version: 66.04
glider: 512
mission: 4
dive: 205
start: 10 25 113 6 36 40
data:
$ID,512
$MISSION,4
$DIVE,205
$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,-110519.82
$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,59
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2930
$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
$GPS1,062136,2249.427,-15751.845,38,1.0,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-82.1
$GPS2,063542,2249.451,-15751.950,13,1.9,18,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.135,-0.202
$KALMAN_X,103242.4,-136.6,-361.4,-88910.0,-1083.5
$KALMAN_Y,94033.8,-203.3,-381.2,-83498.5,2515.2
$MHEAD_RNG_PITCHd_Wd,136.1,31448,-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,-126.5,0.0,0.0,0,79,0.00,0.00,-59.42,0.000,2,0.000,0.000,14,2554,2724
$GC,85,-0.51,-126.5,2.1,-1.6,7,121,9.48,1.60,-17.80,0.000,4,0.199,0.038,2535,1441,3448
$GC,206,-0.51,-126.5,29.7,-23.3,24,216,0.00,1.58,0.00,0.000,6,0.000,0.038,2529,2466,3448
$GC,474,-0.51,-126.5,99.1,-20.5,49,478,0.00,1.67,0.00,0.000,4,0.000,0.044,2521,3558,3449
$GC,593,-0.51,-126.5,121.9,-15.6,59,597,0.00,1.52,0.00,0.000,6,0.000,0.018,2520,2491,3449
$GC,864,-0.51,-126.5,171.0,-19.0,84,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2483,3450
$GC,1145,-0.51,-126.5,223.3,-18.6,102,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2483,3450
$GC,1389,-0.51,-126.5,264.7,-16.1,108,1392,0.00,1.42,0.00,0.000,4,0.000,0.019,2521,1443,3451
$GC,1447,-0.51,-126.5,273.3,-12.9,109,1451,0.00,1.60,0.00,0.000,6,0.000,0.037,2514,2520,3450
$GC,1730,-0.51,-126.5,308.3,-12.2,116,1734,0.00,1.58,0.00,0.000,4,0.000,0.044,2506,3560,3450
$GC,1815,-0.51,-126.5,318.1,-10.0,117,1825,0.00,1.48,0.00,0.000,6,0.000,0.019,2507,2503,3450
$GC,2071,-0.51,-126.5,347.2,-12.0,124,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2502,3449
$GC,2315,-0.51,-126.5,374.2,-11.0,130,2318,0.00,1.60,0.00,0.000,4,0.000,0.044,2501,3563,3448
$GC,2344,-0.51,-126.5,378.3,-12.6,130,2348,0.00,1.45,0.00,0.000,6,0.000,0.020,2506,2534,3448
$GC,2610,-0.51,-126.5,410.2,-12.4,137,2614,0.00,1.48,0.00,0.000,4,0.000,0.021,2514,1469,3446
$GC,2662,-0.51,-126.5,417.2,-11.9,138,2666,0.00,1.60,0.00,0.000,6,0.000,0.038,2510,2521,3445
$GC,2951,-0.51,-126.5,452.9,-12.5,145,2955,0.00,1.50,0.00,0.000,4,0.000,0.021,2516,1462,3442
$GC,2970,-0.51,-126.5,455.9,-12.4,145,2974,0.00,1.60,0.00,0.000,6,0.000,0.038,2510,2517,3443
$GC,3246,-0.51,-126.5,486.3,-10.9,152,3250,0.00,1.60,0.00,0.000,4,0.000,0.048,2503,3559,3440
$GC,3344,-0.51,-126.5,496.8,-10.1,154,3348,0.00,1.45,0.00,0.000,6,0.000,0.022,2508,2548,3439
$GC,3632,-0.51,-126.5,523.9,-9.4,161,3636,0.00,1.52,0.00,0.000,4,0.000,0.023,2508,1453,3438
$GC,3674,-0.51,-126.5,528.1,-8.9,161,3682,0.00,1.65,0.00,0.000,6,0.000,0.039,2502,2530,3437
$GC,3928,-0.51,-126.5,552.2,-9.7,168,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2530,3434
$GC,4172,-0.51,-126.5,576.7,-10.1,174,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2530,3432
$GC,4416,-0.51,-126.5,601.1,-10.0,180,4419,0.00,1.60,0.00,0.000,4,0.000,0.049,2494,3585,3430
$GC,4467,-0.51,-126.5,606.5,-10.9,181,4471,0.08,1.52,0.00,0.000,6,0.115,0.023,2543,2520,3430
$GC,4760,-0.51,-126.5,629.7,-7.9,188,4764,0.00,1.50,0.00,0.000,4,0.000,0.024,2543,1450,3427
$GC,4797,-0.51,-126.5,633.1,-8.6,188,4800,0.00,1.65,0.00,0.000,6,0.000,0.043,2537,2537,3427
$GC,5057,-0.51,-126.5,656.4,-9.2,195,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2537,3425
