version: 66.04
glider: 512
mission: 4
dive: 378
start: 12 1 113 18 24 23
data:
$ID,512
$MISSION,4
$DIVE,378
$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,333
$T_MISSION,670
$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,23
$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,-114854.41
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,75
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$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
$GPS1,175523,2237.499,-15738.190,74,1.3,74,10.1
$_CALLS,4
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-80.9
$GPS2,182331,2237.433,-15738.131,36,1.6,42,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.053,0.206
$KALMAN_X,108138.2,-39.3,90.1,-70745.1,900.0
$KALMAN_Y,-43265.0,-138.0,218.9,30879.5,767.9
$MHEAD_RNG_PITCHd_Wd,335.5,2213,-19.5,-9.009
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.60,-101.0,0.0,0.0,0,81,0.00,0.00,-60.38,0.000,2,0.000,0.000,6,2557,2671
$GC,87,-0.61,-126.5,2.1,-1.1,7,124,9.73,1.48,-20.15,0.000,4,0.204,0.058,2485,3514,3374
$GC,339,-0.61,-126.5,56.3,-25.5,37,343,0.00,1.48,0.00,0.000,6,0.000,0.021,2490,2488,3374
$GC,611,-0.61,-126.5,118.8,-20.4,62,615,0.00,1.58,0.00,0.000,4,0.000,0.040,2484,3516,3375
$GC,652,-0.61,-126.5,127.9,-19.9,65,660,0.00,1.45,0.00,0.000,6,0.000,0.019,2489,2485,3375
$GC,919,-0.61,-126.5,175.9,-18.3,90,922,0.00,1.58,0.00,0.000,4,0.000,0.040,2484,3515,3375
$GC,1004,-0.61,-126.5,191.0,-17.1,97,1007,0.00,1.40,0.00,0.000,6,0.000,0.019,2488,2513,3375
$GC,1265,-0.61,-126.5,232.1,-15.4,107,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2504,3375
$GC,1509,-0.61,-126.5,266.2,-14.2,113,1513,0.00,1.55,0.00,0.000,4,0.000,0.041,2482,3521,3375
$GC,1615,-0.61,-126.5,281.1,-14.2,115,1618,0.00,1.35,0.00,0.000,6,0.000,0.019,2482,2554,3375
$GC,1897,-0.61,-126.5,319.8,-13.4,122,1901,0.00,1.50,0.00,0.000,4,0.000,0.021,2482,1459,3374
$GC,1948,-0.61,-126.5,326.5,-11.6,123,1952,0.00,1.60,0.00,0.000,6,0.000,0.039,2480,2531,3373
$GC,2238,-0.61,-126.5,362.5,-12.8,130,2242,0.00,1.58,0.00,0.000,4,0.000,0.046,2472,3565,3372
$GC,2312,-0.61,-126.5,372.7,-12.8,131,2316,0.08,1.40,0.00,0.000,6,0.143,0.020,2496,2575,3371
$GC,2578,-0.61,-126.5,400.2,-10.3,138,2582,0.00,1.55,0.00,0.000,4,0.000,0.021,2504,1452,3369
$GC,2643,-0.61,-126.5,406.7,-9.3,139,2646,0.00,1.67,0.00,0.000,6,0.000,0.039,2498,2572,3369
$GC,2920,-0.61,-126.5,435.2,-10.6,146,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2573,3366
$GC,3163,-0.61,-126.5,461.4,-10.7,152,3168,0.00,1.55,-0.08,0.000,4,0.000,0.066,2491,3559,3389
$GC,3204,-0.61,-126.5,466.3,-10.9,152,3212,0.00,1.40,0.00,0.000,6,0.000,0.023,2496,2570,3389
$GC,3459,-0.61,-126.5,491.0,-9.8,159,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2570,3387
$GC,3702,-0.61,-126.5,514.0,-9.4,165,3706,0.00,1.55,0.00,0.000,4,0.000,0.049,2490,3559,3384
$GC,3732,-0.61,-126.5,517.1,-10.1,165,3735,0.00,1.42,0.00,0.000,6,0.000,0.024,2496,2570,3384
$GC,3999,-0.61,-126.5,542.3,-9.8,172,4002,0.00,1.55,0.00,0.000,4,0.000,0.025,2504,1461,3382
$GC,4049,-0.61,-126.5,547.3,-8.8,173,4053,0.00,1.67,0.00,0.000,6,0.000,0.041,2498,2566,3381
$GC,4343,-0.61,-126.5,577.5,-10.3,180,4347,0.00,1.55,0.00,0.000,4,0.000,0.052,2490,3562,3379
