version: 66.04
glider: 512
mission: 4
dive: 212
start: 10 26 113 14 41 24
data:
$ID,512
$MISSION,4
$DIVE,212
$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,-110629.34
$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,48
$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
$GPS1,142654,2243.595,-15746.036,41,1.3,41,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-82.7
$GPS2,144025,2243.583,-15746.159,13,1.5,13,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.126
$KALMAN_X,89202.4,-51.7,256.8,-65684.7,-2874.7
$KALMAN_Y,101855.2,-89.9,-126.2,-102560.4,1696.9
$MHEAD_RNG_PITCHd_Wd,111.0,17010,-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,-126.5,0.0,0.0,0,89,0.00,0.00,-69.22,0.000,2,0.000,0.000,18,2532,2976
$GC,95,-0.51,-126.5,2.5,-2.3,8,124,9.45,1.55,-9.57,0.000,4,0.198,0.038,2531,1446,3439
$GC,160,-0.51,-126.5,25.6,-35.9,16,169,0.00,1.60,0.00,0.000,6,0.000,0.037,2525,2489,3440
$GC,436,-0.51,-126.5,99.9,-21.6,42,439,0.00,1.62,0.00,0.000,4,0.000,0.046,2516,3572,3440
$GC,577,-0.51,-126.5,126.6,-17.7,54,581,0.00,1.50,0.00,0.000,6,0.000,0.018,2518,2509,3441
$GC,849,-0.51,-126.5,174.5,-18.6,79,853,0.00,1.60,0.00,0.000,4,0.000,0.041,2512,3563,3441
$GC,878,-0.51,-126.5,180.6,-18.2,81,887,0.00,1.45,0.00,0.000,6,0.000,0.019,2511,2529,3441
$GC,1170,-0.51,-126.5,227.2,-15.7,97,1174,0.00,1.48,0.00,0.000,4,0.000,0.020,2515,1455,3441
$GC,1239,-0.51,-126.5,237.4,-12.6,98,1242,0.00,1.60,0.00,0.000,6,0.000,0.038,2510,2526,3442
$GC,1510,-0.51,-126.5,273.9,-13.6,105,1514,0.00,1.58,0.00,0.000,4,0.000,0.046,2504,3562,3442
$GC,1569,-0.51,-126.5,282.3,-12.8,106,1572,0.00,1.45,0.00,0.000,6,0.000,0.019,2504,2522,3441
$GC,1852,-0.51,-126.5,321.1,-14.0,113,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2514,3441
$GC,2095,-0.51,-126.5,356.1,-14.4,119,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2514,3439
$GC,2339,-0.51,-126.5,388.7,-13.1,125,2343,0.00,1.45,0.00,0.000,4,0.000,0.023,2508,1471,3438
$GC,2375,-0.51,-126.5,393.7,-12.1,125,2378,0.00,1.60,0.00,0.000,6,0.000,0.040,2502,2541,3438
$GC,2635,-0.51,-126.5,423.4,-11.4,132,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2541,3435
$GC,2879,-0.51,-126.5,450.0,-11.0,138,2883,0.00,1.55,-0.08,0.000,4,0.000,0.067,2494,3559,3457
$GC,2910,-0.51,-126.5,453.8,-11.5,138,2914,0.00,1.48,0.00,0.000,6,0.000,0.022,2500,2528,3457
$GC,3177,-0.51,-126.5,483.8,-11.4,145,3181,0.00,1.50,0.00,0.000,4,0.000,0.023,2507,1456,3455
$GC,3248,-0.51,-126.5,491.6,-9.9,146,3251,0.00,1.60,0.00,0.000,6,0.000,0.041,2502,2519,3454
$GC,3519,-0.51,-126.5,521.5,-11.3,153,3523,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3556,3452
$GC,3633,-0.51,-126.5,535.4,-12.0,155,3637,0.00,1.48,0.00,0.000,6,0.000,0.024,2500,2531,3450
$GC,3904,-0.51,-126.5,567.0,-11.7,162,3908,0.00,1.52,0.00,0.000,4,0.000,0.025,2507,1447,3448
$GC,3934,-0.51,-126.5,571.0,-12.0,162,3938,0.00,1.62,0.00,0.000,6,0.000,0.044,2502,2519,3447
$GC,4201,-0.51,-126.5,600.0,-10.9,169,4205,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1442,3445
$GC,4253,-0.51,-126.5,606.0,-10.7,170,4257,0.00,1.62,0.00,0.000,6,0.000,0.044,2502,2513,3445
$GC,4542,-0.51,-126.5,635.0,-10.0,177,4545,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3559,3443
$GC,4561,-0.51,-126.5,637.4,-10.1,177,4565,0.00,1.52,0.00,0.000,6,0.000,0.026,2499,2509,3443
$GC,4839,-0.51,-126.5,663.3,-9.3,184,4843,0.00,1.50,0.00,0.000,4,0.000,0.026,2507,1445,3440
