version: 66.04
glider: 512
mission: 4
dive: 145
start: 10 13 113 5 32 46
data:
$ID,512
$MISSION,4
$DIVE,145
$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,20
$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,-109417.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2697
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,55
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2890
$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
$GPS1,051929,2305.628,-15735.054,39,1.0,44,10.1
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-82.0
$GPS2,053131,2305.560,-15734.983,17,1.2,17,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,-0.150
$KALMAN_X,53030.6,182.0,280.1,-10683.2,-412.2
$KALMAN_Y,31446.0,53.8,84.0,8186.2,-1473.3
$MHEAD_RNG_PITCHd_Wd,228.1,70451,-15.6,-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,17,-0.45,-126.5,0.0,0.0,0,105,0.00,0.00,-85.00,0.000,2,0.000,0.000,11,2516,2869
$GC,111,-0.45,-126.5,2.2,-1.8,10,140,9.43,1.60,-12.18,0.000,4,0.198,0.056,2541,3557,3405
$GC,225,-0.45,-126.5,32.7,-24.4,26,229,0.00,1.55,0.00,0.000,6,0.000,0.020,2542,2493,3406
$GC,498,-0.45,-126.5,97.7,-18.8,51,501,0.00,1.45,0.00,0.000,4,0.000,0.019,2542,1437,3406
$GC,514,-0.45,-126.5,100.9,-17.7,52,518,0.00,1.60,0.00,0.000,6,0.000,0.034,2537,2517,3406
$GC,787,-0.45,-126.5,144.8,-15.5,77,791,0.00,1.58,0.00,0.000,4,0.000,0.044,2529,3558,3406
$GC,850,-0.45,-126.5,155.3,-16.4,82,853,0.00,1.50,0.00,0.000,6,0.000,0.018,2529,2495,3406
$GC,1122,-0.45,-126.5,196.5,-14.0,107,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2488,3406
$GC,1397,-0.45,-126.5,236.5,-14.9,116,1401,0.00,1.65,0.00,0.000,4,0.000,0.042,2524,3565,3406
$GC,1460,-0.45,-126.5,246.2,-14.5,117,1463,0.00,1.48,0.00,0.000,6,0.000,0.018,2524,2507,3406
$GC,1738,-0.45,-126.5,283.5,-12.9,124,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3405
$GC,1983,-0.45,-126.5,310.8,-11.2,130,1986,0.00,1.60,0.00,0.000,4,0.000,0.045,2523,3560,3405
$GC,2068,-0.45,-126.5,320.4,-9.7,131,2076,0.00,1.45,0.00,0.000,6,0.000,0.020,2523,2519,3403
$GC,2324,-0.45,-126.5,346.3,-10.3,138,2327,0.00,1.45,0.00,0.000,4,0.000,0.021,2523,1469,3402
$GC,2420,-0.45,-126.5,356.0,-9.5,140,2424,0.05,1.58,0.00,0.000,6,0.091,0.038,2548,2504,3401
$GC,2714,-0.45,-126.5,382.3,-9.1,147,2718,0.00,1.60,0.00,0.000,4,0.000,0.048,2542,3576,3399
$GC,2812,-0.45,-126.5,390.6,-7.3,149,2816,0.00,1.48,0.00,0.000,6,0.000,0.021,2542,2533,3398
$GC,3101,-0.45,-126.5,414.0,-8.5,156,3105,0.00,1.48,-0.08,0.000,4,0.000,0.041,2542,1451,3419
$GC,3176,-0.45,-126.5,421.2,-8.8,157,3180,0.00,1.60,0.00,0.000,6,0.000,0.041,2536,2518,3418
$GC,3443,-0.45,-126.5,445.9,-9.4,164,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2518,3416
$GC,3686,-0.45,-126.5,466.1,-8.1,170,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2518,3413
$GC,3929,-0.45,-126.5,485.2,-7.8,176,3933,0.00,1.50,0.00,0.000,4,0.000,0.023,2537,1465,3412
$GC,3965,-0.45,-126.5,488.4,-7.9,176,3969,0.00,1.60,0.00,0.000,6,0.000,0.042,2537,2527,3412
$GC,4226,-0.45,-126.5,508.9,-8.1,183,4230,0.00,1.60,0.00,0.000,4,0.000,0.051,2529,3587,3410
$GC,4278,-0.45,-126.5,513.2,-8.2,184,4281,0.00,1.55,0.00,0.000,6,0.000,0.025,2530,2512,3409
$GC,4572,-0.45,-126.5,538.7,-8.8,191,4575,0.00,1.65,0.00,0.000,4,0.000,0.050,2523,3560,3407
$GC,4613,-0.45,-126.5,542.9,-8.9,191,4622,0.00,1.50,0.00,0.000,6,0.000,0.025,2524,2508,3407
$GC,4868,-0.45,-126.5,567.2,-9.8,198,4872,0.00,1.48,0.00,0.000,4,0.000,0.025,2524,1459,3405
$GC,4898,-0.45,-126.5,570.3,-9.7,198,4902,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2526,3404
