version: 66.04
glider: 512
mission: 4
dive: 215
start: 10 27 113 4 36 56
data:
$ID,512
$MISSION,4
$DIVE,215
$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,-110671.62
$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,73
$R_STBD_OVSHOOT,34
$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
$GPS1,042435,2241.266,-15743.144,41,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-83.6
$GPS2,043601,2241.211,-15743.278,13,1.5,13,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.089
$KALMAN_X,82237.9,137.1,204.3,-53938.3,-3514.4
$KALMAN_Y,103070.1,-327.3,-389.7,-107665.6,1306.2
$MHEAD_RNG_PITCHd_Wd,101.3,10536,-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,-85.22,0.000,2,0.000,0.000,16,2453,3061
$GC,111,-0.51,-126.5,2.6,-2.9,10,140,9.45,1.73,-7.55,0.000,4,0.198,0.054,2513,3571,3443
$GC,158,-0.51,-126.5,21.9,-43.1,15,168,0.00,1.55,0.00,0.000,6,0.000,0.019,2518,2495,3443
$GC,435,-0.51,-126.5,95.2,-20.7,41,439,0.00,1.45,0.00,0.000,4,0.000,0.020,2519,1446,3444
$GC,463,-0.51,-126.5,100.6,-18.7,43,467,0.00,1.60,0.00,0.000,6,0.000,0.035,2513,2501,3444
$GC,735,-0.51,-126.5,154.1,-19.4,68,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2501,3445
$GC,1030,-0.51,-126.5,207.8,-16.7,93,1034,0.00,1.60,0.00,0.000,4,0.000,0.044,2505,3558,3445
$GC,1090,-0.51,-126.5,218.3,-17.0,94,1093,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2489,3445
$GC,1372,-0.51,-126.5,263.1,-15.7,101,1376,0.00,1.65,0.00,0.000,4,0.000,0.041,2501,3562,3445
$GC,1391,-0.51,-126.5,266.6,-15.9,101,1394,0.00,1.45,0.00,0.000,6,0.000,0.019,2507,2529,3444
$GC,1668,-0.51,-126.5,305.6,-14.2,108,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2521,3444
$GC,1912,-0.51,-126.5,336.8,-12.6,114,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2521,3442
$GC,2156,-0.51,-126.5,368.9,-13.3,120,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2521,3441
$GC,2399,-0.51,-126.5,400.6,-12.9,126,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2521,3439
$GC,2643,-0.51,-126.5,428.8,-11.2,132,2646,0.00,1.60,0.00,0.000,4,0.000,0.045,2500,3573,3438
$GC,2713,-0.51,-126.5,436.2,-9.7,133,2716,0.00,1.52,0.00,0.000,6,0.000,0.022,2506,2506,3436
$GC,2985,-0.51,-126.5,461.2,-9.0,140,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2499,3433
$GC,3229,-0.51,-126.5,482.5,-8.8,146,3230,0.00,0.00,-0.08,0.000,6,0.000,0.000,2506,2499,3456
$GC,3472,-0.51,-126.5,505.8,-9.7,152,3476,0.00,1.62,0.00,0.000,4,0.000,0.048,2500,3560,3455
$GC,3503,-0.51,-126.5,509.5,-10.9,152,3507,0.00,1.50,0.00,0.000,6,0.000,0.024,2506,2517,3454
$GC,3769,-0.51,-126.5,537.4,-10.6,159,3773,0.00,1.48,0.00,0.000,4,0.000,0.024,2508,1460,3452
$GC,3805,-0.51,-126.5,541.7,-10.4,159,3808,0.00,1.60,0.00,0.000,6,0.000,0.041,2502,2520,3452
$GC,4066,-0.51,-126.5,570.9,-11.5,166,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2520,3449
$GC,4310,-0.51,-126.5,596.3,-10.3,172,4314,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3565,3446
$GC,4368,-0.51,-126.5,602.6,-10.3,173,4371,0.00,1.50,0.00,0.000,6,0.000,0.024,2500,2529,3446
$GC,4651,-0.51,-126.5,628.9,-9.4,180,4655,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3571,3444
$GC,4683,-0.51,-126.5,632.2,-9.6,180,4686,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2519,3443
