version: 66.04
glider: 512
mission: 4
dive: 216
start: 10 27 113 9 29 54
data:
$ID,512
$MISSION,4
$DIVE,216
$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,-110687.34
$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,56
$R_STBD_OVSHOOT,49
$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
$GPS1,085236,2240.342,-15742.423,42,1.0,42,10.1
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-81.8
$GPS2,092855,2240.273,-15742.881,15,1.9,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.104
$KALMAN_X,79578.8,-153.5,-236.3,-49863.5,-2338.4
$KALMAN_Y,102798.2,-381.2,-232.3,-109228.5,1284.0
$MHEAD_RNG_PITCHd_Wd,105.2,9216,-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,-126.5,0.0,0.0,0,97,0.00,0.00,-76.80,0.000,2,0.000,0.000,14,2542,2861
$GC,103,-0.51,-126.5,2.2,-1.4,9,132,9.52,1.52,-13.48,0.000,4,0.202,0.057,2516,3559,3442
$GC,252,-0.51,-126.5,43.3,-24.1,27,256,0.00,1.55,0.00,0.000,6,0.000,0.019,2516,2490,3442
$GC,523,-0.51,-126.5,110.2,-21.4,52,527,0.00,1.65,0.00,0.000,4,0.000,0.044,2508,3547,3443
$GC,563,-0.51,-126.5,119.0,-22.8,55,567,0.00,1.50,0.00,0.000,6,0.000,0.018,2509,2485,3442
$GC,835,-0.51,-126.5,170.5,-17.2,80,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2477,3443
$GC,1096,-0.51,-126.5,213.9,-16.4,99,1100,0.00,1.60,0.00,0.000,4,0.000,0.042,2503,3541,3443
$GC,1147,-0.51,-126.5,221.9,-15.5,100,1151,0.00,1.42,0.00,0.000,6,0.000,0.018,2503,2521,3442
$GC,1441,-0.51,-126.5,269.0,-15.8,107,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2513,3441
$GC,1685,-0.51,-126.5,302.8,-13.6,113,1688,0.00,1.45,0.00,0.000,4,0.000,0.020,2510,1455,3440
$GC,1747,-0.51,-126.5,310.3,-11.1,114,1751,0.00,1.55,0.00,0.000,6,0.000,0.038,2505,2478,3439
$GC,2025,-0.51,-126.5,342.7,-12.0,121,2029,0.00,1.62,0.00,0.000,4,0.000,0.047,2497,3564,3438
$GC,2144,-0.51,-126.5,358.1,-12.3,123,2148,0.00,1.50,0.00,0.000,6,0.000,0.020,2502,2501,3437
$GC,2411,-0.51,-126.5,393.9,-14.0,130,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2494,3433
$GC,2654,-0.51,-126.5,428.0,-13.8,136,2656,0.00,0.00,-0.08,0.000,6,0.000,0.000,2503,2494,3454
$GC,2898,-0.51,-126.5,461.2,-13.2,142,2902,0.00,1.62,0.00,0.000,4,0.000,0.045,2496,3558,3452
$GC,3017,-0.51,-126.5,475.5,-10.8,144,3021,0.00,1.48,0.00,0.000,6,0.000,0.021,2502,2521,3451
$GC,3284,-0.51,-126.5,501.5,-9.6,151,3288,0.00,1.48,0.00,0.000,4,0.000,0.023,2510,1455,3449
$GC,3314,-0.51,-126.5,504.7,-9.1,151,3318,0.00,1.62,0.00,0.000,6,0.000,0.043,2510,2509,3449
$GC,3580,-0.51,-126.5,527.1,-8.6,158,3584,0.00,1.62,0.00,0.000,4,0.000,0.053,2509,3559,3446
$GC,3666,-0.51,-126.5,535.3,-9.4,159,3676,0.00,1.48,0.00,0.000,6,0.000,0.023,2509,2523,3445
$GC,3922,-0.51,-126.5,559.4,-9.7,166,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2521,3443
$GC,4167,-0.51,-126.5,582.7,-9.6,172,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2521,3440
$GC,4409,-0.51,-126.5,605.7,-9.4,178,4413,0.00,1.60,0.00,0.000,4,0.000,0.049,2501,3562,3438
$GC,4434,-0.51,-126.5,608.5,-9.9,178,4438,0.00,1.48,0.00,0.000,6,0.000,0.024,2505,2539,3438
$GC,4706,-0.51,-126.5,633.6,-9.2,185,4710,0.00,1.62,0.00,0.000,4,0.000,0.051,2499,3559,3437
$GC,4775,-0.51,-126.5,640.7,-9.5,186,4778,0.00,1.45,0.00,0.000,6,0.000,0.025,2504,2557,3436
$GC,5048,-0.51,-126.5,664.3,-8.6,193,5051,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1456,3434