$GC,5166,-0.45,-126.5,592.8,-8.3,205,5169,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3575,3402
$GC,5196,-0.45,-126.5,595.6,-7.9,205,5200,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2517,3401
$GC,5461,-0.45,-126.5,616.2,-7.9,212,5465,0.00,1.65,0.00,0.000,4,0.000,0.054,2523,3558,3400
$GC,5512,-0.45,-126.5,620.3,-7.7,213,5516,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2536,3400
$GC,5808,-0.45,-126.5,645.0,-8.5,220,5811,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3566,3398
$GC,5858,-0.45,-126.5,649.5,-8.5,221,5861,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2545,3398
$GC,6152,-0.45,-126.5,673.5,-8.0,228,6156,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1472,3396
$GC,6234,-0.45,-126.5,680.4,-7.9,229,6237,0.00,1.62,0.00,0.000,6,0.000,0.047,2523,2538,3396
$GC,6494,-0.45,-126.5,701.8,-8.5,236,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3394
$GC,6738,-0.45,-126.5,723.1,-8.8,242,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3393
$GC,6982,-0.45,-126.5,744.0,-8.5,248,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3392
$GC,7225,-0.45,-126.5,763.9,-7.9,254,7229,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1450,3391
$GC,7277,-0.45,-126.5,767.8,-6.9,255,7280,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2539,3391
$GC,7572,-0.45,-126.5,788.5,-6.7,262,7576,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3575,3389
$GC,7614,-0.45,-126.5,791.4,-6.2,262,7622,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2521,3390
$GC,7869,-0.45,-126.5,807.0,-6.2,269,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3388
$GC,8113,-0.45,-126.5,822.5,-6.4,275,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3388
$GC,8356,-0.45,-126.5,839.3,-7.0,281,8360,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3562,3386
$GC,8409,-0.45,-126.5,843.5,-6.9,282,8413,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2535,3386
$GC,8699,-0.45,-126.5,864.2,-7.2,289,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2526,3385
$GC,8944,-0.45,-126.5,881.6,-7.2,295,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2526,3384
$GC,9187,-0.45,-126.5,898.8,-7.1,301,9191,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1467,3384
$STATE,9195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9196,begin apogee
$GC,9208,-0.18,0.0,900.2,7.0,301,9322,0.32,0.00,106.53,1.271,6,0.100,0.000,2637,2227,2890
$STATE,9323,end apogee,CONTROL_FINISHED_OK
$STATE,9323,begin climb
$GC,9328,0.45,126.5,903.0,0.0,304,9457,0.55,0.00,120.07,1.212,6,0.034,0.000,2869,2227,2374
$GC,9702,0.45,126.5,850.1,18.7,313,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2227,2363
$GC,9946,0.45,126.5,805.4,18.2,319,9950,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3293,2361
$GC,9989,0.45,126.5,796.8,17.7,319,9997,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2230,2361
$GC,10244,0.45,126.5,752.0,17.7,326,10247,0.00,1.65,0.00,0.000,4,0.000,0.048,2864,3280,2359
$GC,10301,0.45,126.5,740.9,18.5,327,10305,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2255,2358
$GC,10585,0.45,126.5,693.8,16.3,334,10588,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1160,2358
$GC,10655,0.45,126.5,682.3,17.1,335,10659,0.12,1.67,0.00,0.000,6,0.167,0.043,2846,2249,2357
$GC,10926,0.45,126.5,641.7,15.0,342,10930,0.00,1.62,0.00,0.000,4,0.000,0.051,2846,3304,2357
$GC,10990,0.45,126.5,630.8,16.4,343,10994,0.00,1.58,0.00,0.000,6,0.000,0.029,2847,2258,2356
$GC,11267,0.45,126.5,590.3,14.4,350,11271,0.00,1.62,0.00,0.000,4,0.000,0.048,2847,3276,2356
$GC,11317,0.45,126.5,583.6,14.4,351,11320,0.00,1.48,0.00,0.000,6,0.000,0.026,2855,2280,2356