$GC,4950,-0.51,-126.5,656.3,-9.1,187,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2513,3442
$GC,5193,-0.51,-126.5,678.5,-9.1,193,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2513,3441
$GC,5437,-0.51,-126.5,700.3,-8.9,199,5441,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3558,3439
$GC,5480,-0.51,-126.5,704.7,-10.4,199,5487,0.00,1.48,0.00,0.000,6,0.000,0.026,2500,2541,3439
$GC,5735,-0.51,-126.5,728.6,-9.6,206,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2541,3438
$GC,5977,-0.51,-126.5,754.0,-10.6,212,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2541,3437
$GC,6222,-0.51,-126.5,780.8,-11.0,218,6225,0.00,1.55,0.00,0.000,4,0.000,0.027,2508,1459,3435
$GC,6246,-0.51,-126.5,783.9,-11.5,218,6249,0.00,1.65,0.00,0.000,6,0.000,0.045,2502,2535,3435
$GC,6517,-0.51,-126.5,811.5,-10.1,225,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2535,3433
$GC,6761,-0.51,-126.5,835.1,-9.6,231,6765,0.00,1.60,0.00,0.000,4,0.000,0.056,2494,3571,3431
$GC,6797,-0.51,-126.5,839.0,-10.2,231,6800,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2552,3431
$GC,7058,-0.51,-126.5,862.0,-8.9,238,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2544,3430
$GC,7302,-0.51,-126.5,883.5,-8.8,244,7305,0.00,1.60,0.00,0.000,4,0.000,0.053,2494,3570,3430
$GC,7365,-0.51,-126.5,889.4,-8.9,245,7369,0.00,1.50,0.00,0.000,6,0.000,0.027,2500,2544,3430
$STATE,7515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7515,begin apogee
$GC,7527,-0.17,0.0,902.7,8.7,249,7640,0.40,0.00,109.95,1.249,6,0.105,0.000,2636,2205,2925
$STATE,7640,end apogee,CONTROL_FINISHED_OK
$STATE,7640,begin climb
$GC,7646,0.51,126.5,906.3,0.0,252,7778,0.57,1.65,120.53,1.195,4,0.034,0.027,2884,1175,2408
$GC,7803,0.51,126.5,895.3,15.4,255,7807,0.00,1.73,0.00,0.000,6,0.000,0.041,2884,2237,2405
$GC,8076,0.51,126.5,845.6,18.5,262,8080,0.00,1.65,0.00,0.000,4,0.000,0.047,2878,3280,2399
$GC,8206,0.51,126.5,819.6,20.6,264,8215,0.00,1.52,0.00,0.000,6,0.000,0.027,2884,2273,2398
$GC,8462,0.51,126.5,774.9,17.3,271,8465,0.00,1.60,0.00,0.000,4,0.000,0.029,2892,1188,2396
$GC,8519,0.51,126.5,765.0,15.1,272,8524,0.10,1.70,0.00,0.000,6,0.166,0.042,2861,2269,2396
$GC,8801,0.51,126.5,724.6,14.3,279,8805,0.00,1.60,0.00,0.000,4,0.000,0.050,2861,3286,2394
$GC,8820,0.51,126.5,721.4,14.1,279,8823,0.00,1.52,0.00,0.000,6,0.000,0.027,2867,2263,2394
$GC,9098,0.51,126.5,679.8,14.8,286,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2257,2393
$GC,9342,0.51,126.5,645.1,14.3,292,9346,0.00,1.62,0.00,0.000,4,0.000,0.047,2864,3282,2393
$GC,9383,0.51,126.5,638.6,14.7,292,9392,0.00,1.52,0.00,0.000,6,0.000,0.027,2868,2257,2392
$GC,9638,0.51,126.5,603.0,14.1,299,9642,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3277,2392
$GC,9712,0.51,126.5,591.4,15.4,300,9716,0.00,1.45,0.00,0.000,6,0.000,0.027,2869,2299,2391
$GC,9980,0.51,126.5,553.8,14.2,307,9984,0.00,1.67,0.00,0.000,4,0.000,0.029,2877,1155,2391
$GC,10004,0.51,126.5,549.8,13.9,307,10007,0.00,1.77,0.00,0.000,6,0.000,0.043,2877,2310,2390
$GC,10275,0.51,126.5,510.6,14.5,314,10279,0.00,1.67,0.00,0.000,4,0.000,0.028,2884,1158,2390
$GC,10325,0.51,126.5,503.4,14.3,315,10329,0.00,1.80,0.00,0.000,6,0.000,0.044,2884,2304,2390
$GC,10620,0.51,126.5,461.3,14.1,322,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2303,2390