$GC,5301,-0.51,-126.5,677.0,-8.2,201,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2537,3422
$GC,5545,-0.51,-126.5,694.5,-7.0,207,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2537,3421
$GC,5789,-0.51,-126.5,709.5,-6.0,213,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2537,3421
$GC,6032,-0.51,-126.5,723.4,-5.6,219,6036,0.00,1.60,0.00,0.000,4,0.000,0.054,2535,3575,3418
$GC,6064,-0.51,-126.5,725.3,-6.1,219,6067,0.00,1.52,0.00,0.000,6,0.000,0.026,2535,2525,3418
$GC,6331,-0.51,-126.5,740.6,-5.9,226,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2516,3416
$GC,6574,-0.51,-126.5,754.8,-5.7,232,6578,0.00,1.52,0.00,0.000,4,0.000,0.026,2536,1457,3415
$GC,6599,-0.51,-126.5,756.4,-5.9,232,6603,0.00,1.65,0.00,0.000,6,0.000,0.047,2528,2534,3415
$GC,6871,-0.51,-126.5,772.6,-6.0,239,6874,0.00,1.60,0.00,0.000,4,0.000,0.054,2524,3569,3414
$GC,6935,-0.51,-126.5,776.8,-6.2,240,6938,0.00,1.48,0.00,0.000,6,0.000,0.025,2524,2546,3414
$GC,7213,-0.51,-126.5,794.4,-6.5,247,7217,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1466,3412
$GC,7265,-0.51,-126.5,798.1,-6.3,248,7269,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2534,3412
$GC,7554,-0.51,-126.5,817.4,-6.9,255,7557,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3562,3411
$GC,7578,-0.51,-126.5,819.5,-7.3,255,7582,0.00,1.50,0.00,0.000,6,0.000,0.026,2524,2532,3411
$GC,7851,-0.51,-126.5,839.2,-7.5,262,7855,0.00,1.65,0.00,0.000,4,0.000,0.055,2524,3555,3411
$GC,7876,-0.51,-126.5,841.6,-8.3,262,7879,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2543,3411
$GC,8148,-0.51,-126.5,862.1,-7.7,269,8151,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1467,3409
$GC,8217,-0.51,-126.5,867.8,-8.7,270,8221,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2534,3409
$GC,8490,-0.51,-126.5,888.6,-7.7,277,8493,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3565,3408
$GC,8531,-0.51,-126.5,892.1,-7.7,277,8539,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2516,3408
$STATE,8659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8659,begin apogee
$GC,8671,-0.17,0.0,901.5,7.2,281,8782,0.35,0.00,104.15,1.261,6,0.094,0.000,2642,2222,2929
$STATE,8783,end apogee,CONTROL_FINISHED_OK
$STATE,8783,begin climb
$GC,8788,0.51,126.5,905.1,0.0,284,8919,0.57,0.00,119.47,1.212,6,0.028,0.000,2887,2221,2413
$GC,9171,0.51,126.5,853.6,19.2,293,9175,0.00,1.70,0.00,0.000,4,0.000,0.047,2887,3288,2403
$GC,9201,0.51,126.5,845.9,20.6,293,9205,0.10,1.58,0.00,0.000,6,0.198,0.025,2869,2253,2402
$GC,9466,0.51,126.5,800.0,17.2,300,9469,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3294,2401
$GC,9501,0.51,126.5,793.3,18.2,300,9505,0.00,1.58,0.00,0.000,6,0.000,0.025,2869,2245,2400
$GC,9762,0.51,126.5,751.7,16.0,307,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2239,2399
$GC,10006,0.51,126.5,714.1,15.3,313,10010,0.00,1.65,0.00,0.000,4,0.000,0.046,2864,3300,2398
$GC,10063,0.51,126.5,704.5,16.0,314,10067,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2255,2397
$GC,10346,0.51,126.5,662.0,15.4,321,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2250,2397
$GC,10590,0.51,126.5,624.3,15.4,327,10593,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1163,2397
$GC,10641,0.51,126.5,616.6,15.3,328,10644,0.00,1.75,0.00,0.000,6,0.000,0.041,2876,2299,2396
$GC,10935,0.51,126.5,571.6,15.3,335,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2298,2396
