version: 66.04
glider: 512
mission: 4
dive: 220
start: 10 28 113 3 29 11
data:
$ID,512
$MISSION,4
$DIVE,220
$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,-110766.38
$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,60
$R_STBD_OVSHOOT,50
$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
$GPS1,031605,2238.976,-15738.837,36,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-81.7
$GPS2,032812,2238.849,-15738.894,10,1.2,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.039
$KALMAN_X,68164.3,497.7,389.6,-32925.0,-4522.8
$KALMAN_Y,102029.6,69.0,-28.1,-111760.4,-648.3
$MHEAD_RNG_PITCHd_Wd,70.7,1918,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-68.50,0.000,2,0.000,0.000,31,2528,2942
$GC,94,-0.51,-126.5,2.1,-1.7,8,123,9.45,1.55,-11.10,0.000,4,0.201,0.037,2531,1430,3441
$GC,291,-0.51,-126.5,51.9,-22.9,30,295,0.00,1.60,0.00,0.000,6,0.000,0.038,2525,2493,3443
$GC,563,-0.51,-126.5,117.2,-20.2,55,567,0.00,1.62,0.00,0.000,4,0.000,0.044,2517,3576,3443
$GC,614,-0.51,-126.5,127.5,-19.9,59,618,0.00,1.55,0.00,0.000,6,0.000,0.019,2517,2486,3444
$GC,885,-0.51,-126.5,177.3,-16.6,84,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2478,3444
$GC,1147,-0.51,-126.5,220.3,-16.0,100,1150,0.00,1.67,0.00,0.000,4,0.000,0.042,2511,3567,3444
$GC,1188,-0.51,-126.5,227.1,-14.5,100,1196,0.00,1.52,0.00,0.000,6,0.000,0.018,2511,2486,3444
$GC,1442,-0.51,-126.5,265.4,-15.1,107,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2479,3444
$GC,1686,-0.51,-126.5,300.0,-14.3,113,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2479,3443
$GC,1929,-0.51,-126.5,332.9,-13.4,119,1933,0.00,1.67,0.00,0.000,4,0.000,0.044,2503,3562,3441
$GC,1993,-0.51,-126.5,341.7,-12.3,120,1996,0.00,1.48,0.00,0.000,6,0.000,0.020,2508,2518,3441
$GC,2271,-0.51,-126.5,376.8,-12.6,127,2274,0.00,1.48,0.00,0.000,4,0.000,0.021,2516,1447,3439
$GC,2313,-0.51,-126.5,382.2,-11.2,127,2321,0.00,1.62,0.00,0.000,6,0.000,0.038,2510,2513,3439
$GC,2568,-0.51,-126.5,411.5,-11.7,134,2572,0.00,1.60,0.00,0.000,4,0.000,0.048,2502,3559,3438
$GC,2631,-0.51,-126.5,419.1,-11.5,135,2634,0.00,1.48,0.00,0.000,6,0.000,0.021,2508,2524,3437
$GC,2909,-0.51,-126.5,450.6,-11.7,142,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2517,3434
$GC,3153,-0.51,-126.5,478.2,-11.3,148,3154,0.00,0.00,-0.08,0.000,6,0.000,0.000,2508,2517,3457
$GC,3397,-0.51,-126.5,504.4,-10.7,154,3400,0.00,1.62,0.00,0.000,4,0.000,0.047,2502,3561,3455
$GC,3432,-0.51,-126.5,508.5,-9.9,154,3436,0.00,1.48,0.00,0.000,6,0.000,0.023,2507,2531,3455
$GC,3693,-0.51,-126.5,533.2,-9.5,161,3696,0.00,1.50,0.00,0.000,4,0.000,0.024,2508,1455,3453
$GC,3743,-0.51,-126.5,538.0,-9.2,162,3747,0.00,1.62,0.00,0.000,6,0.000,0.043,2502,2508,3453
$GC,4038,-0.51,-126.5,568.8,-10.9,169,4042,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3562,3450
$GC,4107,-0.51,-126.5,577.4,-11.2,170,4111,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2521,3449
$GC,4378,-0.51,-126.5,609.6,-12.0,177,4382,0.00,1.50,0.00,0.000,4,0.000,0.025,2508,1466,3446
$GC,4408,-0.51,-126.5,613.7,-12.5,177,4412,0.00,1.60,0.00,0.000,6,0.000,0.044,2502,2521,3446
