version: 66.04
glider: 512
mission: 4
dive: 210
start: 10 26 113 5 48 43
data:
$ID,512
$MISSION,4
$DIVE,210
$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,-110600.62
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2693
$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,60
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2925
$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
$GPS1,053806,2244.906,-15747.797,29,1.5,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-82.3
$GPS2,054748,2244.894,-15747.933,14,1.5,18,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.152
$KALMAN_X,93608.8,-10.5,-75.8,-72827.5,-2435.4
$KALMAN_Y,99828.8,-300.0,-462.2,-97557.7,2075.1
$MHEAD_RNG_PITCHd_Wd,118.6,20877,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-0.51,-126.5,0.0,0.0,0,93,0.00,0.00,-68.40,0.000,2,0.000,0.000,14,2529,2963
$GC,99,-0.51,-126.5,2.4,-1.9,8,128,9.48,1.58,-9.90,0.000,4,0.199,0.038,2529,1428,3442
$GC,236,-0.51,-126.5,41.6,-22.9,24,239,0.00,1.62,0.00,0.000,6,0.000,0.039,2523,2498,3443
$GC,508,-0.51,-126.5,106.5,-21.2,49,512,0.00,1.62,0.00,0.000,4,0.000,0.046,2515,3574,3444
$GC,559,-0.51,-126.5,117.7,-21.5,53,563,0.00,1.55,0.00,0.000,6,0.000,0.020,2515,2497,3444
$GC,831,-0.51,-126.5,167.8,-18.9,78,834,0.00,1.45,0.00,0.000,4,0.000,0.021,2521,1447,3445
$GC,859,-0.51,-126.5,173.0,-18.3,80,863,0.00,1.65,0.00,0.000,6,0.000,0.038,2515,2549,3445
$GC,1157,-0.51,-126.5,220.8,-15.9,99,1160,0.00,1.55,0.00,0.000,4,0.000,0.020,2520,1449,3445
$GC,1187,-0.51,-126.5,225.6,-14.0,99,1190,0.00,1.62,0.00,0.000,6,0.000,0.038,2514,2534,3446
$GC,1453,-0.51,-126.5,265.4,-15.6,106,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2534,3446
$GC,1697,-0.51,-126.5,302.8,-15.3,112,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2533,3446
$GC,1941,-0.51,-126.5,335.8,-13.2,118,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2534,3445
$GC,2184,-0.51,-126.5,366.8,-12.5,124,2188,0.00,1.58,0.00,0.000,4,0.000,0.048,2506,3562,3443
$GC,2247,-0.51,-126.5,375.7,-13.1,125,2252,0.00,1.50,0.00,0.000,6,0.000,0.021,2506,2500,3443
$GC,2524,-0.51,-126.5,410.1,-12.4,132,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2494,3440
$GC,2768,-0.51,-126.5,437.4,-11.1,138,2772,0.00,1.45,0.00,0.000,4,0.000,0.024,2513,1460,3439
$GC,2809,-0.51,-126.5,441.9,-9.7,138,2818,0.00,1.60,0.00,0.000,6,0.000,0.041,2510,2500,3439
$GC,3065,-0.51,-126.5,466.7,-10.0,145,3069,0.00,1.62,0.00,0.000,4,0.000,0.051,2502,3572,3437
$GC,3122,-0.51,-126.5,473.3,-10.2,146,3126,0.00,1.52,0.00,0.000,6,0.000,0.022,2508,2512,3436
$GC,3405,-0.51,-126.5,503.2,-10.8,153,3408,0.00,1.48,0.00,0.000,4,0.000,0.025,2508,1463,3434
$GC,3457,-0.51,-126.5,508.6,-9.7,154,3460,0.00,1.62,0.00,0.000,6,0.000,0.042,2502,2534,3434
$GC,3751,-0.51,-126.5,543.9,-12.3,161,3754,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3582,3430
$GC,3802,-0.51,-126.5,550.9,-12.9,162,3806,0.00,1.55,0.00,0.000,6,0.000,0.024,2500,2513,3430
$GC,4091,-0.51,-126.5,584.2,-11.6,169,4094,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3560,3429
$GC,4132,-0.51,-126.5,589.6,-11.6,169,4140,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2519,3428
$GC,4386,-0.51,-126.5,616.4,-10.6,176,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2518,3426
$GC,4630,-0.51,-126.5,640.3,-9.7,182,4634,0.00,1.50,0.00,0.000,4,0.000,0.026,2508,1464,3424