$GC,11612,0.45,126.5,545.5,12.8,358,11615,0.00,1.60,0.00,0.000,4,0.000,0.049,2850,3281,2355
$GC,11641,0.45,126.5,540.9,14.2,358,11645,0.00,1.48,0.00,0.000,6,0.000,0.028,2856,2287,2355
$GC,11907,0.45,126.5,504.1,14.3,365,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2281,2355
$GC,12151,0.45,126.5,468.5,14.4,371,12154,0.00,1.62,0.00,0.000,4,0.000,0.029,2865,1144,2354
$GC,12208,0.45,126.5,460.1,13.1,372,12212,0.00,1.75,0.00,0.000,6,0.000,0.043,2864,2288,2353
$GC,12492,0.45,126.5,423.1,13.1,379,12495,0.00,1.65,0.00,0.000,4,0.000,0.028,2871,1144,2354
$GC,12562,0.45,126.5,414.3,11.7,380,12566,0.00,1.75,0.00,0.000,6,0.000,0.043,2870,2287,2353
$GC,12834,0.45,126.5,380.1,12.8,387,12837,0.00,1.55,0.00,0.000,4,0.000,0.051,2871,3282,2354
$GC,12884,0.45,126.5,373.3,13.6,388,12889,0.10,1.48,0.00,0.000,6,0.186,0.025,2850,2287,2353
$GC,13178,0.45,126.5,340.5,10.8,395,13182,0.00,1.58,0.00,0.000,4,0.000,0.047,2849,3279,2353
$GC,13214,0.45,126.5,335.8,12.9,395,13217,0.00,1.48,0.00,0.000,6,0.000,0.026,2855,2276,2353
$GC,13474,0.45,126.5,307.5,10.8,402,13478,0.00,1.62,0.00,0.000,4,0.000,0.030,2860,1134,2353
$GC,13628,0.45,134.8,292.0,9.7,405,13637,0.00,1.73,4.90,0.664,6,0.000,0.041,2860,2266,2340
$GC,13905,0.46,155.8,266.3,9.2,412,13929,0.00,1.58,20.02,0.818,4,0.000,0.048,2860,3276,2253
$GC,13954,0.46,155.8,261.3,10.9,413,13958,0.00,1.50,0.00,0.000,6,0.000,0.025,2867,2261,2251
$GC,14243,0.46,155.8,228.7,11.2,420,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2255,2249
$GC,14487,0.46,157.8,204.6,9.9,426,14490,0.00,1.60,0.00,0.000,4,0.000,0.044,2863,3299,2249
$GC,14562,0.46,157.8,195.6,11.4,429,14571,0.00,1.50,0.00,0.000,6,0.000,0.024,2869,2273,2249
$GC,14829,0.46,157.8,164.4,10.7,454,14833,0.00,1.58,0.00,0.000,4,0.000,0.044,2864,3281,2249
$GC,14937,0.47,173.1,152.7,9.4,463,14958,0.00,1.40,15.23,0.693,6,0.000,0.023,2869,2311,2184
$GC,15223,0.47,179.0,125.9,9.8,489,15236,0.00,1.65,5.95,0.571,4,0.000,0.025,2877,1169,2162
$GC,15301,0.47,179.0,117.0,10.6,495,15307,0.00,1.77,0.00,0.000,6,0.000,0.038,2877,2318,2161
$GC,15567,0.47,179.0,87.8,10.3,520,15570,0.00,1.48,0.00,0.000,4,0.000,0.043,2877,3287,2160
$GC,15585,0.47,180.0,86.1,10.0,521,15589,0.10,1.48,0.00,0.000,6,0.146,0.021,2851,2271,2161
$GC,15861,0.53,328.4,68.9,4.4,546,15985,0.00,1.67,119.50,0.616,4,0.000,0.024,2856,1166,1550
$GC,16028,0.59,479.2,61.7,4.3,559,16152,0.00,1.77,118.18,0.594,6,0.000,0.035,2856,2312,935
$GC,16418,0.59,479.2,20.6,11.4,598,16428,0.00,1.48,0.00,0.000,4,0.000,0.038,2854,3280,933
$GC,16482,0.59,479.2,13.4,10.8,607,16492,0.08,1.48,0.00,0.000,6,0.066,0.021,2890,2250,932
$STATE,16573,end climb,SURFACE_DEPTH_REACHED
$STATE,16573,begin surface coast
$FINISH,0.4,0.996804
$STATE,16616,end surface coast,CONTROL_FINISHED_OK
$STATE,16616,begin surface
$SM_CCo,16701,0.00,0.000,0,0,931,480.53
$SM_GC,1.47,7.22,0.00,0.00,0.022,0.000,0.000,29,2522,931,-8.22,0.62,480.53
$IRIDIUM_FIX,2253.38,-15737.57,070103,000004
$TT8_MAMPS,0.024544
$HUMID,2217
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.0,24.323
$10V_AH,10.7,26.269
$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,17.975,119.475,510.375,0.000,0.000,30.115,35.152,465.418,0.750,0.000,0.000,17.235,1353.052,11177.660,486.745,3230.877,1184.900,33.374,1572.737,0.000,3248.493,0.000,0.544,0.000
$DEVICE_MAMPS,197.886,57.525,1270.919,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.071,2064.031,2145.595,702.416,1379.979,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53955,627
$CAP_FILE_SIZE,135619,0
$CFSIZE,260165632,249126912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131013,101235,2304.067,-15736.414,40,0.9,45,10.1