version: 66.04
glider: 512
mission: 4
dive: 211
start: 10 26 113 10 11 2
data:
$ID,512
$MISSION,4
$DIVE,211
$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,-110615.6
$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,66
$R_STBD_OVSHOOT,35
$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
$GPS1,100105,2244.236,-15747.255,38,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-82.5
$GPS2,101007,2244.261,-15747.314,14,2.0,14,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.127
$KALMAN_X,91401.2,-208.2,-30.1,-69410.7,-2280.8
$KALMAN_Y,100769.1,-425.6,278.7,-100286.8,1338.2
$MHEAD_RNG_PITCHd_Wd,111.3,19350,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.51,-126.5,0.0,0.0,0,90,0.00,0.00,-65.72,0.000,2,0.000,0.000,15,2520,2868
$GC,96,-0.51,-126.5,2.2,-1.5,8,123,9.40,1.58,-13.27,0.000,4,0.197,0.039,2527,1440,3442
$GC,255,-0.51,-126.5,43.6,-20.9,27,258,0.00,1.60,0.00,0.000,6,0.000,0.041,2521,2494,3443
$GC,526,-0.51,-126.5,108.0,-17.4,52,530,0.00,1.65,0.00,0.000,4,0.000,0.045,2513,3570,3444
$GC,646,-0.51,-126.5,129.8,-16.1,62,655,0.00,1.48,0.00,0.000,6,0.000,0.018,2513,2526,3445
$GC,912,-0.51,-126.5,177.0,-19.0,87,916,0.00,1.60,0.00,0.000,4,0.000,0.042,2506,3560,3445
$GC,942,-0.51,-126.5,183.8,-20.5,89,949,0.00,1.40,0.00,0.000,6,0.000,0.018,2506,2563,3445
$GC,1200,-0.51,-126.5,228.3,-17.0,102,1203,0.00,1.52,0.00,0.000,4,0.000,0.020,2507,1455,3445
$GC,1251,-0.51,-126.5,235.4,-13.3,103,1254,0.00,1.67,0.00,0.000,6,0.000,0.038,2500,2574,3445
$GC,1545,-0.51,-126.5,273.5,-12.5,110,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3445
$GC,1788,-0.51,-126.5,305.3,-13.2,116,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2574,3445
$GC,2032,-0.51,-126.5,338.6,-13.6,122,2036,0.00,1.58,0.00,0.000,4,0.000,0.020,2506,1466,3443
$GC,2069,-0.51,-126.5,344.0,-13.4,122,2072,0.00,1.65,0.00,0.000,6,0.000,0.037,2500,2574,3443
$GC,2329,-0.51,-126.5,377.1,-12.6,129,2333,0.00,1.58,0.00,0.000,4,0.000,0.020,2506,1467,3441
$GC,2354,-0.51,-126.5,380.6,-12.4,129,2357,0.00,1.65,0.00,0.000,6,0.000,0.038,2501,2555,3441
$GC,2626,-0.51,-126.5,412.1,-12.0,136,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3439
$GC,2870,-0.51,-126.5,441.5,-12.2,142,2874,0.00,1.55,0.00,0.000,4,0.000,0.021,2506,1468,3438
$GC,2905,-0.51,-126.5,446.2,-11.4,142,2909,0.00,1.62,0.00,0.000,6,0.000,0.039,2500,2553,3437
$GC,3166,-0.51,-126.5,477.1,-12.2,149,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2553,3436
$GC,3409,-0.51,-126.5,506.7,-12.0,155,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2553,3433
$GC,3653,-0.51,-126.5,536.2,-12.2,161,3657,0.00,1.55,0.00,0.000,4,0.000,0.049,2492,3560,3430
$GC,3762,-0.51,-126.5,549.8,-12.3,163,3766,0.00,1.48,0.00,0.000,6,0.000,0.023,2498,2536,3430
$GC,4039,-0.51,-126.5,582.2,-11.7,170,4043,0.00,1.52,0.00,0.000,4,0.000,0.024,2506,1452,3428
$GC,4068,-0.51,-126.5,585.8,-11.2,170,4072,0.00,1.65,0.00,0.000,6,0.000,0.041,2500,2545,3428
$GC,4334,-0.51,-126.5,614.5,-11.2,177,4338,0.00,1.58,0.00,0.000,4,0.000,0.024,2505,1455,3425
$GC,4375,-0.51,-126.5,619.4,-10.9,177,4385,0.00,1.65,0.00,0.000,6,0.000,0.042,2500,2521,3425
$GC,4631,-0.51,-126.5,645.9,-10.6,184,4635,0.00,1.60,0.00,0.000,4,0.000,0.052,2492,3572,3422
$GC,4649,-0.51,-126.5,648.5,-10.2,184,4653,0.00,1.52,0.00,0.000,6,0.000,0.025,2498,2523,3422