$GC,11178,0.51,126.5,532.7,15.8,341,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2299,2396
$GC,11422,0.51,126.5,499.9,13.1,347,11425,0.00,1.67,0.00,0.000,4,0.000,0.028,2882,1147,2395
$GC,11531,0.51,127.1,487.9,10.0,349,11534,0.00,1.75,0.00,0.000,6,0.000,0.040,2876,2292,2395
$GC,11808,0.51,127.1,456.0,12.4,356,11812,0.00,1.55,0.00,0.000,4,0.000,0.049,2875,3285,2395
$GC,11865,0.51,127.1,447.6,13.8,357,11869,0.00,1.52,0.00,0.000,6,0.000,0.025,2881,2250,2395
$GC,12149,0.51,127.1,407.6,14.4,364,12152,0.00,1.62,0.00,0.000,4,0.000,0.046,2876,3294,2395
$GC,12192,0.51,127.1,401.1,15.0,364,12200,0.00,1.55,0.00,0.000,6,0.000,0.024,2882,2237,2395
$GC,12446,0.51,127.1,367.3,12.8,371,12450,0.00,1.55,0.00,0.000,4,0.000,0.027,2890,1161,2394
$GC,12542,0.51,127.1,356.3,10.5,373,12546,0.00,1.65,0.00,0.000,6,0.000,0.040,2889,2219,2394
$GC,12836,0.51,127.1,320.2,12.8,380,12840,0.00,1.65,0.00,0.000,4,0.000,0.048,2889,3279,2394
$GC,12886,0.51,127.1,313.1,14.4,381,12891,0.15,1.60,0.00,0.000,6,0.192,0.025,2861,2195,2394
$GC,13181,0.51,127.1,278.6,11.5,388,13185,0.00,1.50,0.00,0.000,4,0.000,0.026,2867,1151,2394
$GC,13285,0.53,170.5,269.5,7.7,390,13325,0.00,1.60,35.38,0.822,6,0.000,0.038,2867,2211,2234
$GC,13608,0.53,170.5,237.2,10.4,398,13612,0.00,1.65,0.00,0.000,4,0.000,0.044,2863,3274,2228
$GC,13818,0.53,170.5,213.6,10.7,402,13821,0.00,1.55,0.00,0.000,6,0.000,0.022,2869,2221,2227
$GC,14079,0.53,170.5,186.1,11.4,417,14082,0.00,1.52,0.00,0.000,4,0.000,0.025,2877,1162,2226
$GC,14140,0.53,170.5,179.0,11.3,422,14144,0.00,1.62,0.00,0.000,6,0.000,0.037,2876,2209,2226
$GC,14416,0.53,182.9,150.2,9.3,447,14432,0.00,1.67,10.88,0.665,4,0.000,0.042,2876,3285,2183
$GC,14474,0.53,182.9,143.5,10.4,451,14482,0.00,1.55,0.00,0.000,6,0.000,0.021,2882,2221,2183
$GC,14740,0.53,182.9,114.8,11.6,476,14744,0.00,1.67,0.00,0.000,4,0.000,0.042,2876,3290,2182
$GC,14780,0.53,182.9,109.8,13.0,479,14783,0.00,1.50,0.00,0.000,6,0.000,0.020,2882,2250,2182
$GC,15057,0.54,193.8,78.5,9.4,504,15076,0.00,0.00,11.10,0.594,6,0.000,0.000,2882,2245,2139
$GC,15334,0.58,307.8,60.3,3.9,530,15432,0.00,1.65,91.65,0.606,4,0.000,0.040,2882,3293,1676
$GC,15473,0.60,341.6,51.6,8.2,540,15506,0.00,1.48,27.92,0.578,6,0.000,0.020,2886,2300,1536
$GC,15785,0.63,414.2,22.0,6.1,573,15847,0.00,1.70,57.83,0.558,4,0.000,0.023,2885,1176,1240
$GC,15934,0.67,509.1,10.7,5.0,593,16013,0.00,1.70,74.40,0.545,6,0.000,0.031,2885,2278,853
$STATE,16069,end climb,SURFACE_DEPTH_REACHED
$STATE,16069,begin surface coast
$FINISH,0.3,1.006952
$STATE,16131,end surface coast,CONTROL_FINISHED_OK
$STATE,16131,begin surface
$SM_CCo,16217,0.00,0.000,0,0,848,510.71
$SM_GC,1.28,7.32,0.00,0.00,0.024,0.000,0.000,43,2555,848,-8.21,1.55,510.71
$IRIDIUM_FIX,2239.35,-15757.16,190103,060625
$TT8_MAMPS,0.023777
$HUMID,2180
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.40
$XPDR_PINGS,2
$24V_AH,23.8,33.573
$10V_AH,10.6,38.688
$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,18.050,111.575,532.775,0.000,0.000,53.739,86.676,456.827,0.500,0.000,0.000,18.979,1288.697,10869.446,468.373,3205.943,1226.479,33.402,1548.763,0.000,3194.792,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,57.525,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,420.621,2040.651,2106.897,1339.282,1418.070,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50939,620
$CAP_FILE_SIZE,130797,0
$CFSIZE,260165632,245157888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,251013,110823,2248.569,-15751.403,26,0.9,43,10.1