version: 66.04
glider: 512
mission: 4
dive: 202
start: 10 24 113 17 17 53
data:
$ID,512
$MISSION,4
$DIVE,202
$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,-110470.22
$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,54
$R_STBD_OVSHOOT,51
$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
$GPS1,170906,2252.821,-15753.385,42,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-82.0
$GPS2,171700,2252.819,-15753.438,11,1.2,16,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.062,-0.235
$KALMAN_X,107701.1,-111.5,-316.6,-95976.9,-221.2
$KALMAN_Y,89948.0,-268.0,-512.5,-72980.3,3358.6
$MHEAD_RNG_PITCHd_Wd,155.2,37527,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-68.10,0.000,2,0.000,0.000,16,2527,2918
$GC,94,-0.51,-126.5,2.3,-2.0,8,123,9.50,1.58,-10.88,0.000,4,0.200,0.039,2534,1433,3424
$GC,210,-0.51,-126.5,36.3,-22.8,23,219,0.00,1.60,0.00,0.000,6,0.000,0.037,2529,2472,3425
$GC,475,-0.51,-126.5,102.0,-21.3,48,479,0.00,1.67,0.00,0.000,4,0.000,0.046,2520,3561,3425
$GC,605,-0.51,-126.5,127.9,-18.3,59,609,0.00,1.52,0.00,0.000,6,0.000,0.018,2520,2487,3426
$GC,877,-0.51,-126.5,175.1,-15.6,84,880,0.00,1.65,0.00,0.000,4,0.000,0.040,2513,3575,3426
$GC,896,-0.51,-126.5,178.6,-15.4,85,902,0.00,1.50,0.00,0.000,6,0.000,0.019,2513,2513,3426
$GC,1156,-0.51,-126.5,221.6,-17.0,101,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2504,3426
$GC,1400,-0.51,-126.5,263.0,-16.7,107,1404,0.00,1.45,0.00,0.000,4,0.000,0.020,2519,1458,3426
$GC,1526,-0.51,-126.5,280.4,-11.8,109,1529,0.00,1.55,0.00,0.000,6,0.000,0.035,2514,2486,3426
$GC,1786,-0.51,-126.5,315.7,-14.0,116,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2487,3426
$GC,2029,-0.51,-126.5,348.4,-13.4,122,2033,0.00,1.62,0.00,0.000,4,0.000,0.046,2506,3552,3425
$GC,2048,-0.51,-126.5,351.1,-12.7,122,2051,0.00,1.52,0.00,0.000,6,0.000,0.021,2506,2477,3425
$GC,2325,-0.51,-126.5,384.6,-12.0,129,2328,0.00,1.67,0.00,0.000,4,0.000,0.045,2499,3570,3425
$GC,2406,-0.51,-126.5,394.1,-10.7,130,2409,0.00,1.50,0.00,0.000,6,0.000,0.020,2505,2510,3424
$GC,2666,-0.51,-126.5,420.8,-10.3,137,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2502,3421
$GC,2910,-0.51,-126.5,446.8,-10.7,143,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2501,3420
$GC,3153,-0.51,-126.5,472.3,-10.3,149,3157,0.00,1.45,0.00,0.000,4,0.000,0.023,2508,1465,3419
$GC,3190,-0.51,-126.5,476.0,-9.2,149,3193,0.00,1.60,0.00,0.000,6,0.000,0.040,2502,2528,3418
$GC,3450,-0.51,-126.5,500.5,-9.4,156,3453,0.00,1.60,0.00,0.000,4,0.000,0.049,2494,3586,3416
$GC,3503,-0.51,-126.5,506.0,-9.2,157,3507,0.05,1.52,0.00,0.000,6,0.129,0.021,2533,2513,3415
$GC,3791,-0.51,-126.5,526.4,-7.3,164,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2506,3413
$GC,4035,-0.51,-126.5,545.9,-8.0,170,4038,0.00,1.62,0.00,0.000,4,0.000,0.049,2527,3562,3411
$GC,4087,-0.51,-126.5,550.6,-8.3,171,4091,0.00,1.48,0.00,0.000,6,0.000,0.023,2527,2534,3411
$GC,4377,-0.51,-126.5,573.9,-8.2,178,4380,0.00,1.50,0.00,0.000,4,0.000,0.022,2527,1462,3409
$GC,4413,-0.51,-126.5,577.1,-7.9,178,4416,0.00,1.62,0.00,0.000,6,0.000,0.041,2524,2531,3409
$GC,4673,-0.51,-126.5,597.5,-7.9,185,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2531,3407
$GC,4917,-0.51,-126.5,616.4,-7.8,191,4920,0.00,1.60,0.00,0.000,4,0.000,0.052,2522,3559,3405
