version: 66.04
glider: 512
mission: 4
dive: 209
start: 10 26 113 1 7 59
data:
$ID,512
$MISSION,4
$DIVE,209
$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,-110581.88
$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,78
$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
$GPS1,005629,2245.823,-15748.697,38,1.1,43,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-81.8
$GPS2,010700,2245.781,-15748.798,10,1.1,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.088
$KALMAN_X,95591.2,263.4,264.0,-76902.4,-2925.7
$KALMAN_Y,98959.5,49.0,137.7,-95992.5,764.5
$MHEAD_RNG_PITCHd_Wd,101.1,23028,-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,18,-0.51,-126.5,0.0,0.0,0,105,0.00,0.00,-85.30,0.000,2,0.000,0.000,12,2552,2871
$GC,111,-0.51,-126.5,2.1,-1.8,10,140,9.55,1.45,-13.07,0.000,4,0.202,0.054,2516,3533,3444
$GC,177,-0.51,-126.5,20.1,-30.3,18,186,0.00,1.50,0.00,0.000,6,0.000,0.019,2518,2499,3445
$GC,450,-0.51,-126.5,98.3,-23.3,45,454,0.00,1.48,0.00,0.000,4,0.000,0.019,2521,1428,3446
$GC,489,-0.51,-126.5,107.1,-19.7,48,493,0.00,1.55,0.00,0.000,6,0.000,0.038,2515,2442,3446
$GC,762,-0.51,-126.5,165.1,-19.2,73,766,0.00,1.60,0.00,0.000,4,0.000,0.045,2507,3512,3446
$GC,823,-0.51,-126.5,176.3,-17.4,78,826,0.00,1.45,0.00,0.000,6,0.000,0.018,2507,2482,3446
$GC,1119,-0.51,-126.5,227.5,-16.7,94,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2474,3446
$GC,1363,-0.51,-126.5,267.5,-16.8,100,1366,0.00,1.40,0.00,0.000,4,0.000,0.019,2514,1453,3446
$GC,1413,-0.51,-126.5,275.6,-15.4,101,1416,0.00,1.52,0.00,0.000,6,0.000,0.035,2509,2459,3446
$GC,1706,-0.51,-126.5,321.0,-15.3,108,1710,0.00,1.65,0.00,0.000,4,0.000,0.045,2501,3563,3445
$GC,1742,-0.51,-126.5,326.7,-14.7,108,1745,0.00,1.52,0.00,0.000,6,0.000,0.020,2506,2486,3445
$GC,2003,-0.51,-126.5,361.2,-12.8,115,2007,0.00,1.65,0.00,0.000,4,0.000,0.044,2499,3568,3444
$GC,2088,-0.51,-126.5,372.1,-11.2,116,2097,0.00,1.52,0.00,0.000,6,0.000,0.021,2506,2487,3442
$GC,2343,-0.51,-126.5,400.0,-11.0,123,2347,0.00,1.42,0.00,0.000,4,0.000,0.021,2508,1461,3440
$GC,2372,-0.51,-126.5,403.6,-10.9,123,2376,0.00,1.55,0.00,0.000,6,0.000,0.037,2503,2483,3440
$GC,2640,-0.51,-126.5,434.2,-11.9,130,2644,0.00,1.65,0.00,0.000,4,0.000,0.047,2494,3558,3438
$GC,2664,-0.51,-126.5,438.1,-13.3,130,2668,0.08,1.50,0.00,0.000,6,0.124,0.021,2540,2495,3439
$GC,2935,-0.51,-126.5,464.3,-9.7,137,2937,0.00,0.00,-0.08,0.000,6,0.000,0.000,2541,2490,3460
$GC,3179,-0.51,-126.5,488.5,-10.0,143,3183,0.00,1.45,0.00,0.000,4,0.000,0.022,2542,1462,3458
$GC,3203,-0.51,-126.5,491.5,-10.5,143,3207,0.00,1.62,0.00,0.000,6,0.000,0.040,2537,2521,3458
$GC,3475,-0.51,-126.5,517.8,-9.9,150,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2521,3456
$GC,3719,-0.51,-126.5,541.1,-9.4,156,3722,0.00,1.60,0.00,0.000,4,0.000,0.051,2530,3570,3454
$GC,3770,-0.51,-126.5,545.8,-9.9,157,3774,0.00,1.50,0.00,0.000,6,0.000,0.025,2531,2542,3453
$GC,4065,-0.51,-126.5,574.0,-9.5,164,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2534,3451
$GC,4308,-0.51,-126.5,595.9,-8.8,170,4312,0.00,1.60,0.00,0.000,4,0.000,0.050,2524,3569,3448
$GC,4340,-0.51,-126.5,598.7,-8.2,170,4343,0.00,1.50,0.00,0.000,6,0.000,0.025,2524,2534,3448
$GC,4606,-0.51,-126.5,620.4,-8.1,177,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2527,3445
$GC,4849,-0.51,-126.5,638.9,-7.3,183,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2526,3444
$GC,5094,-0.51,-126.5,655.4,-6.7,189,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2527,3442
