version: 66.04
glider: 512
mission: 4
dive: 219
start: 10 27 113 23 2 56
data:
$ID,512
$MISSION,4
$DIVE,219
$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,-110749.73
$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,62
$R_STBD_OVSHOOT,29
$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
$GPS1,224936,2239.063,-15740.221,29,1.8,29,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-81.3
$GPS2,230203,2239.071,-15740.292,12,3.6,31,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,0.014
$KALMAN_X,70686.0,335.9,-17.2,-37262.0,-3473.1
$KALMAN_Y,102230.8,258.6,251.3,-112020.6,-443.5
$MHEAD_RNG_PITCHd_Wd,76.6,4341,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.51,-126.5,0.0,0.0,0,102,0.00,0.00,-77.55,0.000,2,0.000,0.000,31,2513,2874
$GC,108,-0.51,-126.5,2.0,-1.6,9,137,9.52,1.50,-13.27,0.000,4,0.202,0.038,2530,1426,3442
$GC,342,-0.51,-126.5,58.6,-21.1,35,352,0.00,1.65,0.00,0.000,6,0.000,0.041,2524,2491,3443
$GC,609,-0.51,-126.5,114.2,-17.2,60,612,0.00,1.62,0.00,0.000,4,0.000,0.045,2516,3578,3443
$GC,740,-0.51,-126.5,137.0,-17.1,71,744,0.00,1.52,0.00,0.000,6,0.000,0.019,2516,2505,3443
$GC,1011,-0.51,-126.5,188.3,-18.8,96,1015,0.00,1.45,0.00,0.000,4,0.000,0.019,2517,1446,3444
$GC,1039,-0.51,-126.5,193.6,-19.0,98,1043,0.00,1.67,0.00,0.000,6,0.000,0.035,2511,2546,3443
$GC,1321,-0.51,-126.5,242.2,-16.7,107,1324,0.00,1.55,0.00,0.000,4,0.000,0.019,2518,1447,3443
$GC,1356,-0.51,-126.5,247.9,-13.6,107,1360,0.00,1.60,0.00,0.000,6,0.000,0.037,2512,2522,3443
$GC,1616,-0.51,-126.5,280.4,-12.1,114,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2522,3442
$GC,1860,-0.51,-126.5,309.9,-12.0,120,1864,0.00,1.58,0.00,0.000,4,0.000,0.047,2504,3559,3441
$GC,1956,-0.51,-126.5,321.4,-10.8,122,1959,0.00,1.52,0.00,0.000,6,0.000,0.020,2508,2483,3440
$GC,2250,-0.51,-126.5,356.5,-12.0,129,2253,0.00,1.42,0.00,0.000,4,0.000,0.021,2515,1449,3439
$GC,2314,-0.51,-126.5,364.2,-10.1,130,2318,0.00,1.58,0.00,0.000,6,0.000,0.040,2510,2478,3439
$GC,2591,-0.51,-126.5,395.0,-11.3,137,2595,0.00,1.65,0.00,0.000,4,0.000,0.049,2502,3574,3436
$GC,2677,-0.51,-126.5,406.2,-11.9,138,2686,0.00,1.52,0.00,0.000,6,0.000,0.021,2508,2499,3435
$GC,2933,-0.51,-126.5,436.2,-11.8,145,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2498,3433
$GC,3176,-0.51,-126.5,464.5,-11.5,151,3180,0.00,1.65,-0.08,0.000,4,0.000,0.064,2502,3565,3455
$GC,3233,-0.51,-126.5,471.6,-10.9,152,3237,0.00,1.50,0.00,0.000,6,0.000,0.022,2507,2516,3455
$GC,3515,-0.51,-126.5,501.6,-10.7,159,3518,0.00,1.62,0.00,0.000,4,0.000,0.050,2501,3565,3452
$GC,3574,-0.51,-126.5,508.2,-10.5,160,3577,0.00,1.48,0.00,0.000,6,0.000,0.023,2507,2535,3452
$GC,3856,-0.51,-126.5,537.0,-10.4,167,3860,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1448,3450
$GC,3886,-0.51,-126.5,540.7,-11.5,167,3889,0.00,1.65,0.00,0.000,6,0.000,0.043,2502,2533,3449
$GC,4152,-0.51,-126.5,570.7,-11.6,174,4155,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3582,3447
$GC,4203,-0.51,-126.5,576.7,-12.2,175,4206,0.00,1.50,0.00,0.000,6,0.000,0.024,2500,2544,3446
$GC,4497,-0.51,-126.5,611.1,-11.6,182,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2535,3444
$GC,4740,-0.51,-126.5,637.8,-10.8,188,4744,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3571,3441