$GC,4953,-0.51,-126.5,619.4,-7.6,191,4956,0.00,1.50,0.00,0.000,6,0.000,0.025,2522,2524,3404
$GC,5213,-0.51,-126.5,638.6,-7.3,198,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2517,3403
$GC,5457,-0.51,-126.5,654.8,-6.5,204,5460,0.00,1.62,0.00,0.000,4,0.000,0.050,2514,3566,3402
$GC,5481,-0.51,-126.5,656.6,-6.7,204,5485,0.00,1.55,0.00,0.000,6,0.000,0.024,2514,2500,3401
$GC,5754,-0.51,-126.5,675.5,-7.1,211,5758,0.00,1.67,0.00,0.000,4,0.000,0.053,2510,3566,3400
$GC,5796,-0.51,-126.5,679.1,-7.7,211,5804,0.00,1.52,0.00,0.000,6,0.000,0.025,2510,2517,3399
$GC,6051,-0.51,-126.5,700.8,-8.9,218,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2517,3398
$GC,6294,-0.51,-126.5,725.2,-10.2,224,6298,0.00,1.52,0.00,0.000,4,0.000,0.025,2516,1447,3397
$GC,6330,-0.51,-126.5,729.4,-10.5,224,6333,0.00,1.65,0.00,0.000,6,0.000,0.044,2511,2527,3397
$GC,6590,-0.51,-126.5,755.9,-10.4,231,6593,0.00,1.60,0.00,0.000,4,0.000,0.054,2503,3566,3395
$GC,6626,-0.51,-126.5,759.9,-10.8,231,6629,0.00,1.55,0.00,0.000,6,0.000,0.025,2505,2505,3396
$GC,6887,-0.51,-126.5,785.1,-9.7,238,6891,0.00,1.50,0.00,0.000,4,0.000,0.025,2506,1446,3394
$GC,6912,-0.51,-126.5,788.0,-9.9,238,6916,0.08,1.67,0.00,0.000,6,0.121,0.044,2527,2519,3394
$GC,7183,-0.51,-126.5,809.1,-7.8,245,7187,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3553,3393
$GC,7213,-0.51,-126.5,811.9,-8.5,245,7217,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2505,3393
$GC,7480,-0.51,-126.5,832.8,-7.9,252,7483,0.00,1.50,0.00,0.000,4,0.000,0.027,2523,1453,3391
$GC,7521,-0.51,-126.5,836.6,-8.8,252,7530,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2502,3391
$GC,7777,-0.51,-126.5,856.7,-8.0,259,7780,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3561,3390
$GC,7802,-0.51,-126.5,859.0,-8.0,259,7806,0.00,1.55,0.00,0.000,6,0.000,0.026,2523,2501,3390
$GC,8073,-0.51,-126.5,880.0,-7.8,266,8077,0.00,1.73,0.00,0.000,4,0.000,0.058,2523,3563,3389
$GC,8109,-0.51,-126.5,883.1,-8.1,266,8112,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2520,3388
$STATE,8323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8323,begin apogee
$GC,8335,-0.17,0.0,900.5,8.1,272,8446,0.35,0.00,104.03,1.262,6,0.093,0.000,2642,2218,2910
$STATE,8447,end apogee,CONTROL_FINISHED_OK
$STATE,8447,begin climb
$GC,8452,0.51,126.5,904.9,0.0,275,8583,0.57,0.00,120.38,1.209,6,0.028,0.000,2888,2218,2393
$GC,8833,0.51,126.5,854.6,18.8,284,8836,0.00,1.75,0.00,0.000,4,0.000,0.048,2888,3291,2384
$GC,8913,0.51,126.5,837.9,18.4,285,8917,0.10,1.52,0.00,0.000,6,0.182,0.025,2868,2283,2383
$GC,9173,0.51,126.5,794.4,16.7,292,9177,0.00,1.62,0.00,0.000,4,0.000,0.028,2875,1161,2381
$GC,9216,0.51,126.5,787.3,15.6,292,9224,0.00,1.77,0.00,0.000,6,0.000,0.041,2875,2282,2380
$GC,9470,0.51,126.5,744.5,17.3,299,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2283,2379
$GC,9714,0.51,126.5,704.1,16.6,305,9718,0.00,1.58,0.00,0.000,4,0.000,0.046,2875,3291,2379
$GC,9754,0.51,126.5,696.5,17.7,305,9763,0.00,1.50,0.00,0.000,6,0.000,0.025,2882,2282,2378
$GC,10009,0.51,126.5,656.2,15.8,312,10013,0.00,1.62,0.00,0.000,4,0.000,0.028,2890,1170,2378
$GC,10033,0.51,126.5,652.1,15.9,312,10036,0.00,1.73,0.00,0.000,6,0.000,0.041,2889,2292,2377
$GC,10306,0.51,126.5,609.8,15.7,319,10310,0.00,1.55,0.00,0.000,4,0.000,0.048,2890,3286,2377