$GC,4430,-0.61,-126.5,586.7,-9.6,181,4438,0.00,1.42,0.00,0.000,6,0.000,0.025,2496,2572,3378
$GC,4685,-0.61,-126.5,609.6,-8.9,188,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2571,3376
$GC,4928,-0.61,-126.5,630.2,-8.4,194,4932,0.00,1.58,0.00,0.000,4,0.000,0.025,2503,1460,3375
$GC,4979,-0.61,-126.5,634.4,-8.0,195,4982,0.00,1.73,0.00,0.000,6,0.000,0.043,2497,2570,3375
$GC,5274,-0.61,-126.5,658.8,-8.5,202,5277,0.00,1.55,0.00,0.000,4,0.000,0.054,2490,3558,3372
$GC,5354,-0.61,-126.5,666.6,-9.2,203,5358,0.00,1.40,0.00,0.000,6,0.000,0.026,2495,2595,3372
$GC,5615,-0.61,-126.5,689.4,-8.9,210,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2587,3370
$GC,5858,-0.61,-126.5,712.4,-9.5,216,5861,0.00,1.60,0.00,0.000,4,0.000,0.027,2503,1448,3369
$GC,5899,-0.61,-126.5,716.5,-9.4,216,5909,0.00,1.77,0.00,0.000,6,0.000,0.046,2497,2584,3370
$GC,6156,-0.61,-126.5,738.1,-8.5,223,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2583,3367
$GC,6399,-0.61,-126.5,758.3,-8.3,229,6403,0.00,1.52,0.00,0.000,4,0.000,0.056,2489,3552,3366
$GC,6457,-0.61,-126.5,763.7,-9.0,230,6461,0.00,1.40,0.00,0.000,6,0.000,0.027,2494,2596,3365
$GC,6741,-0.61,-126.5,787.0,-8.3,237,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2587,3364
$GC,6984,-0.61,-126.5,807.3,-8.4,243,6988,0.00,1.60,0.00,0.000,4,0.000,0.028,2502,1453,3363
$GC,7036,-0.61,-126.5,811.5,-7.7,244,7039,0.00,1.75,0.00,0.000,6,0.000,0.047,2496,2584,3363
$GC,7330,-0.61,-126.5,835.5,-8.2,251,7334,0.00,1.55,0.00,0.000,4,0.000,0.056,2488,3562,3362
$GC,7390,-0.61,-126.5,840.7,-8.4,252,7393,0.00,1.42,0.00,0.000,6,0.000,0.027,2493,2595,3361
$GC,7674,-0.61,-126.5,862.3,-7.7,259,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2586,3360
$GC,7917,-0.61,-126.5,880.4,-7.3,265,7921,0.00,1.60,0.00,0.000,4,0.000,0.028,2501,1453,3360
$GC,7954,-0.61,-126.5,883.4,-7.5,265,7957,0.00,1.77,0.00,0.000,6,0.000,0.048,2496,2581,3360
$STATE,8209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8209,begin apogee
$GC,8221,-0.20,0.0,902.2,7.5,272,8338,0.43,0.00,114.20,1.251,6,0.099,0.000,2640,2238,2858
$STATE,8339,end apogee,CONTROL_FINISHED_OK
$STATE,8339,begin climb
$GC,8344,0.61,126.5,904.8,0.0,275,8561,0.68,0.00,147.20,1.042,6,0.038,0.000,2898,2238,2342
$GC,8804,0.61,126.5,839.5,18.1,286,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2238,2335
$GC,9048,0.61,126.5,795.1,18.3,292,9052,0.00,1.67,0.00,0.000,4,0.000,0.050,2891,3284,2333
$GC,9100,0.61,126.5,784.5,17.8,293,9104,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2233,2332
$GC,9389,0.61,126.5,733.3,17.8,300,9392,0.00,1.65,0.00,0.000,4,0.000,0.048,2892,3283,2331
$GC,9447,0.61,126.5,722.4,17.4,301,9451,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2227,2331
$GC,9730,0.61,126.5,674.6,17.2,308,9734,0.00,1.67,0.00,0.000,4,0.000,0.051,2892,3291,2329
$GC,9782,0.61,126.5,664.9,17.2,309,9786,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2249,2329
$GC,10071,0.61,126.5,617.2,16.6,316,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2244,2328
$GC,10315,0.61,126.5,577.6,15.9,322,10319,0.00,1.62,0.00,0.000,4,0.000,0.050,2893,3282,2328
$GC,10390,0.61,126.5,564.9,16.2,323,10394,0.00,1.52,0.00,0.000,6,0.000,0.028,2898,2256,2328
$GC,10656,0.61,126.5,522.1,16.4,330,10660,0.00,1.60,0.00,0.000,4,0.000,0.028,2906,1154,2327