$GC,4864,-0.51,-126.5,666.2,-9.5,184,4867,0.00,1.62,0.00,0.000,6,0.000,0.046,2501,2510,3440
$GC,5135,-0.51,-126.5,690.8,-9.2,191,5139,0.00,1.62,0.00,0.000,4,0.000,0.055,2493,3568,3439
$GC,5221,-0.51,-126.5,699.2,-9.0,192,5231,0.00,1.52,0.00,0.000,6,0.000,0.024,2499,2512,3439
$GC,5477,-0.51,-126.5,721.0,-8.7,199,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2512,3437
$GC,5721,-0.51,-126.5,741.0,-8.1,205,5724,0.00,1.65,0.00,0.000,4,0.000,0.054,2493,3568,3436
$GC,5757,-0.51,-126.5,744.3,-7.9,205,5761,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2532,3436
$GC,6018,-0.51,-126.5,764.6,-7.7,212,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2525,3434
$GC,6261,-0.51,-126.5,783.3,-7.7,218,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2525,3431
$GC,6505,-0.51,-126.5,802.1,-7.7,224,6508,0.00,1.62,0.00,0.000,4,0.000,0.053,2493,3570,3430
$GC,6546,-0.51,-126.5,805.9,-9.0,224,6554,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2542,3430
$GC,6801,-0.51,-126.5,826.6,-8.3,231,6805,0.00,1.55,0.00,0.000,4,0.000,0.027,2506,1457,3430
$GC,6831,-0.51,-126.5,829.5,-9.0,231,6835,0.00,1.65,0.00,0.000,6,0.000,0.046,2501,2532,3430
$GC,7098,-0.51,-126.5,852.2,-8.8,238,7102,0.00,1.60,0.00,0.000,4,0.000,0.056,2493,3569,3428
$GC,7123,-0.51,-126.5,854.8,-9.3,238,7128,0.05,1.50,0.00,0.000,6,0.127,0.026,2521,2535,3429
$GC,7394,-0.51,-126.5,875.5,-7.7,245,7398,0.00,1.55,0.00,0.000,4,0.000,0.027,2521,1448,3427
$GC,7435,-0.51,-126.5,878.9,-7.7,245,7443,0.00,1.70,0.00,0.000,6,0.000,0.048,2522,2529,3427
$GC,7690,-0.51,-126.5,897.9,-7.6,252,7694,0.00,1.62,0.00,0.000,4,0.000,0.060,2522,3553,3426
$STATE,7709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7709,begin apogee
$GC,7722,-0.17,0.0,900.1,8.0,252,7835,0.32,0.00,109.25,1.249,6,0.094,0.000,2637,2216,2925
$STATE,7835,end apogee,CONTROL_FINISHED_OK
$STATE,7835,begin climb
$GC,7840,0.51,126.5,903.9,0.0,255,7973,0.57,1.70,121.10,1.197,4,0.031,0.028,2890,1175,2408
$GC,8025,0.51,126.5,891.6,15.6,259,8030,0.10,1.73,0.00,0.000,6,0.163,0.041,2863,2226,2403
$GC,8319,0.51,126.5,844.0,15.7,266,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2225,2398
$GC,8563,0.51,126.5,806.7,15.3,272,8566,0.00,1.67,0.00,0.000,4,0.000,0.050,2862,3284,2395
$GC,8613,0.51,126.5,798.6,16.9,273,8617,0.00,1.62,0.00,0.000,6,0.000,0.027,2868,2193,2395
$GC,8908,0.51,126.5,752.3,15.7,280,8911,0.00,1.70,0.00,0.000,4,0.000,0.046,2863,3281,2394
$GC,8950,0.51,126.5,744.7,16.8,280,8958,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2230,2394
$GC,9205,0.51,126.5,704.8,15.7,287,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2225,2394
$GC,9448,0.51,126.5,664.9,16.7,293,9452,0.00,1.67,0.00,0.000,4,0.000,0.048,2864,3279,2393
$GC,9500,0.51,126.5,655.9,16.9,294,9504,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2222,2393
$GC,9789,0.51,126.5,610.4,15.9,301,9793,0.00,1.55,0.00,0.000,4,0.000,0.030,2877,1159,2392
$GC,9825,0.51,126.5,604.3,15.0,301,9829,0.00,1.67,0.00,0.000,6,0.000,0.043,2877,2229,2392
$GC,10085,0.51,126.5,566.0,14.4,308,10089,0.00,1.58,0.00,0.000,4,0.000,0.028,2883,1168,2391
$GC,10104,0.51,126.5,562.8,14.2,308,10108,0.00,1.70,0.00,0.000,6,0.000,0.041,2878,2261,2391
$GC,10381,0.51,126.5,525.5,13.8,315,10384,0.00,1.58,0.00,0.000,4,0.000,0.050,2876,3275,2391
$GC,10416,0.51,126.5,519.9,15.5,315,10420,0.00,1.50,0.00,0.000,6,0.000,0.026,2882,2259,2390
