version: 66.04
glider: 512
mission: 4
dive: 206
start: 10 25 113 11 22 14
data:
$ID,512
$MISSION,4
$DIVE,206
$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,-110535.87
$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,71
$R_STBD_OVSHOOT,72
$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
$GPS1,110823,2248.569,-15751.403,26,0.9,43,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-82.1
$GPS2,112119,2248.588,-15751.549,15,1.2,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.149
$KALMAN_X,101018.8,-134.4,95.1,-86454.9,-1951.0
$KALMAN_Y,95560.0,-441.5,355.5,-87124.9,1485.5
$MHEAD_RNG_PITCHd_Wd,117.6,29910,-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,-126.5,0.0,0.0,0,95,0.00,0.00,-75.10,0.000,2,0.000,0.000,11,2547,2672
$GC,101,-0.51,-126.5,2.0,-1.9,9,138,9.35,1.58,-20.70,0.000,4,0.194,0.037,2530,1446,3444
$GC,169,-0.51,-126.5,15.6,-28.3,17,178,0.00,1.55,0.00,0.000,6,0.000,0.033,2524,2466,3444
$GC,444,-0.51,-126.5,93.8,-20.5,45,448,0.00,1.67,0.00,0.000,4,0.000,0.042,2516,3564,3445
$GC,530,-0.51,-126.5,110.9,-17.4,52,539,0.00,1.50,0.00,0.000,6,0.000,0.018,2518,2512,3445
$GC,795,-0.51,-126.5,161.8,-20.6,77,799,0.00,1.62,0.00,0.000,4,0.000,0.041,2511,3563,3445
$GC,823,-0.51,-126.5,167.4,-21.7,79,827,0.00,1.45,0.00,0.000,6,0.000,0.018,2516,2532,3445
$GC,1120,-0.51,-126.5,222.5,-18.2,98,1123,0.00,1.48,0.00,0.000,4,0.000,0.019,2518,1456,3445
$GC,1170,-0.51,-126.5,230.3,-14.6,99,1173,0.00,1.62,0.00,0.000,6,0.000,0.035,2512,2550,3445
$GC,1465,-0.51,-126.5,270.5,-12.8,106,1468,0.00,1.52,0.00,0.000,4,0.000,0.044,2504,3558,3445
$GC,1545,-0.51,-126.5,280.6,-12.0,107,1548,0.00,1.40,0.00,0.000,6,0.000,0.019,2508,2558,3444
$GC,1805,-0.51,-126.5,312.5,-12.8,114,1809,0.00,1.50,0.00,0.000,4,0.000,0.020,2508,1464,3443
$GC,1840,-0.51,-126.5,318.0,-14.1,114,1843,0.00,1.65,0.00,0.000,6,0.000,0.035,2502,2576,3443
$GC,2102,-0.51,-126.5,354.4,-14.5,121,2106,0.00,1.58,0.00,0.000,4,0.000,0.019,2507,1463,3441
$GC,2187,-0.51,-126.5,366.2,-12.4,122,2194,0.00,1.60,0.00,0.000,6,0.000,0.036,2502,2521,3441
$GC,2442,-0.51,-126.5,398.9,-12.9,129,2446,0.00,1.58,0.00,0.000,4,0.000,0.046,2494,3559,3439
$GC,2495,-0.51,-126.5,406.0,-12.5,130,2499,0.08,1.40,0.00,0.000,6,0.120,0.021,2529,2561,3438
$GC,2784,-0.51,-126.5,433.9,-9.8,137,2785,0.00,0.00,-0.08,0.000,6,0.000,0.000,2529,2553,3460
$GC,3027,-0.51,-126.5,458.1,-9.8,143,3030,0.00,1.52,0.00,0.000,4,0.000,0.021,2531,1464,3458
$GC,3077,-0.51,-126.5,462.6,-8.1,144,3081,0.00,1.70,0.00,0.000,6,0.000,0.039,2525,2572,3457
$GC,3373,-0.51,-126.5,489.2,-9.0,151,3377,0.00,1.58,0.00,0.000,4,0.000,0.021,2525,1470,3454
$GC,3409,-0.51,-126.5,493.0,-9.0,151,3413,0.00,1.65,0.00,0.000,6,0.000,0.041,2524,2563,3455
$GC,3669,-0.51,-126.5,516.4,-9.2,158,3673,0.00,1.58,0.00,0.000,4,0.000,0.021,2523,1456,3452
$GC,3711,-0.51,-126.5,520.3,-8.2,158,3720,0.00,1.67,0.00,0.000,6,0.000,0.041,2523,2541,3452
$GC,3966,-0.51,-126.5,543.3,-9.3,165,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2542,3449
$GC,4209,-0.51,-126.5,566.4,-9.5,171,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3447
$GC,4454,-0.51,-126.5,588.4,-8.9,177,4457,0.00,1.55,0.00,0.000,4,0.000,0.023,2523,1458,3445
$GC,4484,-0.51,-126.5,591.4,-8.7,177,4488,0.00,1.67,0.00,0.000,6,0.000,0.043,2523,2540,3445
$GC,4751,-0.51,-126.5,614.1,-8.7,184,4755,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3583,3443
$GC,4801,-0.51,-126.5,618.4,-8.4,185,4805,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2560,3442
