version: 66.04
glider: 512
mission: 4
dive: 148
start: 10 13 113 20 10 14
data:
$ID,512
$MISSION,4
$DIVE,148
$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,-109463.55
$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,92
$R_STBD_OVSHOOT,35
$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
$GPS1,195306,2301.881,-15739.215,31,1.0,31,10.1
$_CALLS,3
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-83.2
$GPS2,200855,2301.917,-15739.262,13,1.4,13,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,-0.165
$KALMAN_X,58787.9,295.8,180.3,-23763.9,927.7
$KALMAN_Y,32512.7,482.6,-174.5,200.3,151.5
$MHEAD_RNG_PITCHd_Wd,224.5,60508,-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,-84.88,0.000,2,0.000,0.000,16,2470,2814
$GC,110,-0.45,-126.5,2.1,-1.8,10,140,9.45,1.38,-13.62,0.000,4,0.200,0.038,2551,1436,3405
$GC,300,-0.45,-126.5,42.5,-20.6,33,304,0.00,1.60,0.00,0.000,6,0.000,0.038,2545,2501,3406
$GC,572,-0.45,-126.5,101.3,-19.8,58,575,0.00,1.62,0.00,0.000,4,0.000,0.044,2537,3586,3406
$GC,750,-0.45,-126.5,131.8,-16.7,73,758,0.00,1.48,0.00,0.000,6,0.000,0.018,2537,2543,3406
$GC,1016,-0.45,-126.5,172.6,-14.8,98,1019,0.00,1.50,0.00,0.000,4,0.000,0.019,2537,1447,3406
$GC,1090,-0.45,-126.5,182.9,-11.1,104,1098,0.00,1.62,0.00,0.000,6,0.000,0.040,2536,2511,3406
$GC,1363,-0.45,-126.5,217.3,-13.4,121,1366,0.00,1.60,0.00,0.000,4,0.000,0.045,2528,3586,3406
$GC,1437,-0.45,-126.5,227.7,-13.6,122,1441,0.00,1.50,0.00,0.000,6,0.000,0.019,2528,2519,3405
$GC,1703,-0.45,-126.5,261.8,-12.6,129,1707,0.00,1.45,0.00,0.000,4,0.000,0.020,2528,1459,3405
$GC,1812,-0.45,-126.5,275.6,-12.3,131,1815,0.00,1.60,0.00,0.000,6,0.000,0.038,2524,2537,3405
$GC,2089,-0.45,-126.5,311.0,-13.3,138,2093,0.00,1.55,0.00,0.000,4,0.000,0.047,2518,3559,3404
$GC,2140,-0.45,-126.5,317.4,-12.7,139,2144,0.08,1.48,0.00,0.000,6,0.113,0.020,2546,2497,3403
$GC,2434,-0.45,-126.5,343.6,-8.3,146,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2490,3401
$GC,2677,-0.45,-126.5,363.2,-8.2,152,2681,0.00,1.62,0.00,0.000,4,0.000,0.047,2540,3561,3399
$GC,2763,-0.45,-126.5,370.6,-8.2,153,2773,0.00,1.45,0.00,0.000,6,0.000,0.021,2540,2524,3399
$GC,3019,-0.45,-126.5,392.5,-8.8,160,3023,0.00,1.45,-0.08,0.000,4,0.000,0.041,2540,1458,3419
$GC,3089,-0.45,-126.5,398.9,-8.3,161,3093,0.00,1.60,0.00,0.000,6,0.000,0.041,2537,2524,3419
$GC,3361,-0.45,-126.5,423.3,-9.0,168,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2525,3416
$GC,3605,-0.45,-126.5,445.0,-9.0,174,3608,0.00,1.60,0.00,0.000,4,0.000,0.049,2529,3563,3414
$GC,3640,-0.45,-126.5,448.8,-10.1,174,3644,0.00,1.48,0.00,0.000,6,0.000,0.022,2529,2529,3414
$GC,3902,-0.45,-126.5,472.4,-9.0,181,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2520,3412
$GC,4145,-0.45,-126.5,493.7,-8.8,187,4149,0.00,1.60,0.00,0.000,4,0.000,0.049,2524,3565,3410
$GC,4195,-0.45,-126.5,498.6,-9.2,188,4199,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2522,3410
$GC,4489,-0.45,-126.5,529.7,-11.0,195,4493,0.00,1.62,0.00,0.000,4,0.000,0.051,2523,3571,3408
$GC,4540,-0.45,-126.5,535.2,-10.8,196,4544,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2527,3407
$GC,4835,-0.45,-126.5,564.6,-9.6,203,4838,0.00,1.62,0.00,0.000,4,0.000,0.052,2523,3572,3404
$GC,4871,-0.45,-126.5,567.9,-8.7,203,4874,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2545,3404
$GC,5131,-0.45,-126.5,589.4,-8.3,210,5135,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1458,3402
$GC,5190,-0.45,-126.5,594.6,-8.6,211,5194,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2545,3402