$GC,4655,-0.51,-126.5,642.8,-9.4,182,4658,0.00,1.62,0.00,0.000,6,0.000,0.044,2502,2531,3423
$GC,4927,-0.51,-126.5,666.5,-8.8,189,4930,0.00,1.60,0.00,0.000,4,0.000,0.053,2494,3575,3421
$GC,4968,-0.51,-126.5,670.8,-9.6,189,4978,0.00,1.52,0.00,0.000,6,0.000,0.027,2500,2527,3421
$GC,5224,-0.51,-126.5,692.9,-8.8,196,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2527,3420
$GC,5468,-0.51,-126.5,715.0,-9.0,202,5472,0.00,1.52,0.00,0.000,4,0.000,0.027,2507,1466,3418
$GC,5518,-0.51,-126.5,719.2,-7.3,203,5522,0.00,1.62,0.00,0.000,6,0.000,0.045,2502,2523,3418
$GC,5812,-0.51,-126.5,742.4,-7.7,210,5816,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3559,3416
$GC,5864,-0.51,-126.5,746.3,-7.5,211,5867,0.00,1.52,0.00,0.000,6,0.000,0.027,2500,2529,3415
$GC,6158,-0.51,-126.5,767.1,-7.0,218,6162,0.00,1.55,0.00,0.000,4,0.000,0.028,2508,1449,3414
$GC,6208,-0.51,-126.5,770.4,-5.8,219,6212,0.00,1.70,0.00,0.000,6,0.000,0.047,2502,2528,3414
$GC,6504,-0.51,-126.5,790.7,-7.0,226,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2528,3413
$GC,6747,-0.51,-126.5,809.2,-7.7,232,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2528,3411
$GC,6991,-0.51,-126.5,830.1,-8.8,238,6994,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3563,3411
$GC,7041,-0.51,-126.5,835.0,-9.7,239,7045,0.00,1.55,0.00,0.000,6,0.000,0.026,2500,2511,3410
$GC,7335,-0.51,-126.5,862.8,-9.4,246,7339,0.00,1.67,0.00,0.000,4,0.000,0.054,2494,3569,3409
$GC,7360,-0.51,-126.5,865.7,-9.9,246,7363,0.00,1.52,0.00,0.000,6,0.000,0.025,2499,2528,3409
$GC,7633,-0.51,-126.5,890.4,-9.1,253,7636,0.00,1.65,0.00,0.000,4,0.000,0.054,2494,3570,3408
$GC,7664,-0.51,-126.5,893.5,-9.3,253,7668,0.00,1.52,0.00,0.000,6,0.000,0.025,2499,2537,3408
$STATE,7764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7764,begin apogee
$GC,7776,-0.17,0.0,901.9,8.2,256,7887,0.40,0.00,105.53,1.254,6,0.108,0.000,2635,2188,2925
$STATE,7887,end apogee,CONTROL_FINISHED_OK
$STATE,7887,begin climb
$GC,7892,0.51,126.5,904.5,0.0,259,8025,0.57,1.62,121.10,1.199,4,0.031,0.027,2886,1196,2408
$GC,8089,0.51,126.5,884.8,17.6,263,8093,0.00,1.67,0.00,0.000,6,0.000,0.040,2886,2235,2402
$GC,8366,0.51,126.5,832.5,19.3,270,8370,0.00,1.65,0.00,0.000,4,0.000,0.048,2887,3294,2397
$GC,8486,0.51,126.5,807.2,20.7,272,8490,0.08,1.55,0.00,0.000,6,0.173,0.026,2864,2274,2397
$GC,8752,0.51,126.5,762.0,16.5,279,8755,0.00,1.60,0.00,0.000,4,0.000,0.029,2870,1202,2395
$GC,8822,0.51,126.5,750.6,15.5,280,8825,0.00,1.60,0.00,0.000,6,0.000,0.041,2870,2234,2395
$GC,9093,0.51,126.5,707.3,16.2,287,9097,0.00,1.62,0.00,0.000,4,0.000,0.048,2870,3292,2394
$GC,9173,0.51,126.5,692.8,17.7,288,9177,0.00,1.52,0.00,0.000,6,0.000,0.026,2877,2272,2394
$GC,9434,0.51,126.5,650.4,16.7,295,9438,0.00,1.60,0.00,0.000,4,0.000,0.030,2885,1182,2393
$GC,9475,0.51,126.5,643.2,15.8,295,9483,0.00,1.67,0.00,0.000,6,0.000,0.043,2885,2247,2392
$GC,9730,0.51,126.5,603.1,15.8,302,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2247,2392
$GC,9973,0.51,126.5,565.1,15.3,308,9977,0.00,1.62,0.00,0.000,4,0.000,0.049,2879,3287,2391
$GC,9997,0.51,126.5,560.8,15.6,308,10001,0.00,1.55,0.00,0.000,6,0.000,0.027,2885,2248,2391
$GC,10269,0.51,126.5,517.4,16.5,315,10273,0.00,1.62,0.00,0.000,4,0.000,0.049,2879,3281,2391
$GC,10365,0.51,126.5,499.7,18.7,317,10368,0.00,1.50,0.00,0.000,6,0.000,0.028,2885,2284,2390