$GC,5337,-0.51,-126.5,671.8,-6.8,195,5341,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1456,3440
$GC,5373,-0.51,-126.5,674.6,-7.5,195,5377,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2545,3440
$GC,5635,-0.51,-126.5,692.8,-7.3,202,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3439
$GC,5879,-0.51,-126.5,711.6,-7.9,208,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3438
$GC,6122,-0.51,-126.5,730.4,-7.7,214,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2545,3437
$GC,6366,-0.51,-126.5,748.9,-7.6,220,6370,0.00,1.60,0.00,0.000,4,0.000,0.027,2524,1431,3436
$GC,6402,-0.51,-126.5,752.2,-8.0,220,6406,0.00,1.75,0.00,0.000,6,0.000,0.048,2523,2542,3436
$GC,6663,-0.51,-126.5,772.2,-7.9,227,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3434
$GC,6906,-0.51,-126.5,791.3,-7.9,233,6910,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3570,3433
$GC,6938,-0.51,-126.5,793.9,-7.7,233,6942,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2540,3432
$GC,7204,-0.51,-126.5,813.5,-7.4,240,7208,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3563,3431
$GC,7234,-0.51,-126.5,815.9,-7.9,240,7237,0.00,1.50,0.00,0.000,6,0.000,0.026,2524,2540,3431
$GC,7501,-0.51,-126.5,833.1,-6.5,247,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2531,3430
$GC,7745,-0.51,-126.5,847.6,-5.8,253,7748,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3556,3429
$GC,7769,-0.51,-126.5,849.3,-5.9,253,7773,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2537,3429
$GC,8041,-0.51,-126.5,864.1,-5.6,260,8044,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1450,3429
$GC,8077,-0.51,-126.5,866.5,-5.9,260,8081,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2543,3428
$GC,8338,-0.51,-126.5,881.7,-6.0,267,8342,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3563,3427
$GC,8362,-0.51,-126.5,883.5,-6.6,267,8366,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2532,3427
$STATE,8630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8630,begin apogee
$GC,8642,-0.17,0.0,901.3,6.8,274,8753,0.35,0.00,108.85,1.259,6,0.095,0.000,2642,2211,2930
$STATE,8754,end apogee,CONTROL_FINISHED_OK
$STATE,8754,begin climb
$GC,8759,0.51,126.5,905.3,0.0,277,8894,0.57,1.65,122.00,1.205,4,0.030,0.027,2893,1186,2413
$GC,8959,0.51,126.5,889.7,15.6,281,8962,0.00,1.70,0.00,0.000,6,0.000,0.040,2891,2236,2407
$GC,9230,0.51,126.5,841.6,17.9,288,9234,0.00,1.65,0.00,0.000,4,0.000,0.047,2891,3289,2402
$GC,9281,0.51,126.5,831.9,20.5,289,9286,0.15,1.60,0.00,0.000,6,0.193,0.025,2863,2241,2401
$GC,9576,0.51,126.5,785.0,15.6,296,9579,0.00,1.67,0.00,0.000,4,0.000,0.046,2863,3295,2399
$GC,9690,0.51,126.5,765.7,16.1,298,9693,0.00,1.58,0.00,0.000,6,0.000,0.025,2869,2248,2399
$GC,9961,0.51,126.5,723.8,15.8,305,9965,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1156,2398
$GC,10064,0.51,126.5,707.4,15.3,307,10068,0.00,1.67,0.00,0.000,6,0.000,0.041,2875,2240,2397
$GC,10347,0.51,126.5,662.2,16.4,314,10350,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3295,2397
$GC,10371,0.51,126.5,657.6,16.3,314,10375,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2226,2397
$GC,10642,0.51,126.5,614.9,15.5,321,10646,0.00,1.55,0.00,0.000,4,0.000,0.028,2890,1166,2397
$GC,10683,0.51,126.5,608.0,15.6,321,10693,0.00,1.67,0.00,0.000,6,0.000,0.042,2890,2231,2396
$GC,10940,0.51,126.5,571.2,14.4,328,10944,0.00,1.65,0.00,0.000,4,0.000,0.048,2890,3290,2397