$GC,4927,-0.51,-126.5,676.5,-10.2,191,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2515,3420
$GC,5171,-0.51,-126.5,699.6,-9.4,197,5174,0.00,1.62,0.00,0.000,4,0.000,0.051,2492,3565,3419
$GC,5207,-0.51,-126.5,703.3,-9.7,197,5210,0.00,1.52,0.00,0.000,6,0.000,0.025,2498,2517,3419
$GC,5467,-0.51,-126.5,726.2,-8.8,204,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2509,3416
$GC,5711,-0.51,-126.5,748.0,-8.9,210,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2509,3415
$GC,5955,-0.51,-126.5,769.6,-8.8,216,5959,0.00,1.65,0.00,0.000,4,0.000,0.053,2492,3570,3414
$GC,5974,-0.51,-126.5,771.7,-8.6,216,5978,0.00,1.52,0.00,0.000,6,0.000,0.026,2497,2527,3414
$GC,6252,-0.51,-126.5,795.4,-8.7,223,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2520,3412
$GC,6496,-0.51,-126.5,815.8,-8.4,229,6498,0.10,0.00,0.00,0.000,6,0.140,0.000,2527,2518,3411
$GC,6740,-0.51,-126.5,831.0,-6.1,235,6743,0.00,1.62,0.00,0.000,4,0.000,0.055,2524,3556,3410
$GC,6770,-0.51,-126.5,833.2,-6.3,235,6774,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2533,3410
$GC,7036,-0.51,-126.5,850.1,-6.5,242,7040,0.00,1.52,0.00,0.000,4,0.000,0.027,2524,1456,3409
$GC,7061,-0.51,-126.5,852.0,-6.6,242,7065,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2519,3408
$GC,7332,-0.51,-126.5,870.1,-6.7,249,7336,0.00,1.62,0.00,0.000,4,0.000,0.058,2524,3565,3407
$GC,7397,-0.51,-126.5,874.9,-6.6,250,7400,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2545,3407
$GC,7675,-0.51,-126.5,895.0,-7.5,257,7678,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1457,3406
$GC,7693,-0.51,-126.5,896.6,-7.3,257,7697,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2554,3405
$STATE,7763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7763,begin apogee
$GC,7775,-0.17,0.0,901.8,7.1,259,7886,0.35,0.00,104.85,1.258,6,0.094,0.000,2643,2213,2926
$STATE,7887,end apogee,CONTROL_FINISHED_OK
$STATE,7887,begin climb
$GC,7892,0.51,126.5,905.8,0.0,262,8025,0.57,1.67,121.15,1.206,4,0.031,0.028,2892,1184,2409
$GC,8089,0.51,126.5,889.5,17.8,266,8093,0.12,1.70,0.00,0.000,6,0.172,0.042,2862,2236,2403
$GC,8365,0.51,126.5,845.2,16.0,273,8369,0.00,1.65,0.00,0.000,4,0.000,0.049,2862,3296,2398
$GC,8401,0.51,126.5,838.7,16.8,273,8405,0.00,1.60,0.00,0.000,6,0.000,0.026,2868,2218,2397
$GC,8662,0.51,126.5,795.8,16.7,280,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2211,2396
$GC,8906,0.51,126.5,755.1,16.8,286,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2211,2395
$GC,9150,0.51,126.5,716.2,15.8,292,9154,0.00,1.67,0.00,0.000,4,0.000,0.048,2864,3287,2394
$GC,9192,0.51,126.5,708.9,17.6,292,9200,0.00,1.60,0.00,0.000,6,0.000,0.026,2869,2215,2394
$GC,9446,0.51,126.5,670.7,15.0,299,9450,0.00,1.73,0.00,0.000,4,0.000,0.049,2870,3292,2394
$GC,9509,0.51,126.5,660.6,14.8,300,9513,0.00,1.52,0.00,0.000,6,0.000,0.027,2877,2262,2393
$GC,9787,0.51,126.5,621.3,14.4,307,9791,0.00,1.60,0.00,0.000,4,0.000,0.029,2885,1159,2393
$GC,9882,0.51,126.5,608.5,13.5,309,9886,0.00,1.73,0.00,0.000,6,0.000,0.043,2885,2255,2392
$GC,10176,0.51,126.5,566.0,14.7,316,10177,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2256,2392
$GC,10420,0.51,126.5,529.8,15.0,322,10423,0.00,1.60,0.00,0.000,4,0.000,0.049,2878,3284,2391
$GC,10560,0.51,126.5,506.7,17.0,325,10563,0.00,1.50,0.00,0.000,6,0.000,0.028,2884,2274,2391