$GC,10865,0.51,126.5,427.4,14.0,328,10868,0.00,1.67,0.00,0.000,4,0.000,0.028,2891,1147,2390
$GC,10914,0.51,126.5,420.2,13.9,329,10919,0.12,1.77,0.00,0.000,6,0.166,0.042,2860,2302,2389
$GC,11208,0.51,126.5,386.9,11.3,336,11212,0.00,1.52,0.00,0.000,4,0.000,0.048,2860,3286,2389
$GC,11272,0.51,126.5,378.9,12.0,337,11276,0.00,1.42,0.00,0.000,6,0.000,0.025,2865,2315,2389
$GC,11550,0.51,128.8,351.1,9.9,344,11553,0.00,1.65,0.00,0.000,4,0.000,0.028,2873,1174,2389
$GC,11664,0.51,128.8,338.6,11.1,346,11668,0.00,1.77,0.00,0.000,6,0.000,0.042,2872,2331,2389
$GC,11936,0.51,128.8,308.0,11.4,353,11939,0.00,1.48,0.00,0.000,4,0.000,0.048,2873,3282,2389
$GC,11954,0.51,128.8,305.4,11.1,353,11958,0.00,1.40,0.00,0.000,6,0.000,0.025,2880,2323,2389
$GC,12231,0.51,128.8,275.9,10.4,360,12235,0.00,1.65,0.00,0.000,4,0.000,0.028,2888,1163,2389
$GC,12464,0.53,162.0,255.2,8.2,365,12498,0.00,1.75,28.10,0.807,6,0.000,0.041,2888,2308,2263
$GC,12755,0.53,162.0,223.2,11.6,372,12758,0.00,1.67,0.00,0.000,4,0.000,0.025,2895,1150,2259
$GC,12774,0.53,162.0,220.6,11.6,372,12777,0.00,1.70,0.00,0.000,6,0.000,0.038,2891,2240,2258
$GC,13031,0.53,162.0,193.4,10.7,380,13035,0.00,1.60,0.00,0.000,4,0.000,0.047,2891,3291,2258
$GC,13194,0.53,162.0,173.7,12.4,394,13198,0.10,1.48,0.00,0.000,6,0.150,0.024,2866,2287,2258
$GC,13471,0.53,172.6,145.8,9.4,419,13485,0.00,1.60,9.68,0.654,4,0.000,0.041,2863,3293,2221
$GC,13548,0.53,172.6,137.0,11.6,425,13552,0.00,1.42,0.00,0.000,6,0.000,0.022,2869,2314,2220
$GC,13821,0.55,225.4,113.0,7.2,450,13875,0.00,1.70,44.65,0.664,4,0.000,0.026,2873,1164,2004
$GC,13916,0.56,256.6,105.3,8.3,457,13946,0.00,1.80,26.45,0.637,6,0.000,0.037,2873,2310,1878
$GC,14209,0.56,256.6,75.2,10.8,483,14212,0.00,1.50,0.00,0.000,4,0.000,0.043,2873,3280,1873
$GC,14238,0.56,256.6,72.1,10.1,485,14242,0.00,1.45,0.00,0.000,6,0.000,0.022,2873,2297,1872
$GC,14511,0.58,290.3,49.9,8.2,510,14545,0.00,1.62,27.75,0.588,4,0.000,0.023,2873,1157,1740
$GC,14577,0.60,348.1,44.5,6.9,515,14628,0.00,1.83,46.65,0.581,6,0.000,0.035,2872,2330,1504
$GC,14907,0.62,392.7,19.9,7.6,553,14950,0.00,1.75,36.05,0.555,4,0.000,0.022,2872,1165,1321
$GC,14987,0.65,468.0,14.3,6.0,563,15057,0.00,1.75,59.10,0.547,6,0.000,0.032,2873,2296,1018
$STATE,15132,end climb,SURFACE_DEPTH_REACHED
$STATE,15133,begin surface coast
$FINISH,0.3,1.001749
$STATE,15170,end surface coast,CONTROL_FINISHED_OK
$STATE,15170,begin surface
$SM_CCo,15255,0.00,0.000,0,0,1013,469.01
$SM_GC,1.33,7.30,0.00,0.00,0.025,0.000,0.000,48,2533,1013,-8.20,0.93,469.01
$IRIDIUM_FIX,2232.34,-15748.50,210103,000001
$TT8_MAMPS,0.023777
$HUMID,2195
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.50
$XPDR_PINGS,5
$24V_AH,23.8,35.112
$10V_AH,10.6,40.712
$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,18.050,106.450,508.900,0.000,0.000,24.716,36.748,433.700,1.250,0.000,0.000,14.010,1212.979,10168.247,465.877,2985.165,1098.556,33.367,1471.293,0.000,2985.296,0.000,0.545,0.000
$DEVICE_MAMPS,197.886,55.991,1248.676,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,398.730,1937.154,2000.490,1264.639,1335.451,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50934,588
$CAP_FILE_SIZE,119780,0
$CFSIZE,260165632,244514816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,085236,2240.342,-15742.423,42,1.0,42,10.1