$GC,5096,-0.51,-126.5,640.5,-7.3,192,5099,0.00,1.55,0.00,0.000,4,0.000,0.024,2523,1455,3440
$GC,5154,-0.51,-126.5,645.1,-7.2,193,5158,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2552,3440
$GC,5438,-0.51,-126.5,665.9,-7.5,200,5441,0.00,1.58,0.00,0.000,4,0.000,0.055,2523,3554,3438
$GC,5462,-0.51,-126.5,668.1,-7.8,200,5466,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2547,3438
$GC,5733,-0.51,-126.5,687.7,-7.3,207,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2539,3437
$GC,5977,-0.51,-126.5,706.0,-7.6,213,5980,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3566,3435
$GC,6013,-0.51,-126.5,709.2,-7.8,213,6017,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2545,3435
$GC,6275,-0.51,-126.5,729.6,-8.0,220,6278,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1452,3433
$GC,6325,-0.51,-126.5,733.8,-8.3,221,6328,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2540,3433
$GC,6619,-0.51,-126.5,756.7,-7.9,228,6623,0.00,1.60,0.00,0.000,4,0.000,0.054,2518,3577,3431
$GC,6660,-0.51,-126.5,760.3,-8.0,228,6670,0.00,1.50,0.00,0.000,6,0.000,0.026,2518,2537,3431
$GC,6917,-0.51,-126.5,779.6,-7.7,235,6921,0.00,1.52,0.00,0.000,4,0.000,0.026,2520,1472,3430
$GC,6992,-0.51,-126.5,785.7,-7.5,236,6995,0.00,1.65,0.00,0.000,6,0.000,0.045,2515,2551,3430
$GC,7258,-0.51,-126.5,805.8,-7.8,243,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2551,3429
$GC,7502,-0.51,-126.5,825.0,-8.0,249,7505,0.00,1.60,0.00,0.000,4,0.000,0.057,2510,3579,3428
$GC,7553,-0.51,-126.5,829.4,-8.8,250,7557,0.00,1.52,0.00,0.000,6,0.000,0.027,2510,2542,3428
$GC,7848,-0.51,-126.5,853.8,-8.1,257,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2533,3426
$GC,8091,-0.51,-126.5,874.3,-8.4,263,8095,0.00,1.55,0.00,0.000,4,0.000,0.026,2516,1455,3425
$GC,8127,-0.51,-126.5,877.8,-8.8,263,8131,0.00,1.67,0.00,0.000,6,0.000,0.046,2511,2546,3425
$GC,8388,-0.51,-126.5,899.7,-8.6,270,8391,0.00,1.60,0.00,0.000,4,0.000,0.058,2510,3572,3424
$STATE,8396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8396,begin apogee
$GC,8409,-0.17,0.0,901.2,8.6,270,8523,0.38,0.00,107.95,1.260,6,0.103,0.000,2640,2234,2929
$STATE,8524,end apogee,CONTROL_FINISHED_OK
$STATE,8524,begin climb
$GC,8529,0.51,126.5,905.3,0.0,273,8659,0.57,1.75,117.80,1.226,4,0.030,0.025,2895,1156,2411
$GC,8712,0.51,126.5,891.5,17.3,277,8716,0.00,1.75,0.00,0.000,6,0.000,0.038,2891,2224,2407
$GC,9005,0.51,126.5,836.6,19.0,284,9009,0.00,1.70,0.00,0.000,4,0.000,0.048,2891,3289,2402
$GC,9091,0.51,126.5,818.4,20.0,285,9100,0.10,1.65,0.00,0.000,6,0.193,0.025,2870,2199,2400
$GC,9347,0.51,126.5,773.8,17.7,292,9351,0.00,1.52,0.00,0.000,4,0.000,0.028,2877,1160,2399
$GC,9388,0.51,126.5,766.2,16.5,292,9394,0.00,1.62,0.00,0.000,6,0.000,0.041,2877,2192,2399
$GC,9642,0.51,126.5,721.1,17.9,299,9646,0.00,1.70,0.00,0.000,4,0.000,0.047,2876,3278,2398
$GC,9692,0.51,126.5,712.0,18.8,300,9695,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2209,2398
$GC,9986,0.51,126.5,661.1,16.9,307,9990,0.00,1.70,0.00,0.000,4,0.000,0.047,2878,3295,2398
$GC,10037,0.51,126.5,652.7,16.9,308,10040,0.00,1.58,0.00,0.000,6,0.000,0.025,2883,2241,2397
$GC,10330,0.51,126.5,606.5,15.3,315,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2234,2397
$GC,10574,0.51,126.5,573.1,13.3,321,10578,0.00,1.62,0.00,0.000,4,0.000,0.047,2884,3283,2397
$GC,10633,0.51,126.5,564.3,15.1,322,10637,0.00,1.55,0.00,0.000,6,0.000,0.025,2891,2234,2396