$GC,10854,0.51,126.5,460.7,15.7,332,10857,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1173,2390
$GC,10962,0.51,126.5,443.4,15.8,334,10967,0.12,1.65,0.00,0.000,6,0.166,0.041,2860,2254,2390
$GC,11240,0.51,126.5,405.1,13.7,341,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2254,2390
$GC,11483,0.51,126.5,376.6,11.5,347,11487,0.00,1.60,0.00,0.000,4,0.000,0.048,2859,3287,2389
$GC,11540,0.51,126.5,370.0,10.4,348,11544,0.00,1.55,0.00,0.000,6,0.000,0.026,2866,2236,2389
$GC,11824,0.52,157.9,345.4,8.3,355,11854,0.00,1.55,25.08,0.882,4,0.000,0.028,2873,1156,2281
$GC,11896,0.52,157.9,338.6,10.2,356,11900,0.00,1.67,0.00,0.000,6,0.000,0.041,2873,2241,2278
$GC,12162,0.52,157.9,309.6,10.8,363,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2240,2275
$GC,12405,0.52,157.9,278.9,12.9,369,12409,0.00,1.60,0.00,0.000,4,0.000,0.048,2872,3292,2274
$GC,12456,0.52,157.9,272.0,13.9,370,12460,0.00,1.55,0.00,0.000,6,0.000,0.025,2880,2245,2275
$GC,12750,0.52,157.9,234.0,12.1,377,12754,0.00,1.62,0.00,0.000,4,0.000,0.045,2877,3294,2274
$GC,12782,0.52,157.9,230.3,11.5,377,12785,0.00,1.48,0.00,0.000,6,0.000,0.024,2884,2289,2274
$GC,13048,0.52,157.9,203.3,10.1,384,13052,0.00,1.62,0.00,0.000,4,0.000,0.026,2891,1155,2274
$GC,13133,0.53,162.1,195.2,9.8,388,13146,0.00,1.70,3.95,0.521,6,0.000,0.039,2891,2269,2265
$GC,13408,0.53,162.1,166.5,10.4,413,13412,0.00,1.60,0.00,0.000,4,0.000,0.025,2897,1150,2265
$GC,13459,0.53,162.1,160.6,10.1,417,13469,0.00,1.73,0.00,0.000,6,0.000,0.036,2891,2274,2265
$GC,13725,0.53,177.8,134.4,9.2,442,13745,0.00,1.58,15.52,0.665,4,0.000,0.044,2891,3286,2200
$GC,13880,0.53,177.8,117.3,10.6,454,13884,0.08,1.50,0.00,0.000,6,0.151,0.021,2873,2256,2198
$GC,14156,0.55,220.9,93.6,7.7,479,14197,0.00,1.60,37.05,0.636,4,0.000,0.024,2879,1160,2023
$GC,14240,0.55,220.9,85.3,10.2,485,14246,0.00,1.73,0.00,0.000,6,0.000,0.036,2878,2270,2020
$GC,14511,0.57,267.0,59.4,7.5,510,14554,0.00,1.60,37.67,0.601,4,0.000,0.044,2878,3280,1835
$GC,14633,0.57,271.4,48.4,9.8,519,14643,0.00,1.45,5.00,0.459,6,0.000,0.021,2883,2298,1818
$GC,14909,0.59,317.5,26.5,7.5,547,14953,0.00,1.62,38.10,0.566,4,0.000,0.024,2886,1171,1627
$GC,15015,0.60,342.9,18.2,8.6,561,15043,0.00,1.73,21.00,0.545,6,0.000,0.034,2886,2285,1525
$STATE,15173,end climb,SURFACE_DEPTH_REACHED
$STATE,15173,begin surface coast
$FINISH,0.4,1.022907
$STATE,15216,end surface coast,CONTROL_FINISHED_OK
$STATE,15217,begin surface
$SM_CCo,15242,19.70,0.524,0,0,1334,390.02
$SM_GC,1.76,0.00,0.00,19.70,0.000,0.000,0.524,34,2532,1334,-8.31,0.93,390.02
$IRIDIUM_FIX,2234.68,-15750.66,200103,050558
$TT8_MAMPS,0.023777
$HUMID,2204
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.10
$XPDR_PINGS,6
$24V_AH,23.8,34.429
$10V_AH,10.6,39.885
$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,18.000,109.400,409.375,19.700,0.000,31.532,33.961,297.523,1.500,0.000,0.000,14.351,1236.861,10154.994,429.298,3003.488,977.195,33.373,1386.754,0.000,3003.183,0.000,0.545,0.000
$DEVICE_MAMPS,197.119,58.292,1257.880,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,402.059,1945.382,2014.346,1141.613,1338.888,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50914,591
$CAP_FILE_SIZE,119730,0
$CFSIZE,260165632,244772864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261013,142654,2243.595,-15746.036,41,1.3,41,10.1