$GC,10659,0.51,126.5,452.6,15.3,324,10663,0.00,1.62,0.00,0.000,4,0.000,0.028,2893,1152,2390
$GC,10774,0.51,126.5,436.3,13.1,326,10778,0.12,1.73,0.00,0.000,6,0.166,0.040,2860,2281,2390
$GC,11045,0.51,126.5,404.7,11.6,333,11049,0.00,1.65,0.00,0.000,4,0.000,0.028,2866,1147,2389
$GC,11115,0.51,126.5,397.0,10.2,334,11119,0.00,1.70,0.00,0.000,6,0.000,0.040,2864,2258,2389
$GC,11387,0.51,126.5,365.2,12.5,341,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2258,2389
$GC,11630,0.51,126.5,333.7,12.6,347,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2257,2389
$GC,11874,0.51,126.5,305.4,11.9,353,11878,0.00,1.60,0.00,0.000,4,0.000,0.027,2869,1168,2389
$GC,11904,0.51,126.5,302.0,10.2,353,11908,0.00,1.67,0.00,0.000,6,0.000,0.040,2869,2247,2389
$GC,12170,0.52,138.2,277.3,9.4,360,12184,0.00,1.65,7.97,0.756,4,0.000,0.027,2877,1160,2361
$GC,12233,0.52,153.8,271.1,9.2,361,12252,0.00,1.65,15.25,0.798,6,0.000,0.041,2877,2239,2297
$GC,12508,0.52,153.8,241.3,10.9,368,12511,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3286,2293
$GC,12672,0.53,169.7,224.2,9.2,371,12692,0.00,1.55,14.68,0.755,6,0.000,0.024,2882,2230,2233
$GC,12937,0.53,169.7,196.5,10.9,378,12941,0.00,1.52,0.00,0.000,4,0.000,0.026,2889,1174,2229
$GC,12956,0.53,169.7,194.1,10.8,379,12964,0.00,1.67,0.00,0.000,6,0.000,0.038,2888,2253,2228
$GC,13222,0.53,169.7,166.0,10.9,404,13226,0.00,1.58,0.00,0.000,4,0.000,0.044,2890,3279,2228
$GC,13274,0.53,169.7,159.4,11.6,408,13284,0.10,1.50,0.00,0.000,6,0.149,0.024,2865,2261,2228
$GC,13546,0.53,169.7,135.0,10.2,433,13550,0.00,1.58,0.00,0.000,4,0.000,0.025,2871,1163,2228
$GC,13565,0.53,169.7,132.0,10.6,434,13574,0.00,1.67,0.00,0.000,6,0.000,0.036,2871,2251,2228
$GC,13832,0.53,169.7,103.5,10.2,459,13835,0.00,1.58,0.00,0.000,4,0.000,0.044,2871,3282,2229
$GC,13906,0.54,197.6,96.1,8.5,465,13936,0.00,1.55,24.70,0.635,6,0.000,0.021,2879,2211,2118
$GC,14205,0.57,271.5,75.6,6.1,492,14276,0.00,1.70,60.20,0.616,4,0.000,0.041,2878,3271,1817
$GC,14342,0.59,332.5,67.1,6.8,502,14396,0.00,1.55,49.40,0.599,6,0.000,0.021,2886,2228,1569
$GC,14664,0.59,332.5,34.5,11.9,531,14667,0.00,1.55,0.00,0.000,4,0.000,0.024,2886,1165,1564
$GC,14706,0.59,332.5,29.8,11.5,534,14715,0.00,1.62,0.00,0.000,6,0.000,0.032,2885,2225,1563
$STATE,14972,end climb,SURFACE_DEPTH_REACHED
$STATE,14972,begin surface coast
$FINISH,0.4,1.023117
$STATE,15006,end surface coast,CONTROL_FINISHED_OK
$STATE,15006,begin surface
$SM_CCo,15031,23.77,0.530,0,0,1333,390.02
$SM_GC,1.59,0.00,0.00,23.77,0.000,0.000,0.530,42,2522,1333,-8.29,0.62,390.02
$IRIDIUM_FIX,2234.68,-15747.62,200103,010115
$TT8_MAMPS,0.023777
$HUMID,2196
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.40
$XPDR_PINGS,2
$24V_AH,23.8,34.294
$10V_AH,10.7,39.686
$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,17.925,115.350,398.825,23.775,0.000,26.175,39.567,323.149,0.500,0.000,0.000,18.108,1238.855,9924.833,431.992,3031.826,1006.394,33.378,1411.736,0.000,3027.291,0.000,0.546,0.000
$DEVICE_MAMPS,198.653,55.991,1254.045,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,395.387,1914.059,1984.194,1166.521,1318.704,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50923,581
$CAP_FILE_SIZE,122609,0
$CFSIZE,260165632,244834304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,261013,100105,2244.236,-15747.255,38,0.9,38,10.1