version: 66.04
glider: 512
mission: 4
dive: 207
start: 10 25 113 16 0 14
data:
$ID,512
$MISSION,4
$DIVE,207
$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,-110549.91
$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,61
$R_STBD_OVSHOOT,43
$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
$GPS1,154729,2247.577,-15750.342,41,1.4,41,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-83.2
$GPS2,155919,2247.586,-15750.452,8,1.7,8,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,-0.177
$KALMAN_X,99214.5,59.9,116.9,-83000.1,-2343.8
$KALMAN_Y,96906.2,-243.7,-381.9,-89786.6,2690.2
$MHEAD_RNG_PITCHd_Wd,126.7,27290,-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,-126.5,0.0,0.0,0,98,0.00,0.00,-76.88,0.000,2,0.000,0.000,13,2515,2898
$GC,103,-0.51,-126.5,2.2,-1.7,9,132,9.45,0.00,-12.12,0.000,6,0.199,0.000,2527,2515,3447
$GC,407,-0.51,-126.5,87.7,-23.5,41,410,0.00,1.58,0.00,0.000,4,0.000,0.040,2521,3546,3448
$GC,537,-0.51,-126.5,112.8,-15.6,52,540,0.00,1.52,0.00,0.000,6,0.000,0.018,2521,2479,3448
$GC,808,-0.51,-126.5,159.4,-17.9,77,812,0.00,1.65,0.00,0.000,4,0.000,0.041,2513,3546,3448
$GC,838,-0.51,-126.5,165.6,-19.1,79,846,0.00,1.48,0.00,0.000,6,0.000,0.018,2516,2508,3449
$GC,1122,-0.51,-126.5,214.6,-17.7,100,1126,0.00,1.45,0.00,0.000,4,0.000,0.019,2521,1454,3449
$GC,1191,-0.51,-126.5,226.0,-15.0,101,1195,0.00,1.55,0.00,0.000,6,0.000,0.036,2516,2480,3448
$GC,1463,-0.51,-126.5,265.5,-14.3,108,1467,0.00,1.65,0.00,0.000,4,0.000,0.044,2507,3565,3448
$GC,1523,-0.51,-126.5,274.3,-13.2,109,1527,0.00,1.52,0.00,0.000,6,0.000,0.018,2507,2491,3448
$GC,1806,-0.51,-126.5,312.4,-13.3,116,1809,0.00,1.42,0.00,0.000,4,0.000,0.019,2515,1450,3448
$GC,1841,-0.51,-126.5,317.2,-12.1,116,1845,0.00,1.60,0.00,0.000,6,0.000,0.036,2510,2524,3448
$GC,2102,-0.51,-126.5,350.5,-13.0,123,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2525,3447
$GC,2345,-0.51,-126.5,382.4,-13.3,129,2349,0.00,1.58,0.00,0.000,4,0.000,0.045,2502,3561,3445
$GC,2396,-0.51,-126.5,389.2,-13.4,130,2400,0.00,1.52,0.00,0.000,6,0.000,0.021,2508,2491,3444
$GC,2691,-0.51,-126.5,428.0,-13.2,137,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2484,3442
$GC,2934,-0.51,-126.5,456.3,-11.2,143,2937,0.00,1.65,0.00,0.000,4,0.000,0.045,2501,3567,3439
$GC,2965,-0.51,-126.5,459.8,-10.4,143,2969,0.00,1.52,0.00,0.000,6,0.000,0.021,2508,2500,3439
$GC,3231,-0.51,-126.5,484.3,-9.2,150,3235,0.00,1.45,0.00,0.000,4,0.000,0.022,2508,1460,3437
$GC,3267,-0.51,-126.5,487.9,-9.3,150,3271,0.00,1.60,-0.08,0.000,6,0.000,0.039,2502,2525,3462
$GC,3529,-0.51,-126.5,514.7,-11.0,157,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2525,3459
$GC,3773,-0.51,-126.5,544.5,-12.5,163,3777,0.00,1.52,0.00,0.000,4,0.000,0.023,2508,1461,3458
$GC,3802,-0.51,-126.5,548.9,-13.2,163,3806,0.00,1.58,0.00,0.000,6,0.000,0.040,2502,2489,3458
$GC,4069,-0.51,-126.5,582.5,-12.9,170,4072,0.00,1.62,0.00,0.000,4,0.000,0.050,2494,3559,3455
$GC,4137,-0.51,-126.5,591.9,-12.7,171,4141,0.05,1.52,0.00,0.000,6,0.130,0.024,2534,2496,3454
$GC,4410,-0.51,-126.5,616.7,-8.7,178,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2496,3452
$GC,4654,-0.51,-126.5,633.9,-6.7,184,4658,0.00,1.65,0.00,0.000,4,0.000,0.052,2528,3559,3450
$GC,4679,-0.51,-126.5,635.8,-6.5,184,4683,0.00,1.52,0.00,0.000,6,0.000,0.024,2528,2508,3450