$GC,10680,0.61,126.5,517.7,16.3,330,10684,0.00,1.70,0.00,0.000,6,0.000,0.043,2905,2259,2327
$GC,10953,0.61,126.5,474.5,16.5,337,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2259,2327
$GC,11197,0.61,126.5,436.4,15.6,343,11201,0.00,1.60,0.00,0.000,4,0.000,0.051,2905,3279,2326
$GC,11260,0.61,126.5,425.5,16.5,344,11264,0.00,1.52,0.00,0.000,6,0.000,0.027,2911,2248,2326
$GC,11537,0.61,126.5,385.9,14.0,351,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2243,2326
$GC,11781,0.61,126.5,353.5,13.2,357,11784,0.00,1.58,0.00,0.000,4,0.000,0.030,2919,1166,2326
$GC,11832,0.61,126.5,347.1,12.5,358,11836,0.00,1.67,0.00,0.000,6,0.000,0.042,2918,2256,2326
$GC,12127,0.61,126.5,308.8,13.5,365,12130,0.00,1.58,0.00,0.000,4,0.000,0.049,2918,3268,2326
$GC,12258,0.61,126.5,289.6,13.5,367,12266,0.00,1.50,0.00,0.000,6,0.000,0.026,2924,2250,2326
$GC,12513,0.61,126.5,258.3,12.2,374,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2246,2326
$GC,12756,0.61,126.5,231.1,11.1,380,12760,0.00,1.62,0.00,0.000,4,0.000,0.046,2918,3293,2326
$GC,12808,0.61,126.5,225.1,11.2,381,12812,0.00,1.55,0.00,0.000,6,0.000,0.025,2924,2238,2326
$GC,13068,0.61,126.5,196.7,11.0,388,13071,0.00,1.55,0.00,0.000,4,0.000,0.026,2932,1157,2326
$GC,13189,0.61,126.5,184.1,9.5,398,13197,0.10,1.62,0.00,0.000,6,0.147,0.040,2901,2205,2326
$GC,13460,0.62,156.9,162.9,7.2,423,13500,0.00,1.67,27.30,0.690,4,0.000,0.045,2901,3279,2218
$GC,13528,0.62,156.9,157.1,9.1,428,13532,0.00,1.58,0.00,0.000,6,0.000,0.024,2908,2217,2217
$GC,13800,0.62,156.9,129.9,10.5,453,13803,0.00,1.65,0.00,0.000,4,0.000,0.044,2905,3283,2215
$GC,13851,0.62,156.9,124.5,11.1,457,13855,0.00,1.55,0.00,0.000,6,0.000,0.024,2911,2229,2215
$GC,14127,0.62,166.1,98.1,8.5,482,14141,0.00,1.65,9.55,0.607,4,0.000,0.044,2911,3292,2179
$GC,14182,0.62,166.1,92.6,9.4,486,14185,0.00,1.58,0.00,0.000,6,0.000,0.023,2915,2227,2179
$GC,14454,0.63,195.1,70.4,7.3,511,14486,0.00,1.58,26.08,0.620,4,0.000,0.026,2915,1163,2061
$GC,14583,0.65,222.8,60.3,7.3,521,14613,0.00,1.67,24.38,0.602,6,0.000,0.035,2915,2265,1949
$GC,14873,0.65,222.8,32.5,10.5,547,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2265,1946
$STATE,15138,end climb,SURFACE_DEPTH_REACHED
$STATE,15138,begin surface coast
$FINISH,0.5,1.023414
$STATE,15171,end surface coast,CONTROL_FINISHED_OK
$STATE,15171,begin surface
$SM_CCo,15196,71.10,0.548,0,0,1268,390.02
$SM_GC,1.51,0.00,0.00,71.10,0.000,0.000,0.548,36,2539,1268,-8.31,1.10,390.02
$IRIDIUM_FIX,2227.67,-15736.81,250203,181811
$TT8_MAMPS,0.023777
$HUMID,2240
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,7
$24V_AH,23.5,63.466
$10V_AH,10.5,78.278
$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,18.325,101.225,348.700,71.100,0.000,115.232,140.739,1007.124,1.750,0.000,0.000,46.724,1240.170,10214.464,498.010,3088.433,1907.218,33.374,1450.681,0.000,3064.115,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,65.962,1250.977,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.171,1946.294,2026.679,1347.769,1346.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50919,591
$CAP_FILE_SIZE,134077,0
$CFSIZE,260165632,232972288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,011213,224023,2238.692,-15738.538,42,1.8,42,10.1