$GC,4676,-0.51,-126.5,645.5,-12.1,184,4679,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3563,3444
$GC,4705,-0.51,-126.5,649.8,-13.2,184,4709,0.00,1.52,0.00,0.000,6,0.000,0.026,2499,2513,3444
$GC,4971,-0.51,-126.5,679.9,-11.3,191,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2505,3442
$GC,5215,-0.51,-126.5,706.6,-11.0,197,5219,0.00,1.65,0.00,0.000,4,0.000,0.052,2494,3569,3440
$GC,5265,-0.51,-126.5,712.2,-10.6,198,5269,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2523,3440
$GC,5560,-0.51,-126.5,741.7,-9.9,205,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2515,3438
$GC,5804,-0.51,-126.5,765.4,-9.7,211,5807,0.00,1.62,0.00,0.000,4,0.000,0.054,2493,3559,3438
$GC,5854,-0.51,-126.5,770.5,-10.3,212,5857,0.00,1.50,0.00,0.000,6,0.000,0.027,2500,2530,3437
$GC,6148,-0.51,-126.5,798.5,-9.4,219,6151,0.00,1.52,0.00,0.000,4,0.000,0.025,2507,1466,3435
$GC,6184,-0.51,-126.5,802.0,-8.4,219,6187,0.00,1.65,0.00,0.000,6,0.000,0.047,2501,2538,3435
$GC,6446,-0.51,-126.5,824.9,-9.0,226,6449,0.00,1.60,0.00,0.000,4,0.000,0.056,2493,3574,3433
$GC,6470,-0.51,-126.5,827.6,-8.9,226,6474,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2544,3432
$GC,6741,-0.51,-126.5,851.8,-9.1,233,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2535,3431
$GC,6985,-0.51,-126.5,874.0,-9.1,239,6988,0.00,1.55,0.00,0.000,4,0.000,0.028,2506,1477,3430
$GC,7021,-0.51,-126.5,877.5,-9.0,239,7024,0.00,1.65,0.00,0.000,6,0.000,0.048,2501,2549,3430
$STATE,7276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7276,begin apogee
$GC,7288,-0.17,0.0,901.3,9.3,246,7400,0.40,0.00,109.72,1.251,6,0.106,0.000,2634,2226,2925
$STATE,7401,end apogee,CONTROL_FINISHED_OK
$STATE,7401,begin climb
$GC,7406,0.51,126.5,905.3,0.0,249,7537,0.60,0.00,120.55,1.197,6,0.031,0.000,2882,2226,2409
$GC,7788,0.51,126.5,854.7,18.3,258,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2226,2399
$GC,8027,0.51,126.5,809.4,18.8,264,8030,0.00,1.67,0.00,0.000,4,0.000,0.046,2878,3297,2397
$GC,8068,0.51,126.5,801.0,19.5,264,8077,0.00,1.62,0.00,0.000,6,0.000,0.026,2884,2220,2396
$GC,8324,0.51,126.5,754.3,18.4,271,8327,0.00,1.55,0.00,0.000,4,0.000,0.028,2891,1171,2395
$GC,8348,0.51,126.5,749.1,18.3,271,8352,0.12,1.62,0.00,0.000,6,0.172,0.041,2860,2228,2395
$GC,8619,0.51,126.5,705.0,16.3,278,8622,0.00,1.62,0.00,0.000,4,0.000,0.049,2860,3283,2394
$GC,8744,0.51,126.5,682.8,17.5,280,8748,0.00,1.58,0.00,0.000,6,0.000,0.027,2866,2230,2393
$GC,9004,0.51,126.5,640.7,16.2,287,9008,0.00,1.67,0.00,0.000,4,0.000,0.049,2864,3276,2393
$GC,9040,0.51,126.5,634.2,17.0,287,9043,0.00,1.52,0.00,0.000,6,0.000,0.026,2869,2243,2393
$GC,9300,0.51,126.5,593.9,15.3,294,9304,0.00,1.58,0.00,0.000,4,0.000,0.028,2877,1158,2392
$GC,9351,0.51,126.5,586.5,14.1,295,9355,0.00,1.67,0.00,0.000,6,0.000,0.042,2877,2246,2391
$GC,9645,0.51,126.5,545.6,14.0,302,9649,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3280,2391
$GC,9680,0.51,126.5,540.4,14.1,302,9683,0.00,1.52,0.00,0.000,6,0.000,0.028,2882,2252,2391
$GC,9940,0.51,126.5,505.1,13.8,309,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2246,2391
