version: 66.04
glider: 512
mission: 4
dive: 218
start: 10 27 113 18 31 18
data:
$ID,512
$MISSION,4
$DIVE,218
$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,-110716.16
$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,64
$R_STBD_OVSHOOT,51
$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
$GPS1,181754,2239.154,-15741.049,39,1.9,39,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-83.8
$GPS2,183019,2239.165,-15741.227,12,1.2,12,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.053
$KALMAN_X,73669.9,11.0,-8.4,-41521.8,-3339.0
$KALMAN_Y,102271.7,82.2,-398.2,-111061.8,788.4
$MHEAD_RNG_PITCHd_Wd,92.5,5941,-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,-76.88,0.000,2,0.000,0.000,23,2544,2919
$GC,103,-0.51,-126.5,2.1,-1.8,9,131,9.40,1.55,-11.50,0.000,4,0.198,0.054,2514,3552,3440
$GC,345,-0.51,-126.5,68.5,-22.2,34,349,0.00,1.52,0.00,0.000,6,0.000,0.021,2514,2501,3440
$GC,618,-0.51,-126.5,129.8,-21.5,59,622,0.00,1.60,0.00,0.000,4,0.000,0.039,2506,3540,3441
$GC,657,-0.51,-126.5,138.2,-20.7,62,661,0.00,1.48,0.00,0.000,6,0.000,0.018,2507,2504,3441
$GC,929,-0.51,-126.5,193.0,-19.3,87,932,0.00,1.45,0.00,0.000,4,0.000,0.019,2507,1449,3442
$GC,969,-0.51,-126.5,201.1,-18.2,90,979,0.00,1.60,0.00,0.000,6,0.000,0.035,2501,2508,3441
$GC,1226,-0.51,-126.5,243.3,-16.6,97,1230,0.00,1.60,0.00,0.000,4,0.000,0.044,2493,3583,3442
$GC,1276,-0.51,-126.5,251.4,-14.6,98,1280,0.00,1.48,0.00,0.000,6,0.000,0.018,2498,2532,3441
$GC,1570,-0.51,-126.5,290.0,-12.7,105,1574,0.00,1.60,0.00,0.000,4,0.000,0.041,2492,3589,3440
$GC,1611,-0.51,-126.5,295.8,-13.7,105,1620,0.00,1.45,0.00,0.000,6,0.000,0.019,2498,2547,3441
$GC,1868,-0.51,-126.5,330.1,-14.0,112,1872,0.10,1.48,0.00,0.000,4,0.143,0.018,2527,1461,3439
$GC,1919,-0.51,-126.5,336.8,-10.1,113,1923,0.00,1.62,0.00,0.000,6,0.000,0.038,2523,2547,3439
$GC,2208,-0.51,-126.5,367.7,-11.0,120,2211,0.00,1.55,0.00,0.000,4,0.000,0.049,2523,3558,3437
$GC,2243,-0.51,-126.5,371.9,-11.5,120,2247,0.00,1.42,0.00,0.000,6,0.000,0.021,2523,2553,3437
$GC,2505,-0.51,-126.5,399.6,-10.7,127,2508,0.00,1.50,0.00,0.000,4,0.000,0.021,2523,1468,3434
$GC,2562,-0.51,-126.5,406.2,-10.1,128,2566,0.00,1.60,0.00,0.000,6,0.000,0.040,2515,2516,3433
$GC,2845,-0.51,-126.5,436.3,-11.0,135,2847,0.00,0.00,-0.08,0.000,6,0.000,0.000,2515,2516,3454
$GC,3088,-0.51,-126.5,463.1,-11.1,141,3092,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3583,3453
$GC,3139,-0.51,-126.5,469.0,-11.2,142,3143,0.00,1.50,0.00,0.000,6,0.000,0.022,2507,2540,3452
$GC,3433,-0.51,-126.5,504.0,-11.9,149,3437,0.00,1.52,0.00,0.000,4,0.000,0.023,2508,1453,3450
$GC,3463,-0.51,-126.5,508.0,-12.1,149,3467,0.00,1.62,0.00,0.000,6,0.000,0.042,2502,2509,3450
$GC,3728,-0.51,-126.5,540.1,-12.4,156,3732,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3565,3447
$GC,3831,-0.51,-126.5,553.6,-12.2,158,3835,0.00,1.48,0.00,0.000,6,0.000,0.023,2500,2535,3446
$GC,4114,-0.51,-126.5,588.7,-12.3,165,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2529,3444
$GC,4358,-0.51,-126.5,616.4,-11.1,171,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2529,3442
$GC,4601,-0.51,-126.5,641.6,-10.3,177,4605,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3565,3439
$GC,4633,-0.51,-126.5,645.0,-11.1,177,4636,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2528,3439
