC,6461,-0.51,-126.5,756.7,-6.8,224,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3396
$GC,6704,-0.51,-126.5,774.0,-7.3,230,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3394
$GC,6948,-0.51,-126.5,792.3,-7.6,236,6952,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1461,3393
$GC,6972,-0.51,-126.5,794.5,-8.0,236,6976,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2530,3393
$GC,7244,-0.51,-126.5,815.1,-7.6,243,7248,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3563,3392
$GC,7263,-0.51,-126.5,817.0,-7.8,243,7267,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2520,3391
$GC,7541,-0.51,-126.5,836.6,-7.2,250,7544,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1447,3391
$GC,7571,-0.51,-126.5,839.2,-7.8,250,7575,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2525,3391
$GC,7837,-0.51,-126.5,857.2,-6.9,257,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3390
$GC,8081,-0.51,-126.5,873.5,-6.6,263,8084,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3561,3388
$GC,8122,-0.51,-126.5,876.5,-6.3,263,8130,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2515,3388
$GC,8377,-0.51,-126.5,891.9,-6.1,270,8380,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1466,3387
$GC,8401,-0.51,-126.5,893.6,-6.0,270,8405,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2531,3387
$STATE,8547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8547,begin apogee
$GC,8558,-0.17,0.0,902.3,6.0,274,8669,0.35,0.00,104.40,1.264,6,0.093,0.000,2642,2219,2909
$STATE,8670,end apogee,CONTROL_FINISHED_OK
$STATE,8670,begin climb
$GC,8675,0.51,126.5,904.2,0.0,277,8830,0.57,1.67,126.15,1.165,4,0.028,0.026,2894,1182,2394
$GC,8870,0.51,126.5,885.9,18.4,281,8874,0.00,1.70,0.00,0.000,6,0.000,0.040,2891,2229,2390
$GC,9147,0.51,126.5,831.3,20.0,288,9151,0.00,1.65,0.00,0.000,4,0.000,0.047,2891,3284,2383
$GC,9206,0.51,126.5,818.3,20.9,289,9210,0.15,1.58,0.00,0.000,6,0.209,0.025,2865,2242,2383
$GC,9488,0.51,126.5,772.7,15.8,296,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2235,2381
$GC,9731,0.51,126.5,736.1,15.2,302,9735,0.00,1.65,0.00,0.000,4,0.000,0.046,2863,3286,2380
$GC,9800,0.51,126.5,724.9,15.8,303,9803,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2246,2380
$GC,10072,0.51,126.5,684.5,15.0,310,10076,0.00,1.58,0.00,0.000,4,0.000,0.028,2877,1162,2379
$GC,10147,0.51,126.5,673.2,14.3,311,10150,0.00,1.67,0.00,0.000,6,0.000,0.041,2877,2250,2378
$GC,10412,0.51,126.5,634.4,15.0,318,10416,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3306,2377
$GC,10508,0.51,126.5,618.6,16.5,320,10512,0.00,1.55,0.00,0.000,6,0.000,0.025,2882,2266,2377
$GC,10803,0.51,126.5,571.0,16.6,327,10806,0.00,1.62,0.00,0.000,4,0.000,0.046,2878,3301,2377
$GC,10878,0.51,126.5,557.6,16.8,328,10882,0.00,1.55,0.00,0.000,6,0.000,0.026,2884,2264,2377
$GC,11144,0.51,126.5,516.0,15.6,335,11148,0.00,1.60,0.00,0.000,4,0.000,0.026,2891,1152,2376
$GC,11258,0.51,126.5,499.0,15.0,337,11262,0.00,1.73,0.00,0.000,6,0.000,0.043,2891,2272,2375
$GC,11530,0.51,126.5,460.5,14.1,344,11533,0.00,1.58,0.00,0.000,4,0.000,0.048,2891,3280,2375
