version: 66.04
glider: 512
mission: 4
dive: 214
start: 10 26 113 23 58 14
data:
$ID,512
$MISSION,4
$DIVE,214
$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,-110656.98
$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,70
$R_STBD_OVSHOOT,38
$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
$GPS1,232359,2241.789,-15744.184,41,1.1,46,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-82.7
$GPS2,235719,2241.863,-15744.464,15,1.9,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,-0.032
$KALMAN_X,84374.0,365.7,136.4,-58257.1,-3291.5
$KALMAN_Y,102661.4,-72.0,408.9,-107105.2,15.8
$MHEAD_RNG_PITCHd_Wd,87.5,12892,-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,-126.5,0.0,0.0,0,91,0.00,0.00,-67.03,0.000,2,0.000,0.000,11,2518,2904
$GC,97,-0.51,-126.5,2.1,-1.8,8,125,9.48,1.58,-12.15,0.000,4,0.200,0.054,2511,3569,3441
$GC,224,-0.51,-126.5,40.2,-27.5,24,233,0.00,1.55,0.00,0.000,6,0.000,0.020,2511,2501,3441
$GC,491,-0.51,-126.5,108.4,-21.4,49,495,0.00,1.45,0.00,0.000,4,0.000,0.019,2512,1438,3442
$GC,543,-0.51,-126.5,120.1,-19.0,53,551,0.00,1.58,0.00,0.000,6,0.000,0.035,2506,2480,3441
$GC,809,-0.51,-126.5,169.8,-17.4,78,813,0.00,1.60,0.00,0.000,4,0.000,0.043,2497,3560,3442
$GC,862,-0.51,-126.5,179.9,-17.9,82,870,0.00,1.50,0.00,0.000,6,0.000,0.018,2503,2489,3442
$GC,1152,-0.51,-126.5,228.7,-16.9,98,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2482,3441
$GC,1396,-0.51,-126.5,269.9,-16.7,104,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2481,3441
$GC,1639,-0.51,-126.5,309.0,-16.0,110,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2481,3440
$GC,1883,-0.51,-126.5,341.5,-12.8,116,1887,0.00,1.65,0.00,0.000,4,0.000,0.043,2497,3558,3439
$GC,1901,-0.51,-126.5,344.1,-12.0,116,1904,0.00,1.50,0.00,0.000,6,0.000,0.020,2502,2493,3439
$GC,2178,-0.51,-126.5,375.6,-11.4,123,2182,0.00,1.42,0.00,0.000,4,0.000,0.021,2510,1453,3437
$GC,2208,-0.51,-126.5,379.5,-11.2,123,2212,0.00,1.58,0.00,0.000,6,0.000,0.038,2504,2494,3437
$GC,2475,-0.51,-126.5,407.6,-10.8,130,2478,0.00,1.60,0.00,0.000,4,0.000,0.048,2496,3563,3434
$GC,2569,-0.51,-126.5,417.9,-10.9,132,2573,0.00,1.50,0.00,0.000,6,0.000,0.020,2502,2505,3432
$GC,2864,-0.51,-126.5,450.6,-11.4,139,2866,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2498,3454
$GC,3108,-0.51,-126.5,479.0,-11.7,145,3111,0.00,1.62,0.00,0.000,4,0.000,0.047,2496,3560,3452
$GC,3143,-0.51,-126.5,483.5,-12.2,145,3147,0.00,1.48,0.00,0.000,6,0.000,0.021,2501,2523,3451
$GC,3403,-0.51,-126.5,511.9,-10.9,152,3407,0.00,1.60,0.00,0.000,4,0.000,0.048,2496,3562,3449
$GC,3428,-0.51,-126.5,514.7,-10.2,152,3431,0.00,1.48,0.00,0.000,6,0.000,0.021,2501,2528,3449
$GC,3699,-0.51,-126.5,542.2,-10.1,159,3702,0.00,1.50,0.00,0.000,4,0.000,0.024,2509,1457,3447
$GC,3750,-0.51,-126.5,547.0,-8.6,160,3754,0.00,1.62,0.00,0.000,6,0.000,0.042,2503,2529,3446
$GC,4045,-0.51,-126.5,575.3,-9.6,167,4048,0.00,1.60,0.00,0.000,4,0.000,0.051,2495,3582,3443
$GC,4086,-0.51,-126.5,580.1,-10.2,167,4093,0.00,1.52,0.00,0.000,6,0.000,0.024,2501,2518,3443
$GC,4340,-0.51,-126.5,605.7,-10.1,174,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2517,3440
$GC,4584,-0.51,-126.5,631.0,-10.3,180,4587,0.00,1.62,0.00,0.000,4,0.000,0.051,2495,3566,3439
$GC,4642,-0.51,-126.5,637.7,-10.5,181,4646,0.00,1.50,0.00,0.000,6,0.000,0.023,2500,2526,3439
$GC,4925,-0.51,-126.5,666.2,-10.2,188,4929,0.00,1.50,0.00,0.000,4,0.000,0.025,2508,1465,3437