$GC,4900,-0.51,-126.5,670.1,-9.3,184,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2520,3438
$GC,5143,-0.51,-126.5,692.7,-9.2,190,5147,0.00,1.52,0.00,0.000,4,0.000,0.025,2507,1451,3437
$GC,5179,-0.51,-126.5,696.4,-8.7,190,5183,0.00,1.67,0.00,0.000,6,0.000,0.044,2501,2524,3436
$GC,5440,-0.51,-126.5,720.0,-9.2,197,5443,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3565,3435
$GC,5490,-0.51,-126.5,724.9,-9.5,198,5494,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2534,3433
$GC,5785,-0.51,-126.5,753.4,-9.8,205,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2526,3431
$GC,6030,-0.51,-126.5,776.0,-9.1,211,6033,0.00,1.52,0.00,0.000,4,0.000,0.025,2504,1456,3430
$GC,6054,-0.51,-126.5,778.8,-9.2,211,6058,0.00,1.67,0.00,0.000,6,0.000,0.046,2500,2546,3430
$GC,6326,-0.51,-126.5,801.3,-8.5,218,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2545,3429
$GC,6570,-0.51,-126.5,821.5,-8.1,224,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2545,3428
$GC,6813,-0.51,-126.5,840.9,-7.9,230,6817,0.00,1.60,0.00,0.000,4,0.000,0.056,2492,3559,3427
$GC,6855,-0.51,-126.5,844.6,-8.6,230,6861,0.08,1.50,0.00,0.000,6,0.125,0.028,2523,2530,3426
$GC,7110,-0.51,-126.5,860.0,-5.9,237,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3425
$GC,7353,-0.51,-126.5,875.6,-6.5,243,7357,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3564,3424
$GC,7395,-0.51,-126.5,878.5,-6.3,243,7404,0.00,1.50,0.00,0.000,6,0.000,0.028,2522,2531,3423
$GC,7651,-0.51,-126.5,895.5,-6.9,250,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3422
$STATE,7725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7725,begin apogee
$GC,7737,-0.17,0.0,901.1,6.9,252,7849,0.35,0.00,107.62,1.254,6,0.093,0.000,2643,2221,2925
$STATE,7849,end apogee,CONTROL_FINISHED_OK
$STATE,7849,begin climb
$GC,7855,0.51,126.5,904.7,0.0,255,7987,0.55,1.70,120.78,1.201,4,0.029,0.028,2891,1161,2408
$GC,8023,0.51,126.5,893.0,16.3,258,8028,0.12,1.75,0.00,0.000,6,0.178,0.042,2864,2234,2404
$GC,8285,0.51,126.5,852.7,15.5,265,8289,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3283,2398
$GC,8360,0.51,126.5,839.6,17.5,266,8363,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2242,2397
$GC,8626,0.51,126.5,795.4,17.0,273,8629,0.00,1.65,0.00,0.000,4,0.000,0.047,2863,3286,2396
$GC,8678,0.51,126.5,785.7,17.5,274,8682,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2268,2395
$GC,8966,0.51,126.5,739.9,15.9,281,8970,0.00,1.62,0.00,0.000,4,0.000,0.029,2877,1173,2395
$GC,9019,0.51,126.5,731.1,16.4,282,9022,0.00,1.70,0.00,0.000,6,0.000,0.041,2877,2277,2395
$GC,9308,0.51,126.5,684.0,16.7,289,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2277,2394
$GC,9553,0.51,126.5,643.7,16.4,295,9556,0.00,1.65,0.00,0.000,4,0.000,0.028,2884,1161,2393
$GC,9582,0.51,126.5,637.6,17.1,295,9586,0.00,1.75,0.00,0.000,6,0.000,0.044,2884,2275,2393
$GC,9848,0.51,126.5,594.7,16.2,302,9852,0.00,1.58,0.00,0.000,4,0.000,0.048,2878,3282,2392
$GC,9898,0.51,126.5,586.4,16.5,303,9902,0.00,1.50,0.00,0.000,6,0.000,0.028,2884,2278,2392
$GC,10193,0.51,126.5,541.4,14.9,310,10197,0.00,1.62,0.00,0.000,4,0.000,0.029,2891,1143,2391
$GC,10257,0.51,126.5,531.9,13.2,311,10261,0.10,1.75,0.00,0.000,6,0.159,0.043,2860,2259,2391