$GC,10969,0.51,126.5,566.0,15.8,328,10973,0.15,1.60,0.00,0.000,6,0.187,0.025,2861,2192,2396
$GC,11235,0.51,126.5,532.8,12.3,335,11239,0.00,1.73,0.00,0.000,4,0.000,0.045,2861,3294,2395
$GC,11331,0.51,126.5,519.4,15.1,337,11335,0.00,1.60,0.00,0.000,6,0.000,0.025,2867,2220,2395
$GC,11625,0.51,126.5,478.6,13.2,344,11629,0.00,1.52,0.00,0.000,4,0.000,0.028,2875,1169,2395
$GC,11682,0.51,126.5,470.7,11.7,345,11686,0.00,1.62,0.00,0.000,6,0.000,0.039,2875,2212,2394
$GC,11966,0.51,126.5,435.7,11.9,352,11970,0.00,1.55,0.00,0.000,4,0.000,0.027,2881,1177,2394
$GC,12009,0.51,126.5,430.2,11.4,352,12017,0.00,1.60,0.00,0.000,6,0.000,0.039,2876,2202,2394
$GC,12263,0.51,126.5,399.7,12.2,359,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2201,2394
$GC,12507,0.51,126.5,374.2,10.4,365,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2202,2394
$GC,12750,0.51,126.5,348.4,10.8,371,12754,0.00,1.70,0.00,0.000,4,0.000,0.048,2876,3293,2394
$GC,12921,0.51,126.5,329.2,10.9,374,12924,0.00,1.62,0.00,0.000,6,0.000,0.025,2882,2174,2394
$GC,13181,0.51,126.5,301.5,10.5,381,13185,0.00,1.48,0.00,0.000,4,0.000,0.027,2890,1156,2393
$GC,13278,0.53,160.8,293.8,8.2,383,13311,0.00,1.62,27.25,0.843,6,0.000,0.039,2890,2219,2274
$GC,13568,0.53,160.8,263.1,11.3,390,13571,0.00,1.62,0.00,0.000,4,0.000,0.048,2889,3278,2269
$GC,13710,0.53,160.8,245.0,11.7,393,13714,0.00,1.55,0.00,0.000,6,0.000,0.024,2897,2237,2268
$GC,13999,0.53,160.8,210.4,12.5,400,14003,0.00,1.62,0.00,0.000,4,0.000,0.042,2891,3287,2268
$GC,14042,0.53,160.8,204.3,13.4,400,14050,0.00,1.48,0.00,0.000,6,0.000,0.022,2897,2281,2268
$GC,14306,0.53,160.8,169.5,11.9,422,14310,0.00,1.60,0.00,0.000,4,0.000,0.025,2905,1146,2268
$GC,14390,0.53,171.2,160.7,9.4,429,14406,0.10,1.75,9.45,0.665,6,0.145,0.036,2872,2275,2231
$GC,14662,0.54,187.4,137.0,9.1,454,14681,0.00,1.58,15.27,0.667,4,0.000,0.042,2872,3280,2166
$GC,14789,0.54,187.4,123.3,11.3,464,14793,0.00,1.50,0.00,0.000,6,0.000,0.022,2878,2264,2164
$GC,15062,0.54,187.4,92.1,11.3,489,15065,0.00,1.58,0.00,0.000,4,0.000,0.023,2886,1169,2164
$GC,15137,0.54,204.5,84.4,9.1,495,15160,0.00,1.67,15.80,0.615,6,0.000,0.035,2886,2256,2095
$GC,15421,0.56,249.3,61.2,7.6,521,15460,0.00,0.00,37.50,0.606,6,0.000,0.000,2886,2255,1912
$GC,15721,0.57,269.1,34.6,8.9,548,15750,0.00,1.62,17.00,0.563,4,0.000,0.041,2885,3292,1831
$GC,15786,0.57,273.2,28.5,9.8,553,15796,0.00,1.60,4.75,0.436,6,0.000,0.021,2893,2208,1815
$STATE,16023,end climb,SURFACE_DEPTH_REACHED
$STATE,16023,begin surface coast
$FINISH,0.4,1.023056
$STATE,16056,end surface coast,CONTROL_FINISHED_OK
$STATE,16056,begin surface
$SM_CCo,16081,46.90,0.537,0,0,1339,390.02
$SM_GC,1.23,0.00,0.00,46.90,0.000,0.000,0.537,46,2529,1339,-8.28,0.85,390.02
$IRIDIUM_FIX,2237.01,-15747.62,190103,202034
$TT8_MAMPS,0.023777
$HUMID,2193
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.70
$XPDR_PINGS,3
$24V_AH,23.7,34.158
$10V_AH,10.7,39.489
$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,18.250,115.025,357.875,46.900,0.000,24.209,35.508,375.285,0.750,0.000,0.000,16.010,1281.514,10902.181,438.221,3065.573,1072.660,33.375,1417.357,0.000,3063.269,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,58.292,1259.414,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,406.117,1960.213,2028.196,1212.669,1314.727,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50810,595
$CAP_FILE_SIZE,127866,0
$CFSIZE,260165632,244891648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261013,053806,2244.906,-15747.797,29,1.5,29,10.1