$GC,5142,-0.51,-126.5,672.2,-8.2,195,5146,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2530,3433
$GC,5438,-0.51,-126.5,698.5,-9.1,202,5441,0.00,1.60,0.00,0.000,4,0.000,0.053,2494,3576,3431
$GC,5508,-0.51,-126.5,705.8,-9.9,203,5512,0.05,1.50,0.00,0.000,6,0.133,0.025,2522,2547,3430
$GC,5779,-0.51,-126.5,728.1,-8.3,210,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2540,3429
$GC,6023,-0.51,-126.5,748.3,-8.2,216,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3428
$GC,6267,-0.51,-126.5,768.1,-8.2,222,6270,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1455,3426
$GC,6297,-0.51,-126.5,771.0,-9.7,222,6300,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2556,3426
$GC,6564,-0.51,-126.5,792.0,-8.0,229,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2556,3424
$GC,6807,-0.51,-126.5,810.1,-7.2,235,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2556,3422
$GC,7051,-0.51,-126.5,827.1,-7.0,241,7055,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3555,3421
$GC,7076,-0.51,-126.5,829.0,-6.7,241,7079,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2551,3421
$GC,7347,-0.51,-126.5,845.4,-6.1,248,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2542,3420
$GC,7591,-0.51,-126.5,860.5,-6.2,254,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2542,3419
$GC,7834,-0.51,-126.5,875.0,-5.9,260,7838,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3555,3418
$GC,7865,-0.51,-126.5,877.0,-6.4,260,7868,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2554,3418
$GC,8131,-0.51,-126.5,891.6,-5.5,267,8134,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1452,3417
$GC,8155,-0.51,-126.5,893.3,-6.4,267,8159,0.00,1.75,0.00,0.000,6,0.000,0.050,2522,2559,3416
$STATE,8301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8301,begin apogee
$GC,8313,-0.17,0.0,901.5,5.7,271,8424,0.35,0.00,107.07,1.259,6,0.094,0.000,2643,2221,2925
$STATE,8425,end apogee,CONTROL_FINISHED_OK
$STATE,8425,begin climb
$GC,8430,0.51,126.5,904.1,0.0,274,8562,0.55,1.70,120.70,1.201,4,0.031,0.028,2888,1169,2408
$GC,8643,0.51,126.5,882.7,17.9,278,8647,0.00,1.70,0.00,0.000,6,0.000,0.041,2888,2228,2401
$GC,8904,0.51,126.5,833.4,19.6,285,8907,0.00,1.65,0.00,0.000,4,0.000,0.048,2889,3286,2399
$GC,9024,0.51,126.5,808.1,21.0,287,9028,0.08,1.55,0.00,0.000,6,0.166,0.027,2864,2265,2397
$GC,9289,0.51,126.5,763.4,16.6,294,9293,0.00,1.62,0.00,0.000,4,0.000,0.029,2871,1135,2395
$GC,9359,0.51,126.5,752.0,15.4,295,9362,0.00,1.75,0.00,0.000,6,0.000,0.042,2871,2263,2395
$GC,9630,0.51,126.5,707.5,16.8,302,9634,0.00,1.60,0.00,0.000,4,0.000,0.051,2871,3278,2394
$GC,9699,0.51,126.5,694.9,17.0,303,9703,0.00,1.52,0.00,0.000,6,0.000,0.028,2878,2261,2394
$GC,9971,0.51,126.5,650.3,16.5,310,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2255,2393
$GC,10215,0.51,126.5,610.8,16.0,316,10219,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3299,2392
$GC,10245,0.51,126.5,605.1,18.3,316,10249,0.00,1.52,0.00,0.000,6,0.000,0.027,2882,2278,2392
$GC,10511,0.51,126.5,562.7,16.1,323,10514,0.00,1.60,0.00,0.000,4,0.000,0.048,2878,3278,2392
$GC,10535,0.51,126.5,558.3,15.7,323,10539,0.00,1.48,0.00,0.000,6,0.000,0.027,2884,2291,2392
$GC,10806,0.51,126.5,516.0,15.6,330,10810,0.00,1.62,0.00,0.000,4,0.000,0.029,2891,1157,2391