$GC,11580,0.51,126.5,453.1,15.4,345,11584,0.10,1.48,0.00,0.000,6,0.196,0.025,2869,2292,2374
$GC,11874,0.51,126.5,415.2,12.9,352,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2286,2374
$GC,12119,0.51,126.5,384.6,12.1,358,12123,0.00,1.62,0.00,0.000,4,0.000,0.028,2873,1156,2374
$GC,12188,0.51,126.5,376.5,10.3,359,12192,0.00,1.80,0.00,0.000,6,0.000,0.041,2873,2308,2374
$GC,12460,0.51,126.5,347.7,10.6,366,12463,0.00,1.52,0.00,0.000,4,0.000,0.047,2873,3288,2374
$GC,12540,0.51,126.5,338.4,10.4,367,12544,0.00,1.45,0.00,0.000,6,0.000,0.022,2880,2295,2374
$GC,12800,0.51,126.5,310.0,11.1,374,12804,0.00,1.58,0.00,0.000,4,0.000,0.044,2878,3286,2374
$GC,12819,0.51,126.5,307.6,11.3,374,12823,0.00,1.40,0.00,0.000,6,0.000,0.022,2883,2331,2374
$GC,13096,0.51,126.5,276.3,11.3,381,13100,0.00,1.67,0.00,0.000,4,0.000,0.025,2891,1148,2374
$GC,13358,0.53,176.3,249.8,7.4,386,13404,0.00,1.80,40.15,0.805,6,0.000,0.038,2892,2337,2190
$GC,13662,0.53,176.3,218.4,11.5,394,13666,0.00,1.75,0.00,0.000,4,0.000,0.025,2898,1141,2184
$GC,13821,0.53,176.3,198.4,12.0,397,13825,0.00,1.80,0.00,0.000,6,0.000,0.038,2898,2310,2183
$GC,14094,0.53,176.3,163.6,13.1,421,14098,0.00,1.70,0.00,0.000,4,0.000,0.025,2902,1142,2182
$GC,14121,0.53,176.3,160.2,12.2,423,14125,0.10,1.80,0.00,0.000,6,0.141,0.037,2871,2301,2183
$GC,14397,0.54,188.3,134.0,9.4,448,14412,0.00,1.55,10.60,0.641,4,0.000,0.041,2871,3296,2142
$GC,14454,0.54,188.3,127.2,10.3,452,14463,0.00,1.48,0.00,0.000,6,0.000,0.021,2877,2283,2141
$GC,14721,0.54,188.3,98.4,11.0,477,14725,0.00,1.62,0.00,0.000,4,0.000,0.023,2885,1148,2141
$GC,14738,0.54,188.3,96.1,10.5,478,14747,0.00,1.83,0.00,0.000,6,0.000,0.035,2885,2333,2140
$GC,15006,0.55,227.3,69.4,7.9,503,15048,0.00,1.75,33.28,0.616,4,0.000,0.023,2886,1161,1982
$GC,15078,0.56,257.1,63.6,8.4,508,15108,0.00,1.75,25.58,0.598,6,0.000,0.037,2886,2305,1862
$GC,15369,0.59,311.8,41.9,7.1,534,15425,0.00,1.58,44.50,0.585,4,0.000,0.041,2886,3292,1637
$GC,15481,0.59,315.9,30.7,9.8,542,15491,0.00,1.50,4.65,0.433,6,0.000,0.020,2886,2289,1621
$STATE,15761,end climb,SURFACE_DEPTH_REACHED
$STATE,15761,begin surface coast
$FINISH,0.4,1.011963
$STATE,15800,end surface coast,CONTROL_FINISHED_OK
$STATE,15800,begin surface
$SM_CCo,15826,30.58,0.536,0,0,1319,390.02
$SM_GC,1.17,0.00,0.00,30.58,0.000,0.000,0.536,38,2533,1319,-8.30,0.93,390.02
$IRIDIUM_FIX,2246.36,-15834.07,180103,121208
$TT8_MAMPS,0.023777
$HUMID,2215
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,23.8,32.971
$10V_AH,10.7,37.887
$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,18.025,121.750,389.300,30.575,0.000,64.638,99.778,376.492,1.250,0.000,0.000,19.119,1296.695,10545.823,446.160,3182.432,1178.483,33.381,1487.558,0.000,3178.624,0.000,0.545,0.000
$DEVICE_MAMPS,209.391,57.525,1264.016,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.874,1950.304,2020.693,1146.918,1322.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50950,592
$CAP_FILE_SIZE,132700,0
$CFSIZE,260165632,245403648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,241013,170906,2252.821,-15753.385,42,1.1,42,10.1