$GC,4950,-0.51,-126.5,653.1,-6.6,191,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2501,3447
$GC,5194,-0.51,-126.5,668.9,-6.6,197,5198,0.00,1.67,0.00,0.000,4,0.000,0.053,2523,3553,3445
$GC,5224,-0.51,-126.5,671.2,-7.6,197,5228,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2527,3445
$GC,5491,-0.51,-126.5,691.7,-7.9,204,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2519,3444
$GC,5734,-0.51,-126.5,712.5,-8.6,210,5738,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3569,3442
$GC,5804,-0.51,-126.5,719.2,-8.8,211,5808,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2526,3441
$GC,6077,-0.51,-126.5,740.8,-7.9,218,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2518,3440
$GC,6320,-0.51,-126.5,758.0,-6.9,224,6323,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1450,3439
$GC,6344,-0.51,-126.5,760.0,-6.9,224,6348,0.00,1.70,0.00,0.000,6,0.000,0.046,2523,2532,3439
$GC,6616,-0.51,-126.5,777.7,-6.6,231,6620,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3562,3438
$GC,6658,-0.51,-126.5,780.7,-6.7,231,6667,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2533,3438
$GC,6914,-0.51,-126.5,798.4,-7.2,238,6918,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1461,3438
$GC,6966,-0.51,-126.5,803.0,-7.6,239,6969,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2547,3437
$GC,7255,-0.51,-126.5,827.1,-8.8,246,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2548,3436
$GC,7498,-0.51,-126.5,850.2,-9.6,252,7502,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3434
$GC,7534,-0.51,-126.5,854.2,-9.5,252,7538,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2552,3434
$GC,7797,-0.51,-126.5,877.9,-9.1,259,7800,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1467,3432
$GC,7854,-0.51,-126.5,883.5,-8.9,260,7858,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2533,3432
$STATE,8091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8092,begin apogee
$GC,8103,-0.17,0.0,902.5,7.8,266,8215,0.35,0.00,109.35,1.256,6,0.094,0.000,2642,2221,2930
$STATE,8216,end apogee,CONTROL_FINISHED_OK
$STATE,8216,begin climb
$GC,8221,0.51,126.5,905.9,0.0,269,8353,0.57,1.67,119.72,1.206,4,0.031,0.026,2892,1187,2413
$GC,8496,0.51,126.5,872.2,19.0,275,8499,0.00,1.65,0.00,0.000,6,0.000,0.039,2891,2228,2405
$GC,8790,0.51,126.5,810.6,21.4,282,8794,0.00,1.65,0.00,0.000,4,0.000,0.047,2891,3291,2401
$GC,8854,0.51,126.5,795.7,22.5,283,8858,0.15,1.58,0.00,0.000,6,0.198,0.025,2863,2248,2400
$GC,9131,0.51,126.5,744.8,17.8,290,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2241,2399
$GC,9375,0.51,126.5,705.1,16.1,296,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2241,2398
$GC,9618,0.51,126.5,668.7,14.9,302,9621,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3294,2398
$GC,9681,0.51,126.5,658.0,16.8,303,9685,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2255,2397
$GC,9959,0.51,126.5,615.4,15.2,310,9963,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1154,2397
$GC,10010,0.51,126.5,607.9,14.9,311,10014,0.00,1.70,0.00,0.000,6,0.000,0.041,2877,2240,2397
$GC,10303,0.51,126.5,563.7,15.0,318,10307,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3280,2396
$GC,10344,0.51,126.5,557.2,15.2,318,10354,0.00,1.55,0.00,0.000,6,0.000,0.025,2882,2233,2396
$GC,10600,0.51,126.5,518.5,15.2,325,10604,0.00,1.65,0.00,0.000,4,0.000,0.045,2878,3274,2396