$GC,10533,0.51,126.5,498.8,11.8,318,10537,0.00,1.60,0.00,0.000,4,0.000,0.048,2860,3285,2391
$GC,10557,0.51,126.5,495.2,13.4,318,10561,0.00,1.55,0.00,0.000,6,0.000,0.026,2866,2237,2390
$GC,10830,0.51,126.5,460.7,12.6,325,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2231,2390
$GC,11075,0.51,126.5,430.7,12.2,331,11078,0.00,1.65,0.00,0.000,4,0.000,0.047,2863,3295,2390
$GC,11215,0.51,126.5,410.7,14.7,334,11218,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2247,2390
$GC,11508,0.51,126.5,376.9,10.6,341,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2241,2389
$GC,11752,0.52,134.9,352.7,9.6,347,11759,0.00,0.00,5.15,0.710,6,0.000,0.000,2869,2241,2375
$GC,11996,0.52,136.4,328.6,9.9,353,11999,0.00,1.58,0.00,0.000,4,0.000,0.028,2877,1167,2374
$GC,12065,0.52,150.8,321.5,9.2,354,12089,0.00,1.70,15.52,0.843,6,0.000,0.041,2876,2283,2310
$GC,12336,0.52,150.8,291.3,11.4,361,12339,0.00,1.55,0.00,0.000,4,0.000,0.048,2876,3279,2307
$GC,12477,0.52,150.8,273.9,12.6,364,12481,0.00,1.42,0.00,0.000,6,0.000,0.025,2881,2313,2307
$GC,12765,0.52,150.8,242.6,10.7,371,12769,0.00,1.52,0.00,0.000,4,0.000,0.045,2878,3277,2307
$GC,12871,0.52,150.8,231.2,11.0,373,12874,0.00,1.35,0.00,0.000,6,0.000,0.024,2883,2356,2307
$GC,13153,0.52,150.8,202.8,10.3,380,13157,0.00,1.73,0.00,0.000,4,0.000,0.025,2891,1158,2307
$GC,13333,0.53,171.3,186.4,8.9,392,13368,0.00,1.80,20.40,0.680,6,0.000,0.040,2891,2318,2227
$GC,13629,0.53,171.3,154.5,11.2,419,13633,0.00,1.67,0.00,0.000,4,0.000,0.025,2897,1167,2224
$GC,13750,0.53,171.3,140.7,11.5,429,13753,0.00,1.67,0.00,0.000,6,0.000,0.038,2892,2272,2223
$GC,14021,0.53,171.3,107.1,11.6,454,14025,0.00,1.55,0.00,0.000,4,0.000,0.043,2891,3284,2223
$GC,14097,0.53,172.5,98.5,9.9,460,14106,0.10,1.50,0.00,0.000,6,0.143,0.022,2866,2257,2223
$GC,14369,0.57,264.4,80.5,5.1,485,14452,0.00,1.62,76.12,0.628,4,0.000,0.024,2870,1160,1847
$GC,14494,0.59,329.8,73.1,6.5,494,14551,0.00,1.67,53.10,0.607,6,0.000,0.036,2870,2242,1580
$GC,14808,0.62,388.5,50.8,6.9,522,14863,0.00,1.62,46.45,0.584,4,0.000,0.041,2870,3277,1343
$GC,14928,0.65,466.2,42.0,5.9,531,14999,0.00,1.52,62.62,0.573,6,0.000,0.021,2869,2249,1024
$GC,15284,0.65,466.2,9.2,12.5,574,15293,0.00,1.58,0.00,0.000,4,0.000,0.023,2870,1158,1019
$STATE,15331,end climb,SURFACE_DEPTH_REACHED
$STATE,15331,begin surface coast
$FINISH,2.4,1.022984
$STATE,15339,end surface coast,CONTROL_FINISHED_OK
$STATE,15339,begin surface
$SM_CCo,15426,0.00,0.000,0,0,1017,468.02
$SM_GC,1.38,7.25,0.00,0.00,0.025,0.000,0.000,37,2504,1017,-8.22,0.11,468.02
$IRIDIUM_FIX,2232.34,-15743.29,210103,141427
$TT8_MAMPS,0.023777
$HUMID,2205
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,3
$24V_AH,23.7,35.656
$10V_AH,10.7,41.328
$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,18.050,111.650,507.775,0.000,0.000,29.671,44.402,481.110,0.750,0.000,0.000,12.333,1233.966,10230.874,475.523,3050.905,1174.378,33.373,1510.787,0.000,3054.965,0.000,0.545,0.000
$DEVICE_MAMPS,197.886,56.758,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,395.347,1911.525,1979.007,1062.893,1295.318,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50917,582
$CAP_FILE_SIZE,124223,0
$CFSIZE,260165632,244318208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,271013,224936,2239.063,-15740.221,29,1.8,29,10.1