$GC,10847,0.51,126.5,509.7,14.2,330,10856,0.10,1.77,0.00,0.000,6,0.157,0.042,2860,2295,2390
$GC,11103,0.51,126.5,479.5,11.7,337,11107,0.00,1.52,0.00,0.000,4,0.000,0.051,2860,3276,2390
$GC,11166,0.51,126.5,471.1,12.7,338,11170,0.00,1.42,0.00,0.000,6,0.000,0.027,2865,2316,2390
$GC,11443,0.51,126.5,439.1,11.6,345,11446,0.00,1.65,0.00,0.000,4,0.000,0.029,2873,1168,2389
$GC,11501,0.51,126.5,431.9,11.7,346,11505,0.00,1.77,0.00,0.000,6,0.000,0.042,2873,2325,2389
$GC,11784,0.51,126.5,397.8,12.7,353,11788,0.00,1.50,0.00,0.000,4,0.000,0.049,2873,3288,2390
$GC,11820,0.51,126.5,392.3,15.1,353,11823,0.00,1.42,0.00,0.000,6,0.000,0.025,2880,2321,2389
$GC,12080,0.51,126.5,357.4,13.5,360,12083,0.00,1.52,0.00,0.000,4,0.000,0.048,2878,3278,2389
$GC,12115,0.51,126.5,352.3,14.1,360,12119,0.00,1.38,0.00,0.000,6,0.000,0.027,2883,2350,2389
$GC,12376,0.51,126.5,320.0,12.3,367,12380,0.00,1.50,0.00,0.000,4,0.000,0.048,2884,3290,2390
$GC,12471,0.51,126.5,309.1,11.8,369,12475,0.10,1.33,0.00,0.000,6,0.166,0.025,2860,2390,2390
$GC,12765,0.52,152.7,283.4,8.6,376,12790,0.00,1.75,20.33,0.825,4,0.000,0.026,2867,1162,2302
$GC,12966,0.52,152.7,261.8,11.7,380,12970,0.00,1.85,0.00,0.000,6,0.000,0.042,2866,2357,2298
$GC,13232,0.52,152.7,230.7,11.4,387,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2357,2297
$GC,13476,0.54,185.5,210.3,8.3,393,13510,0.00,1.80,28.52,0.766,4,0.000,0.027,2870,1171,2167
$GC,13581,0.56,246.8,202.6,6.7,395,13638,0.00,1.80,51.88,0.746,6,0.000,0.038,2870,2336,1918
$GC,13899,0.56,246.8,160.1,15.8,420,13902,0.00,1.48,0.00,0.000,4,0.000,0.046,2870,3279,1910
$GC,13938,0.56,246.8,153.7,16.8,423,13942,0.00,1.40,0.00,0.000,6,0.000,0.024,2877,2338,1909
$GC,14209,0.56,246.8,111.1,14.1,448,14213,0.00,1.73,0.00,0.000,4,0.000,0.026,2885,1155,1909
$GC,14260,0.56,246.8,104.6,11.8,452,14264,0.00,1.83,0.00,0.000,6,0.000,0.038,2884,2327,1908
$GC,14533,0.56,246.8,71.9,10.8,477,14536,0.00,1.48,0.00,0.000,4,0.000,0.043,2885,3286,1908
$GC,14552,0.56,253.1,69.6,9.7,478,14562,0.00,1.42,5.28,0.502,6,0.000,0.022,2886,2319,1892
$GC,14823,0.57,275.8,46.7,8.8,503,14852,0.00,1.67,20.00,0.589,4,0.000,0.025,2886,1167,1799
$GC,14976,0.60,352.2,34.5,5.9,515,15041,0.00,1.73,61.38,0.581,6,0.000,0.036,2886,2305,1488
$STATE,15287,end climb,SURFACE_DEPTH_REACHED
$STATE,15287,begin surface coast
$FINISH,0.4,1.023084
$STATE,15319,end surface coast,CONTROL_FINISHED_OK
$STATE,15319,begin surface
$SM_CCo,15344,15.88,0.522,0,0,1333,390.02
$SM_GC,1.50,0.00,0.00,15.88,0.000,0.000,0.522,40,2531,1333,-8.29,0.88,390.02
$IRIDIUM_FIX,2232.34,-15741.13,210103,090938
$TT8_MAMPS,0.023777
$HUMID,2261
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.70
$XPDR_PINGS,6
$24V_AH,23.8,35.334
$10V_AH,10.6,40.922
$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,17.975,108.350,415.150,15.875,0.000,116.897,151.438,1528.250,1.500,0.000,0.000,15.090,1228.435,10485.330,431.958,2992.494,2404.159,33.369,1398.930,0.000,2976.931,0.000,0.546,0.000
$DEVICE_MAMPS,201.721,57.525,1258.647,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,385.157,1856.518,1915.472,1083.782,1256.856,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47845,564
$CAP_FILE_SIZE,143325,0
$CFSIZE,260165632,244436992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,134724,2239.426,-15741.867,40,1.3,40,10.1