$GC,10916,0.51,126.5,526.4,13.0,329,10919,0.00,1.55,0.00,0.000,4,0.000,0.028,2899,1166,2396
$GC,11024,0.51,126.5,511.6,12.9,331,11028,0.15,1.62,0.00,0.000,6,0.165,0.040,2862,2230,2395
$GC,11301,0.51,126.5,478.1,12.3,338,11304,0.00,1.58,0.00,0.000,4,0.000,0.027,2867,1174,2394
$GC,11351,0.51,126.5,472.3,11.4,339,11354,0.00,1.62,0.00,0.000,6,0.000,0.039,2863,2218,2395
$GC,11646,0.51,126.5,437.4,12.1,346,11649,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3282,2394
$GC,11710,0.51,126.5,428.4,13.1,347,11714,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2248,2394
$GC,11987,0.51,126.5,392.6,13.3,354,11991,0.00,1.65,0.00,0.000,4,0.000,0.046,2864,3286,2394
$GC,12220,0.51,126.5,360.4,13.2,359,12224,0.00,1.50,0.00,0.000,6,0.000,0.025,2869,2268,2393
$GC,12514,0.51,126.5,325.9,10.9,366,12518,0.00,1.60,0.00,0.000,4,0.000,0.028,2876,1161,2393
$GC,12707,0.52,150.4,307.2,8.7,370,12731,0.00,1.67,18.40,0.844,6,0.000,0.041,2877,2255,2316
$GC,12998,0.52,150.4,272.2,12.4,377,13002,0.00,1.58,0.00,0.000,4,0.000,0.047,2876,3301,2313
$GC,13072,0.52,150.4,262.9,11.7,378,13076,0.00,1.52,0.00,0.000,6,0.000,0.024,2882,2270,2312
$GC,13339,0.52,152.7,236.4,9.9,385,13343,0.00,1.60,0.00,0.000,4,0.000,0.026,2889,1143,2312
$GC,13529,0.54,186.6,219.7,8.2,389,13564,0.00,1.70,31.40,0.774,6,0.000,0.038,2890,2257,2169
$GC,13817,0.54,186.6,185.2,12.9,401,13821,0.00,1.58,0.00,0.000,4,0.000,0.044,2890,3272,2163
$GC,13871,0.54,186.6,177.4,15.0,405,13880,0.00,1.58,0.00,0.000,6,0.000,0.022,2897,2213,2162
$GC,14136,0.54,186.6,140.3,12.5,430,14140,0.00,1.52,0.00,0.000,4,0.000,0.026,2900,1161,2163
$GC,14167,0.54,186.6,136.2,11.3,432,14176,0.00,1.60,0.00,0.000,6,0.000,0.035,2900,2194,2162
$GC,14434,0.54,186.6,108.0,10.4,457,14438,0.00,1.65,0.00,0.000,4,0.000,0.043,2900,3275,2162
$GC,14507,0.54,186.6,100.7,10.8,463,14511,0.15,1.58,0.00,0.000,6,0.153,0.021,2868,2195,2162
$GC,14783,0.55,216.5,79.2,8.4,488,14813,0.00,1.52,25.38,0.624,4,0.000,0.024,2870,1152,2046
$GC,14833,0.57,261.4,74.7,7.6,492,14875,0.00,1.65,37.40,0.614,6,0.000,0.034,2870,2220,1863
$GC,15136,0.60,355.5,53.2,5.0,519,15220,0.00,1.67,74.15,0.594,4,0.000,0.040,2870,3281,1482
$GC,15297,0.61,374.3,42.5,9.0,531,15325,0.00,1.60,16.70,0.558,6,0.000,0.021,2870,2187,1403
$GC,15605,0.64,456.3,20.3,5.6,568,15676,0.10,1.55,65.28,0.554,4,0.070,0.019,2942,1146,1068
$GC,15707,0.64,456.3,7.0,18.2,580,15716,0.10,1.67,0.00,0.000,6,0.116,0.028,2907,2234,1066
$STATE,15723,end climb,SURFACE_DEPTH_REACHED
$STATE,15724,begin surface coast
$FINISH,0.6,1.023045
$STATE,15744,end surface coast,CONTROL_FINISHED_OK
$STATE,15745,begin surface
$SM_CCo,15830,0.00,0.000,0,0,1062,457.97
$SM_GC,1.41,7.38,0.00,0.00,0.024,0.000,0.000,50,2517,1062,-8.21,0.45,457.97
$IRIDIUM_FIX,2241.69,-15749.78,190103,111114
$TT8_MAMPS,0.02301
$HUMID,2188
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.20
$XPDR_PINGS,6
$24V_AH,23.7,33.728
$10V_AH,10.6,38.892
$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,18.350,131.175,494.450,0.000,0.000,53.242,73.541,381.391,1.500,0.000,0.000,15.414,1282.317,10482.573,472.322,3195.416,1163.903,33.380,1596.973,0.000,3185.869,0.000,0.544,0.000
$DEVICE_MAMPS,194.051,58.292,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,396.929,1921.557,1986.162,1314.111,1307.809,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51072,585
$CAP_FILE_SIZE,136712,0
$CFSIZE,260165632,245080064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251013,154729,2247.577,-15750.342,41,1.4,41,10.1