$GC,4967,-0.51,-126.5,670.6,-8.7,188,4974,0.00,1.62,0.00,0.000,6,0.000,0.044,2503,2514,3437
$GC,5222,-0.51,-126.5,694.3,-9.4,195,5225,0.00,1.60,0.00,0.000,4,0.000,0.054,2495,3562,3435
$GC,5325,-0.51,-126.5,704.1,-8.7,197,5329,0.05,1.50,0.00,0.000,6,0.130,0.025,2523,2526,3433
$GC,5608,-0.51,-126.5,722.2,-6.2,204,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3431
$GC,5853,-0.51,-126.5,738.1,-6.6,210,5856,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3558,3430
$GC,5888,-0.51,-126.5,741.1,-6.8,210,5892,0.00,1.48,0.00,0.000,6,0.000,0.026,2523,2549,3430
$GC,6150,-0.51,-126.5,761.4,-8.3,217,6153,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1455,3429
$GC,6174,-0.51,-126.5,764.0,-9.2,217,6178,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2538,3429
$GC,6446,-0.51,-126.5,788.4,-9.3,224,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3428
$GC,6689,-0.51,-126.5,809.9,-8.8,230,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3426
$GC,6933,-0.51,-126.5,829.7,-8.0,236,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3425
$GC,7177,-0.51,-126.5,847.2,-7.1,242,7181,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3562,3423
$GC,7227,-0.51,-126.5,850.7,-6.7,243,7231,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2543,3422
$GC,7523,-0.51,-126.5,869.4,-6.4,250,7526,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1455,3421
$GC,7547,-0.51,-126.5,871.2,-6.6,250,7551,0.00,1.67,0.00,0.000,6,0.000,0.049,2523,2538,3421
$GC,7819,-0.51,-126.5,888.4,-6.5,257,7823,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3568,3420
$GC,7869,-0.51,-126.5,891.5,-6.1,258,7873,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2550,3420
$STATE,8037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8037,begin apogee
$GC,8049,-0.17,0.0,902.4,6.2,262,8161,0.35,0.00,108.20,1.255,6,0.094,0.000,2642,2197,2925
$STATE,8161,end apogee,CONTROL_FINISHED_OK
$STATE,8161,begin climb
$GC,8167,0.51,126.5,904.7,0.0,265,8298,0.57,0.00,120.30,1.200,6,0.030,0.000,2885,2196,2409
$GC,8549,0.51,126.5,852.4,19.0,274,8553,0.00,1.75,0.00,0.000,4,0.000,0.048,2878,3295,2399
$GC,8607,0.51,126.5,838.9,19.7,275,8610,0.00,1.55,0.00,0.000,6,0.000,0.026,2885,2270,2398
$GC,8889,0.51,126.5,787.7,17.9,282,8893,0.00,1.65,0.00,0.000,4,0.000,0.028,2892,1156,2396
$GC,8930,0.51,126.5,780.2,16.2,282,8939,0.10,1.73,0.00,0.000,6,0.163,0.041,2861,2255,2396
$GC,9186,0.51,126.5,743.0,14.7,289,9189,0.00,1.60,0.00,0.000,4,0.000,0.049,2861,3273,2394
$GC,9238,0.51,126.5,734.0,16.8,290,9242,0.00,1.52,0.00,0.000,6,0.000,0.026,2867,2249,2395
$GC,9526,0.51,126.5,690.2,15.1,297,9529,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3278,2394
$GC,9555,0.51,126.5,685.3,15.6,297,9559,0.00,1.48,0.00,0.000,6,0.000,0.026,2869,2280,2393
$GC,9822,0.51,126.5,645.7,15.2,304,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2274,2393
$GC,10066,0.51,126.5,607.5,16.0,310,10070,0.00,1.58,0.00,0.000,4,0.000,0.048,2864,3271,2392
$GC,10141,0.51,126.5,593.8,17.1,311,10144,0.00,1.42,0.00,0.000,6,0.000,0.026,2869,2309,2392
$GC,10407,0.51,126.5,548.9,16.9,318,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2302,2392
$GC,10650,0.51,126.5,511.7,14.8,324,10654,0.00,1.65,0.00,0.000,4,0.000,0.029,2877,1153,2391
$GC,10760,0.51,126.5,496.2,13.1,326,10763,0.00,1.77,0.00,0.000,6,0.000,0.041,2876,2313,2390