$GC,10652,0.51,126.5,509.7,16.1,326,10656,0.00,1.55,0.00,0.000,6,0.000,0.025,2884,2230,2395
$GC,10940,0.51,126.5,467.0,14.9,333,10944,0.00,1.55,0.00,0.000,4,0.000,0.027,2892,1159,2395
$GC,10964,0.51,126.5,463.0,14.6,333,10969,0.00,1.62,0.00,0.000,6,0.000,0.041,2891,2201,2395
$GC,11237,0.51,126.5,423.6,14.5,340,11241,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3283,2394
$GC,11334,0.51,126.5,407.4,17.5,342,11338,0.15,1.58,0.00,0.000,6,0.182,0.025,2860,2223,2394
$GC,11623,0.51,126.5,373.9,11.0,349,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2218,2393
$GC,11867,0.52,150.3,352.3,8.7,355,11891,0.00,1.55,18.50,0.882,4,0.000,0.027,2867,1162,2316
$GC,11938,0.53,171.1,345.8,8.9,356,11962,0.00,1.65,19.27,0.862,6,0.000,0.040,2867,2233,2232
$GC,12246,0.53,171.1,313.2,10.8,364,12250,0.00,1.62,0.00,0.000,4,0.000,0.046,2864,3294,2226
$GC,12341,0.53,171.1,301.6,12.1,366,12345,0.00,1.58,0.00,0.000,6,0.000,0.023,2869,2241,2226
$GC,12636,0.53,171.1,265.9,11.6,373,12639,0.00,1.58,0.00,0.000,4,0.000,0.027,2873,1159,2225
$GC,12732,0.54,193.4,257.1,8.8,375,12756,0.00,1.67,19.33,0.792,6,0.000,0.039,2873,2249,2141
$GC,13024,0.54,195.4,228.6,9.9,382,13028,0.00,1.60,0.00,0.000,4,0.000,0.046,2873,3296,2137
$GC,13104,0.54,195.4,220.1,10.5,383,13108,0.00,1.60,0.00,0.000,6,0.000,0.022,2881,2202,2137
$GC,13368,0.54,195.4,188.7,13.6,396,13372,0.00,1.50,0.00,0.000,4,0.000,0.025,2889,1161,2137
$GC,13420,0.54,195.4,181.9,13.3,400,13423,0.00,1.65,0.00,0.000,6,0.000,0.038,2889,2221,2137
$GC,13692,0.54,195.4,144.0,13.0,425,13695,0.00,1.60,0.00,0.000,4,0.000,0.044,2889,3286,2137
$GC,13731,0.54,195.4,137.8,15.5,428,13735,0.00,1.60,0.00,0.000,6,0.000,0.021,2895,2200,2136
$GC,14004,0.54,195.4,99.7,13.4,453,14007,0.00,1.67,0.00,0.000,4,0.000,0.041,2891,3296,2137
$GC,14065,0.54,195.4,91.2,12.5,458,14069,0.00,1.58,0.00,0.000,6,0.000,0.021,2897,2222,2136
$GC,14338,0.55,215.0,63.6,9.0,483,14362,0.00,1.55,19.42,0.606,4,0.000,0.025,2900,1165,2052
$GC,14380,0.56,253.0,60.1,8.0,486,14423,0.00,1.65,31.98,0.604,6,0.000,0.034,2899,2262,1897
$GC,14680,0.57,259.2,33.2,9.7,513,14695,0.00,1.58,5.88,0.489,4,0.000,0.041,2899,3285,1873
$GC,14762,0.57,259.2,24.0,11.1,523,14771,0.00,1.50,0.00,0.000,6,0.000,0.021,2906,2257,1872
$STATE,14956,end climb,SURFACE_DEPTH_REACHED
$STATE,14956,begin surface coast
$FINISH,0.5,1.023038
$STATE,14988,end surface coast,CONTROL_FINISHED_OK
$STATE,14989,begin surface
$SM_CCo,15014,52.92,0.544,0,0,1339,390.02
$SM_GC,1.23,0.00,0.00,52.92,0.000,0.000,0.544,35,2536,1339,-8.32,1.02,390.02
$IRIDIUM_FIX,2237.01,-15747.62,190103,161612
$TT8_MAMPS,0.023777
$HUMID,2218
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.60
$XPDR_PINGS,4
$24V_AH,23.8,33.865
$10V_AH,10.7,39.083
$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,18.075,111.725,343.450,52.925,0.000,53.047,73.592,337.989,1.000,0.000,0.000,13.403,1220.617,10115.370,430.594,2914.144,1092.490,33.372,1371.545,0.000,2935.966,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,57.525,1255.579,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,380.916,1838.308,1906.250,1219.290,1237.032,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47934,558
$CAP_FILE_SIZE,121681,0
$CFSIZE,260165632,245035008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251013,201253,2246.772,-15749.695,43,1.4,43,10.1