$GC,10341,0.51,126.5,603.1,17.3,319,10345,0.10,1.48,0.00,0.000,6,0.177,0.026,2868,2296,2376
$GC,10601,0.51,126.5,565.1,14.8,326,10604,0.00,1.58,0.00,0.000,4,0.000,0.048,2865,3284,2376
$GC,10642,0.51,126.5,557.9,16.6,326,10650,0.00,1.48,0.00,0.000,6,0.000,0.026,2870,2300,2376
$GC,10896,0.51,126.5,515.4,16.9,333,10900,0.00,1.58,0.00,0.000,4,0.000,0.049,2871,3285,2375
$GC,10937,0.51,126.5,507.8,17.7,333,10947,0.00,1.42,0.00,0.000,6,0.000,0.025,2877,2320,2375
$GC,11193,0.51,126.5,468.1,15.8,340,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2317,2374
$GC,11437,0.51,126.5,433.8,14.2,346,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2317,2374
$GC,11680,0.51,126.5,400.6,13.3,352,11684,0.00,1.52,0.00,0.000,4,0.000,0.048,2878,3281,2374
$GC,11704,0.51,126.5,396.2,15.5,352,11708,0.00,1.40,0.00,0.000,6,0.000,0.027,2884,2337,2374
$GC,11976,0.51,126.5,358.1,13.9,359,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2331,2374
$GC,12219,0.51,126.5,324.2,14.2,365,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2331,2374
$GC,12464,0.51,126.5,295.7,11.1,371,12467,0.00,1.50,0.00,0.000,4,0.000,0.048,2884,3282,2373
$GC,12645,0.51,126.5,274.0,11.1,374,12653,0.00,1.33,0.00,0.000,6,0.000,0.025,2890,2375,2373
$GC,12900,0.51,132.3,248.5,9.7,381,12903,0.00,1.73,0.00,0.000,4,0.000,0.026,2898,1158,2373
$GC,13161,0.55,219.7,229.3,5.3,386,13243,0.00,1.77,75.50,0.782,6,0.000,0.038,2892,2332,2013
$GC,13510,0.55,219.7,182.4,17.3,400,13514,0.00,1.73,0.00,0.000,4,0.000,0.025,2898,1158,2006
$GC,13689,0.55,219.7,153.6,14.1,415,13697,0.00,1.77,0.00,0.000,6,0.000,0.037,2898,2295,2004
$GC,13955,0.55,219.7,117.7,11.7,440,13959,0.00,1.52,0.00,0.000,4,0.000,0.042,2898,3284,2004
$GC,13985,0.55,219.7,113.7,11.7,442,13994,0.08,1.45,0.00,0.000,6,0.144,0.021,2881,2294,2003
$GC,14259,0.55,219.7,81.4,12.4,467,14266,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2288,2003
$GC,14526,0.58,289.5,57.1,6.3,492,14585,0.00,0.00,55.85,0.609,6,0.000,0.000,2881,2287,1728
$GC,14847,0.58,300.3,31.4,9.4,522,14862,0.00,1.60,9.75,0.536,4,0.000,0.023,2883,1161,1684
$GC,14893,0.59,327.5,26.9,8.6,527,14921,0.00,1.77,22.95,0.558,6,0.000,0.035,2883,2310,1573
$STATE,15148,end climb,SURFACE_DEPTH_REACHED
$STATE,15148,begin surface coast
$FINISH,0.4,1.023069
$STATE,15186,end surface coast,CONTROL_FINISHED_OK
$STATE,15187,begin surface
$SM_CCo,15212,26.20,0.535,0,0,1319,390.02
$SM_GC,1.36,0.00,0.00,26.20,0.000,0.000,0.535,34,2531,1319,-8.32,0.88,390.02
$IRIDIUM_FIX,2246.36,-15751.06,180103,121202
$TT8_MAMPS,0.02301
$HUMID,2220
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,4
$24V_AH,23.8,33.101
$10V_AH,10.6,38.080
$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,18.125,104.900,388.450,26.200,0.000,30.459,37.139,218.059,1.000,0.000,0.000,16.243,1201.621,10272.396,435.714,2898.242,898.797,33.375,1374.161,0.000,2889.635,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,58.292,1262.482,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,389.186,1880.688,1940.919,1327.348,1291.773,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47751,572
$CAP_FILE_SIZE,116975,0
$CFSIZE,260165632,245358592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241013,213323,2251.796,-15753.298,26,1.8,43,10.1