$GC,5474,-0.45,-126.5,617.9,-8.4,218,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2545,3400
$GC,5717,-0.45,-126.5,639.3,-8.8,224,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3399
$GC,5961,-0.45,-126.5,662.0,-9.3,230,5964,0.00,1.58,0.00,0.000,4,0.000,0.055,2523,3557,3397
$GC,6002,-0.45,-126.5,666.1,-9.2,230,6010,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2518,3397
$GC,6257,-0.45,-126.5,689.3,-9.2,237,6260,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1460,3396
$GC,6321,-0.45,-126.5,695.6,-9.4,238,6325,0.00,1.62,0.00,0.000,6,0.000,0.046,2523,2525,3395
$GC,6599,-0.45,-126.5,719.9,-8.7,245,6602,0.00,1.60,0.00,0.000,4,0.000,0.055,2516,3572,3393
$GC,6649,-0.45,-126.5,724.3,-8.6,246,6653,0.08,1.50,0.00,0.000,6,0.109,0.025,2546,2534,3393
$GC,6944,-0.45,-126.5,743.0,-6.1,253,6947,0.00,1.62,0.00,0.000,4,0.000,0.054,2541,3574,3392
$GC,6985,-0.45,-126.5,745.7,-5.6,253,6993,0.00,1.50,0.00,0.000,6,0.000,0.026,2540,2532,3392
$GC,7240,-0.45,-126.5,760.3,-5.7,260,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2531,3391
$GC,7483,-0.45,-126.5,773.8,-5.6,266,7487,0.00,1.65,0.00,0.000,4,0.000,0.055,2537,3566,3389
$GC,7519,-0.45,-126.5,776.3,-6.6,266,7523,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2549,3389
$GC,7780,-0.45,-126.5,794.2,-7.2,273,7783,0.00,1.55,0.00,0.000,4,0.000,0.026,2537,1458,3388
$GC,7839,-0.45,-126.5,799.0,-7.5,274,7842,0.00,1.67,0.00,0.000,6,0.000,0.048,2537,2547,3388
$GC,8122,-0.45,-126.5,820.8,-7.9,281,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2547,3386
$GC,8365,-0.45,-126.5,839.9,-7.8,287,8369,0.00,1.60,0.00,0.000,4,0.000,0.057,2529,3587,3386
$GC,8415,-0.45,-126.5,843.8,-7.4,288,8419,0.00,1.52,0.00,0.000,6,0.000,0.028,2529,2543,3386
$GC,8711,-0.45,-126.5,865.7,-7.3,295,8714,0.00,1.55,0.00,0.000,4,0.000,0.027,2530,1454,3385
$GC,8761,-0.45,-126.5,869.3,-7.0,296,8765,0.00,1.70,0.00,0.000,6,0.000,0.048,2524,2535,3384
$GC,9055,-0.45,-126.5,888.4,-6.4,303,9059,0.00,1.62,0.00,0.000,4,0.000,0.059,2524,3564,3383
$GC,9120,-0.45,-126.5,892.8,-6.1,304,9123,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2538,3383
$STATE,9269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9269,begin apogee
$GC,9281,-0.18,0.0,902.1,6.1,308,9392,0.35,0.00,106.97,1.269,6,0.097,0.000,2644,2218,2890
$STATE,9393,end apogee,CONTROL_FINISHED_OK
$STATE,9393,begin climb
$GC,9398,0.45,126.5,904.4,0.0,311,9562,0.55,0.00,130.27,1.135,6,0.029,0.000,2879,2218,2374
$GC,9802,0.45,126.5,845.8,19.5,321,9806,0.15,1.73,0.00,0.000,4,0.195,0.048,2845,3301,2363
$GC,9853,0.45,126.5,836.4,18.4,322,9857,0.00,1.60,0.00,0.000,6,0.000,0.026,2851,2252,2362
$GC,10147,0.45,126.5,787.9,16.2,329,10151,0.00,1.62,0.00,0.000,4,0.000,0.031,2857,1141,2361
$GC,10199,0.45,126.5,779.5,15.4,330,10203,0.00,1.73,0.00,0.000,6,0.000,0.042,2857,2235,2359
$GC,10488,0.45,126.5,734.7,15.6,337,10491,0.00,1.62,0.00,0.000,4,0.000,0.049,2857,3293,2359
$GC,10627,0.45,126.5,711.6,17.5,340,10631,0.00,1.55,0.00,0.000,6,0.000,0.027,2864,2256,2359
$GC,10921,0.45,126.5,664.9,15.6,347,10925,0.00,1.60,0.00,0.000,4,0.000,0.029,2872,1161,2358
$GC,10962,0.45,126.5,658.2,14.7,347,10970,0.00,1.70,0.00,0.000,6,0.000,0.043,2872,2248,2357
$GC,11217,0.45,126.5,619.6,15.4,354,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2248,2357
$GC,11461,0.45,126.5,580.2,16.5,360,11464,0.00,1.62,0.00,0.000,4,0.000,0.028,2880,1126,2357
$GC,11502,0.45,126.5,573.0,16.2,360,11511,0.00,1.73,0.00,0.000,6,0.000,0.042,2877,2232,2356