$GC,10184,0.51,126.5,471.8,13.9,315,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2246,2390
$GC,10427,0.51,126.5,438.4,13.8,321,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2246,2390
$GC,10671,0.51,126.5,405.5,13.6,327,10675,0.00,1.62,0.00,0.000,4,0.000,0.048,2878,3290,2389
$GC,10802,0.51,126.5,387.7,12.8,329,10810,0.00,1.52,0.00,0.000,6,0.000,0.026,2884,2259,2389
$GC,11057,0.51,126.5,358.0,11.7,336,11061,0.00,1.62,0.00,0.000,4,0.000,0.048,2884,3301,2389
$GC,11153,0.51,126.5,345.1,14.1,338,11157,0.08,1.52,0.00,0.000,6,0.188,0.026,2859,2276,2389
$GC,11447,0.51,130.5,315.2,9.8,345,11451,0.00,1.60,0.00,0.000,4,0.000,0.028,2866,1151,2388
$GC,11517,0.52,156.1,308.7,8.6,346,11544,0.00,1.70,23.27,0.856,6,0.000,0.041,2865,2268,2288
$GC,11827,0.52,156.1,272.7,12.2,354,11831,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3277,2284
$GC,11981,0.52,156.1,252.9,12.2,357,11985,0.00,1.50,0.00,0.000,6,0.000,0.025,2868,2261,2283
$GC,12259,0.52,156.1,224.0,10.2,364,12263,0.00,1.58,0.00,0.000,4,0.000,0.026,2877,1165,2282
$GC,12362,0.54,186.5,214.1,8.4,366,12397,0.00,1.70,26.35,0.771,6,0.000,0.040,2876,2279,2164
$GC,12648,0.54,186.5,182.1,13.4,382,12652,0.00,1.55,0.00,0.000,4,0.000,0.045,2875,3278,2160
$GC,12700,0.54,186.5,174.2,14.1,386,12708,0.00,1.50,0.00,0.000,6,0.000,0.023,2881,2266,2160
$GC,12967,0.54,186.5,140.9,13.1,411,12970,0.00,1.60,0.00,0.000,4,0.000,0.025,2889,1158,2160
$GC,13017,0.54,186.5,134.6,12.1,415,13021,0.00,1.67,0.00,0.000,6,0.000,0.038,2889,2262,2159
$GC,13289,0.54,186.5,103.8,10.7,440,13292,0.00,1.60,0.00,0.000,4,0.000,0.024,2896,1146,2159
$GC,13386,0.55,214.4,95.0,8.5,448,13415,0.00,1.67,24.35,0.647,6,0.000,0.036,2891,2258,2050
$GC,13677,0.56,247.3,68.7,8.2,474,13708,0.00,1.55,27.77,0.617,4,0.000,0.041,2891,3278,1916
$GC,13758,0.57,259.5,61.1,9.4,480,13781,0.00,1.58,11.38,0.571,6,0.000,0.021,2897,2217,1866
$GC,14042,0.57,259.5,31.9,10.8,506,14046,0.00,1.52,0.00,0.000,4,0.000,0.025,2899,1163,1864
$GC,14126,0.57,281.4,23.4,8.8,517,14153,0.00,1.62,19.10,0.562,6,0.000,0.035,2899,2218,1776
$STATE,14325,end climb,SURFACE_DEPTH_REACHED
$STATE,14325,begin surface coast
$FINISH,0.4,1.005996
$STATE,14358,end surface coast,CONTROL_FINISHED_OK
$STATE,14358,begin surface
$SM_CCo,14383,44.95,0.542,0,0,1334,390.02
$SM_GC,1.72,0.00,0.00,44.95,0.000,0.000,0.542,39,2529,1334,-8.29,0.82,390.02
$IRIDIUM_FIX,2232.34,-15741.13,210103,232326
$TT8_MAMPS,0.024544
$HUMID,2204
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.70
$XPDR_PINGS,6
$24V_AH,23.7,35.943
$10V_AH,10.6,41.717
$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,17.975,102.150,362.500,44.950,0.000,28.186,33.957,472.059,1.500,0.000,0.000,16.031,1168.434,9585.329,427.086,2848.923,1126.620,33.401,1338.488,0.000,2852.341,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,55.991,1250.977,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,376.197,1818.487,1888.280,1144.399,1241.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47788,552
$CAP_FILE_SIZE,115812,0
$CFSIZE,260165632,244203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,073106,2238.710,-15737.958,37,1.0,37,10.1