$GC,4764,-0.51,-126.5,640.7,-10.3,188,4768,0.00,1.48,0.00,0.000,6,0.000,0.024,2499,2549,3441
$GC,5036,-0.51,-126.5,667.8,-9.9,195,5040,0.00,1.55,0.00,0.000,4,0.000,0.026,2507,1454,3440
$GC,5072,-0.51,-126.5,671.3,-8.4,195,5076,0.00,1.67,0.00,0.000,6,0.000,0.045,2501,2550,3439
$GC,5334,-0.51,-126.5,694.0,-8.8,202,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2550,3438
$GC,5578,-0.51,-126.5,714.7,-8.4,208,5581,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3558,3437
$GC,5613,-0.51,-126.5,718.4,-9.2,208,5617,0.00,1.48,0.00,0.000,6,0.000,0.027,2499,2543,3437
$GC,5875,-0.51,-126.5,739.9,-8.4,215,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2535,3434
$GC,6117,-0.51,-126.5,761.6,-9.0,221,6121,0.00,1.55,0.00,0.000,4,0.000,0.028,2507,1451,3432
$GC,6147,-0.51,-126.5,764.8,-10.0,221,6151,0.00,1.70,0.00,0.000,6,0.000,0.046,2501,2559,3432
$GC,6413,-0.51,-126.5,790.0,-9.8,228,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3430
$GC,6657,-0.51,-126.5,814.3,-10.0,234,6661,0.00,1.58,0.00,0.000,4,0.000,0.056,2493,3558,3430
$GC,6689,-0.51,-126.5,817.8,-11.0,234,6692,0.00,1.48,0.00,0.000,6,0.000,0.027,2499,2547,3430
$GC,6956,-0.51,-126.5,843.9,-9.9,241,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2538,3429
$GC,7199,-0.51,-126.5,867.8,-9.8,247,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2538,3428
$GC,7444,-0.51,-126.5,891.2,-9.6,253,7447,0.00,1.58,0.00,0.000,4,0.000,0.028,2506,1450,3426
$GC,7474,-0.51,-126.5,894.5,-9.6,253,7477,0.00,1.75,0.00,0.000,6,0.000,0.048,2499,2561,3426
$STATE,7573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7573,begin apogee
$GC,7585,-0.17,0.0,903.5,9.2,256,7697,0.43,0.00,109.45,1.250,6,0.105,0.000,2642,2217,2926
$STATE,7698,end apogee,CONTROL_FINISHED_OK
$STATE,7698,begin climb
$GC,7703,0.51,126.5,907.9,0.0,259,7836,0.55,1.67,121.05,1.197,4,0.029,0.028,2892,1179,2408
$GC,7939,0.51,126.5,884.6,16.8,264,7943,0.12,1.67,0.00,0.000,6,0.172,0.041,2862,2225,2401
$GC,8222,0.51,126.5,840.0,15.6,271,8225,0.00,1.65,0.00,0.000,4,0.000,0.050,2861,3283,2397
$GC,8272,0.51,126.5,831.2,17.0,272,8275,0.00,1.58,0.00,0.000,6,0.000,0.027,2868,2243,2396
$GC,8566,0.51,126.5,782.0,16.7,279,8569,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3288,2396
$GC,8590,0.51,126.5,777.2,17.3,279,8593,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2238,2395
$GC,8862,0.51,126.5,731.8,17.2,286,8866,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1161,2394
$GC,8932,0.51,126.5,719.5,16.9,287,8936,0.00,1.67,0.00,0.000,6,0.000,0.043,2877,2246,2394
$GC,9204,0.51,126.5,672.2,17.8,294,9208,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3280,2393
$GC,9324,0.51,126.5,649.9,17.1,296,9327,0.00,1.52,0.00,0.000,6,0.000,0.028,2882,2258,2392
$GC,9589,0.51,126.5,605.5,16.9,303,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2252,2392
$GC,9833,0.51,126.5,567.1,15.7,309,9837,0.00,1.62,0.00,0.000,4,0.000,0.048,2878,3298,2391
$GC,9914,0.51,126.5,553.1,16.3,310,9917,0.00,1.52,0.00,0.000,6,0.000,0.027,2884,2271,2391
$GC,10174,0.51,126.5,514.9,15.0,317,10178,0.00,1.62,0.00,0.000,4,0.000,0.030,2892,1135,2390
$GC,10226,0.51,126.5,506.6,15.7,318,10231,0.10,1.75,0.00,0.000,6,0.159,0.043,2860,2255,2390