$GC,11757,0.45,126.5,531.7,16.4,367,11761,0.12,1.60,0.00,0.000,4,0.185,0.046,2846,3288,2356
$GC,11808,0.45,126.5,522.6,15.3,368,11812,0.00,1.52,0.00,0.000,6,0.000,0.025,2852,2254,2356
$GC,12096,0.45,126.5,484.9,12.9,375,12100,0.00,1.62,0.00,0.000,4,0.000,0.048,2852,3276,2355
$GC,12137,0.45,126.5,479.2,13.4,375,12147,0.00,1.50,0.00,0.000,6,0.000,0.025,2857,2262,2355
$GC,12393,0.45,126.5,446.5,13.1,382,12397,0.00,1.62,0.00,0.000,4,0.000,0.048,2858,3282,2355
$GC,12462,0.45,126.5,435.6,14.8,383,12465,0.00,1.45,0.00,0.000,6,0.000,0.026,2864,2302,2354
$GC,12734,0.45,126.5,398.5,13.7,390,12737,0.00,1.55,0.00,0.000,4,0.000,0.048,2863,3274,2355
$GC,12752,0.45,126.5,395.4,13.4,390,12756,0.00,1.42,0.00,0.000,6,0.000,0.025,2868,2307,2354
$GC,13030,0.45,126.5,361.9,11.9,397,13034,0.00,1.62,0.00,0.000,4,0.000,0.028,2877,1159,2355
$GC,13105,0.45,126.5,353.3,11.0,398,13109,0.12,1.77,0.00,0.000,6,0.156,0.043,2845,2319,2354
$GC,13370,0.45,134.3,327.6,9.7,405,13379,0.00,1.50,4.50,0.656,4,0.000,0.050,2844,3286,2342
$GC,13444,0.45,134.3,319.3,10.9,406,13448,0.00,1.40,0.00,0.000,6,0.000,0.027,2847,2343,2342
$GC,13710,0.45,134.3,292.4,10.3,413,13714,0.00,1.48,0.00,0.000,4,0.000,0.047,2847,3276,2341
$GC,13869,0.47,164.1,275.4,8.9,416,13901,0.00,1.25,27.15,0.834,6,0.000,0.025,2853,2407,2221
$GC,14186,0.47,164.1,244.6,10.1,424,14190,0.00,1.80,0.00,0.000,4,0.000,0.029,2857,1168,2216
$GC,14445,0.49,224.5,223.4,7.7,429,14503,0.00,1.85,50.42,0.779,6,0.000,0.041,2856,2376,1974
$GC,14757,0.49,224.5,187.0,12.5,443,14761,0.00,1.80,0.00,0.000,4,0.000,0.027,2857,1159,1967
$GC,14807,0.49,224.5,181.0,10.1,447,14810,0.00,1.88,0.00,0.000,6,0.000,0.040,2856,2370,1966
$GC,15079,0.49,224.5,148.9,11.8,472,15083,0.00,1.77,0.00,0.000,4,0.000,0.026,2856,1160,1966
$GC,15165,0.49,224.5,139.6,10.1,479,15169,0.00,1.83,0.00,0.000,6,0.000,0.039,2857,2331,1965
$GC,15436,0.49,224.5,109.1,10.6,504,15440,0.00,1.45,0.00,0.000,4,0.000,0.043,2857,3282,1965
$GC,15486,0.49,224.5,103.4,10.9,508,15490,0.00,1.35,0.00,0.000,6,0.000,0.023,2860,2359,1965
$GC,15759,0.50,253.3,77.9,8.9,533,15788,0.00,1.77,23.62,0.624,4,0.000,0.025,2860,1157,1856
$GC,15877,0.55,376.1,69.7,5.4,542,15979,0.00,1.85,96.97,0.614,6,0.000,0.037,2860,2374,1356
$GC,16240,0.59,486.9,50.2,5.8,573,16338,0.00,1.85,86.62,0.584,4,0.000,0.022,2860,1164,903
$GC,16391,0.59,486.9,38.1,11.8,584,16395,0.00,1.80,0.00,0.000,6,0.000,0.033,2860,2337,902
$STATE,16681,end climb,SURFACE_DEPTH_REACHED
$STATE,16681,begin surface coast
$FINISH,0.3,0.996509
$STATE,16714,end surface coast,CONTROL_FINISHED_OK
$STATE,16714,begin surface
$SM_CCo,16799,0.00,0.000,0,0,899,488.14
$SM_GC,1.20,7.15,0.00,0.00,0.021,0.000,0.000,32,2518,899,-8.23,0.51,488.14
$IRIDIUM_FIX,2255.72,-15738.85,070103,151550
$TT8_MAMPS,0.023777
$HUMID,2193
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,24.0,24.822
$10V_AH,10.7,26.912
$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,18.050,127.825,526.550,0.000,0.000,88.004,99.091,449.685,1.250,0.000,0.000,13.128,1383.303,11136.123,541.599,3431.824,1270.049,33.378,1682.413,0.000,3419.668,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,59.059,1268.618,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,427.715,2072.210,2150.179,1330.764,1435.881,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54062,629
$CAP_FILE_SIZE,140362,0
$CFSIZE,260165632,248918016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,141013,005136,2301.086,-15740.782,40,1.8,40,10.1