$GC,11037,0.51,126.5,461.5,12.4,333,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2312,2390
$GC,11281,0.51,126.5,434.0,11.1,339,11284,0.00,1.50,0.00,0.000,4,0.000,0.051,2876,3275,2390
$GC,11305,0.51,126.5,430.7,11.9,339,11309,0.00,1.45,0.00,0.000,6,0.000,0.026,2881,2289,2389
$GC,11577,0.51,126.5,399.3,11.5,346,11581,0.00,1.58,0.00,0.000,4,0.000,0.048,2878,3280,2389
$GC,11652,0.51,126.5,390.3,10.5,347,11655,0.00,1.38,0.00,0.000,6,0.000,0.027,2883,2349,2389
$GC,11917,0.51,126.5,362.1,11.0,354,11921,0.00,1.73,0.00,0.000,4,0.000,0.028,2891,1166,2389
$GC,12038,0.51,126.5,348.9,10.7,356,12042,0.12,1.80,0.00,0.000,6,0.163,0.042,2860,2342,2389
$GC,12303,0.51,126.5,320.8,11.1,363,12307,0.00,1.45,0.00,0.000,4,0.000,0.049,2859,3277,2389
$GC,12497,0.51,126.5,298.9,10.9,367,12501,0.00,1.35,0.00,0.000,6,0.000,0.025,2864,2348,2389
$GC,12786,0.52,153.1,271.6,8.6,374,12811,0.00,1.70,20.90,0.817,4,0.000,0.026,2872,1165,2299
$GC,12873,0.53,160.8,263.9,9.6,376,12887,0.00,1.83,8.05,0.726,6,0.000,0.041,2873,2345,2269
$GC,13165,0.53,160.8,232.2,10.7,383,13169,0.00,1.75,0.00,0.000,4,0.000,0.025,2881,1177,2265
$GC,13189,0.53,160.8,229.2,10.3,383,13193,0.00,1.77,0.00,0.000,6,0.000,0.041,2877,2332,2264
$GC,13461,0.53,160.8,202.2,10.1,390,13465,0.00,1.70,0.00,0.000,4,0.000,0.026,2884,1152,2264
$GC,13513,0.53,164.2,197.3,9.8,391,13527,0.00,1.83,3.88,0.513,6,0.000,0.039,2884,2346,2255
$GC,13787,0.53,164.2,166.6,11.0,416,13791,0.00,1.73,0.00,0.000,4,0.000,0.024,2891,1152,2255
$GC,13860,0.53,164.2,158.0,10.7,422,13863,0.00,1.73,0.00,0.000,6,0.000,0.037,2891,2286,2255
$GC,14133,0.53,164.2,130.6,10.1,447,14137,0.00,1.52,0.00,0.000,4,0.000,0.044,2891,3281,2255
$GC,14274,0.53,164.2,114.6,11.5,459,14278,0.10,1.42,0.00,0.000,6,0.145,0.023,2865,2306,2255
$GC,14551,0.55,216.5,93.5,7.2,484,14605,0.00,1.67,44.88,0.647,4,0.000,0.025,2872,1156,2040
$GC,14668,0.56,235.0,83.0,9.0,493,14696,0.00,1.70,16.20,0.606,6,0.000,0.036,2872,2270,1965
$GC,14959,0.58,289.1,57.9,7.1,519,15008,0.00,0.00,44.45,0.601,6,0.000,0.000,2871,2270,1744
$GC,15270,0.60,346.9,37.4,6.9,548,15326,0.00,1.67,46.00,0.574,4,0.000,0.023,2873,1160,1508
$GC,15346,0.62,404.0,31.3,7.0,553,15396,0.00,1.70,46.12,0.562,6,0.000,0.034,2872,2248,1278
$GC,15702,0.65,477.2,9.5,6.1,606,15764,0.00,1.65,57.92,0.542,4,0.000,0.041,2871,3288,978
$STATE,15797,end climb,SURFACE_DEPTH_REACHED
$STATE,15797,begin surface coast
$FINISH,1.4,1.022957
$STATE,15811,end surface coast,CONTROL_FINISHED_OK
$STATE,15811,begin surface
$SM_CCo,15896,0.00,0.000,0,0,975,478.33
$SM_GC,1.25,7.28,0.00,0.00,0.021,0.000,0.000,37,2459,975,-8.21,-1.16,478.33
$IRIDIUM_FIX,2232.34,-15746.34,200103,232334
$TT8_MAMPS,0.023777
$HUMID,2186
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.60
$XPDR_PINGS,6
$24V_AH,23.8,34.955
$10V_AH,10.6,40.512
$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,18.050,114.675,516.900,0.000,0.000,145.444,200.043,1207.685,1.500,0.000,0.000,15.174,1283.448,10721.807,472.292,3208.952,2202.725,33.374,1535.211,0.000,3205.269,0.000,0.546,0.000
$DEVICE_MAMPS,200.187,58.292,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,420.815,2040.969,2113.800,1336.972,1440.820,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54066,620
$CAP_FILE_SIZE,143167,0
$CFSIZE,260165632,244559872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,042435,2241.266,-15743.144,41,1.2,41,10.1