$GC,10515,0.51,126.5,469.8,12.5,325,10518,0.00,1.60,0.00,0.000,4,0.000,0.049,2860,3278,2390
$GC,10595,0.51,126.5,459.2,12.9,326,10598,0.00,1.50,0.00,0.000,6,0.000,0.026,2865,2263,2390
$GC,10855,0.51,126.5,429.0,11.6,333,10859,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3282,2390
$GC,10936,0.51,126.5,418.3,13.0,334,10939,0.00,1.45,0.00,0.000,6,0.000,0.026,2868,2300,2389
$GC,11196,0.51,126.5,387.6,11.8,341,11200,0.00,1.55,0.00,0.000,4,0.000,0.048,2863,3276,2390
$GC,11225,0.51,126.5,383.6,12.7,341,11229,0.00,1.40,0.00,0.000,6,0.000,0.025,2868,2323,2389
$GC,11491,0.51,126.5,352.5,11.9,348,11495,0.00,1.65,0.00,0.000,4,0.000,0.028,2877,1166,2389
$GC,11656,0.51,126.5,334.1,10.5,351,11659,0.00,1.73,0.00,0.000,6,0.000,0.041,2876,2296,2389
$GC,11923,0.51,126.5,307.0,10.2,358,11927,0.00,1.52,0.00,0.000,4,0.000,0.049,2876,3278,2389
$GC,11998,0.52,135.7,299.6,9.5,359,12007,0.00,1.42,5.72,0.706,6,0.000,0.025,2882,2300,2371
$GC,12263,0.52,153.2,275.2,9.1,366,12282,0.00,0.00,17.05,0.809,6,0.000,0.000,2882,2299,2300
$GC,12506,0.52,153.2,249.0,11.3,372,12509,0.00,1.62,0.00,0.000,4,0.000,0.027,2889,1161,2296
$GC,12602,0.52,153.2,239.2,11.4,374,12605,0.00,1.80,0.00,0.000,6,0.000,0.041,2889,2332,2296
$GC,12896,0.52,153.2,205.5,11.5,381,12899,0.00,1.70,0.00,0.000,4,0.000,0.025,2897,1154,2295
$GC,13058,0.52,153.2,188.6,10.8,389,13062,0.00,1.75,0.00,0.000,6,0.000,0.038,2891,2285,2295
$GC,13329,0.52,153.2,162.7,10.2,414,13333,0.00,1.65,0.00,0.000,4,0.000,0.025,2897,1156,2295
$GC,13434,0.52,153.2,151.7,10.3,423,13438,0.00,1.70,0.00,0.000,6,0.000,0.038,2891,2282,2295
$GC,13707,0.52,156.2,121.2,9.8,448,13715,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2281,2295
$GC,13973,0.55,215.2,99.2,6.9,473,14033,0.00,1.67,51.85,0.654,4,0.000,0.023,2897,1157,2046
$GC,14087,0.55,215.2,89.3,10.4,482,14096,0.00,1.75,0.00,0.000,6,0.000,0.036,2891,2279,2043
$GC,14353,0.57,271.7,67.1,7.0,507,14410,0.00,1.58,45.90,0.611,4,0.000,0.041,2891,3283,1816
$GC,14475,0.57,274.0,56.3,9.9,516,14478,0.00,1.45,0.00,0.000,6,0.000,0.021,2896,2309,1814
$GC,14750,0.57,274.0,27.4,10.9,542,14759,0.00,1.65,0.00,0.000,4,0.000,0.025,2899,1170,1812
$GC,14905,0.58,297.8,12.6,8.7,566,14932,0.00,1.65,21.88,0.548,6,0.000,0.034,2899,2247,1710
$STATE,14994,end climb,SURFACE_DEPTH_REACHED
$STATE,14994,begin surface coast
$FINISH,0.4,1.008878
$STATE,15027,end surface coast,CONTROL_FINISHED_OK
$STATE,15031,begin surface
$SM_CCo,15057,41.20,0.539,0,0,1333,390.02
$SM_GC,1.29,0.00,0.00,41.20,0.000,0.000,0.539,46,2532,1333,-8.27,0.90,390.02
$IRIDIUM_FIX,2232.34,-15746.34,210103,181855
$TT8_MAMPS,0.023777
$HUMID,2206
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,23.8,35.799
$10V_AH,10.6,41.528
$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,18.025,112.350,372.900,41.200,0.000,25.492,40.908,472.458,0.250,0.000,0.000,32.931,1247.722,9911.060,435.269,3109.473,1137.632,33.374,1421.932,0.000,3085.042,0.000,0.546,0.000
$DEVICE_MAMPS,202.488,64.428,1250.210,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,397.926,1923.977,1996.596,943.949,1327.208,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50934,584
$CAP_FILE_SIZE,123128,0
$CFSIZE,260165632,244252672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,031605,2238.976,-15738.837,36,1.0,41,10.1