$GC,10677,0.51,126.5,483.6,14.2,322,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2253,2390
$GC,10921,0.51,126.5,450.2,13.7,328,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2253,2390
$GC,11165,0.51,126.5,417.5,13.4,334,11168,0.00,1.58,0.00,0.000,4,0.000,0.028,2890,1173,2390
$GC,11200,0.51,126.5,412.2,13.9,334,11205,0.08,1.65,0.00,0.000,6,0.162,0.041,2866,2239,2390
$GC,11461,0.51,126.5,380.8,12.0,341,11464,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3276,2389
$GC,11502,0.51,126.5,375.3,11.9,341,11509,0.00,1.48,0.00,0.000,6,0.000,0.026,2869,2273,2389
$GC,11756,0.51,126.5,349.0,10.1,348,11759,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1169,2389
$GC,11807,0.53,159.4,344.4,8.2,349,11838,0.00,1.67,26.25,0.884,6,0.000,0.041,2876,2263,2275
$GC,12093,0.53,159.4,310.1,12.4,356,12097,0.00,1.58,0.00,0.000,4,0.000,0.048,2876,3277,2270
$GC,12117,0.53,159.4,306.5,12.4,356,12121,0.00,1.52,0.00,0.000,6,0.000,0.025,2882,2250,2270
$GC,12389,0.53,159.4,270.3,13.5,363,12392,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3292,2269
$GC,12470,0.53,159.4,257.9,13.7,364,12473,0.00,1.50,0.00,0.000,6,0.000,0.025,2883,2284,2269
$GC,12730,0.53,159.4,226.0,12.0,371,12734,0.00,1.62,0.00,0.000,4,0.000,0.027,2891,1156,2269
$GC,12771,0.53,159.4,221.3,10.1,371,12779,0.00,1.73,0.00,0.000,6,0.000,0.038,2891,2267,2268
$GC,13027,0.53,163.2,193.9,9.8,381,13042,0.00,1.62,3.90,0.520,4,0.000,0.026,2897,1163,2259
$GC,13170,0.53,163.2,178.5,11.5,393,13174,0.00,1.62,0.00,0.000,6,0.000,0.038,2891,2232,2258
$GC,13441,0.53,163.2,147.2,11.0,418,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2231,2259
$GC,13708,0.53,183.2,121.5,8.9,443,13736,0.00,1.60,18.67,0.665,4,0.000,0.043,2891,3278,2178
$GC,13821,0.53,183.2,108.6,12.6,452,13825,0.08,1.52,0.00,0.000,6,0.145,0.022,2872,2238,2176
$GC,14097,0.53,183.2,82.5,10.3,477,14100,0.00,1.62,0.00,0.000,4,0.000,0.040,2872,3303,2176
$GC,14125,0.54,193.8,79.4,9.4,479,14141,0.00,1.50,10.62,0.594,6,0.000,0.022,2873,2275,2133
$GC,14402,0.57,281.4,61.1,5.3,504,14485,0.00,1.67,71.40,0.609,4,0.000,0.025,2873,1169,1775
$GC,14515,0.61,360.2,55.7,5.8,512,14585,0.00,1.70,62.70,0.591,6,0.000,0.035,2873,2276,1456
$GC,14842,0.63,419.7,33.7,6.8,541,14897,0.00,0.00,47.95,0.566,6,0.000,0.000,2873,2276,1211
$GC,15204,0.66,501.9,11.2,5.6,594,15274,0.00,1.65,64.22,0.544,4,0.000,0.022,2873,1161,878
$STATE,15325,end climb,SURFACE_DEPTH_REACHED
$STATE,15325,begin surface coast
$FINISH,0.5,0.997999
$STATE,15368,end surface coast,CONTROL_FINISHED_OK
$STATE,15368,begin surface
$SM_CCo,15455,0.00,0.000,0,0,873,503.35
$SM_GC,1.27,7.28,0.00,0.00,0.024,0.000,0.000,39,2520,873,-8.20,0.59,503.35
$IRIDIUM_FIX,2237.01,-15742.40,200103,141430
$TT8_MAMPS,0.02301
$HUMID,2160
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,27.00
$XPDR_PINGS,4
$24V_AH,23.8,34.593
$10V_AH,10.6,40.096
$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,17.925,121.450,536.075,0.000,0.000,54.208,71.293,441.532,1.000,0.000,0.000,13.109,1260.268,10198.312,488.214,3116.424,1198.840,33.371,1547.389,0.000,3122.669,0.000,0.546,0.000
$DEVICE_MAMPS,197.886,66.729,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,417.483,2029.408,2094.942,1353.921,1448.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51008,616
$CAP_FILE_SIZE,128195,0
$CFSIZE,260165632,244703232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261013,190024,2242.362,-15745.277,42,1.4,42,10.1