version: 66.04
glider: 512
mission: 4
dive: 149
start: 10 14 113 1 7 17
data:
$ID,512
$MISSION,4
$DIVE,149
$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,-109483.59
$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,59
$R_STBD_OVSHOOT,42
$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
$GPS1,005136,2301.086,-15740.782,40,1.8,40,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-83.1
$GPS2,010600,2301.170,-15740.736,14,1.6,19,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,-0.124
$KALMAN_X,61014.2,-122.4,36.1,-27944.4,1792.4
$KALMAN_Y,33703.3,322.1,392.3,-2781.1,-272.9
$MHEAD_RNG_PITCHd_Wd,234.1,57700,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.45,-126.5,0.0,0.0,0,106,0.00,0.00,-85.62,0.000,2,0.000,0.000,16,2525,2996
$GC,112,-0.45,-126.5,2.4,-2.3,10,141,9.45,1.55,-8.55,0.000,4,0.201,0.040,2547,1429,3408
$GC,289,-0.45,-126.5,46.7,-20.1,30,293,0.00,1.60,0.00,0.000,6,0.000,0.038,2541,2494,3408
$GC,561,-0.45,-126.5,103.8,-18.1,55,565,0.00,1.60,0.00,0.000,4,0.000,0.045,2533,3565,3409
$GC,657,-0.45,-126.5,119.7,-14.1,63,661,0.00,1.55,0.00,0.000,6,0.000,0.018,2533,2469,3409
$GC,930,-0.45,-126.5,162.6,-15.2,88,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2461,3409
$GC,1225,-0.45,-126.5,206.3,-14.0,113,1229,0.00,1.67,0.00,0.000,4,0.000,0.042,2526,3572,3409
$GC,1283,-0.45,-126.5,215.4,-14.5,114,1286,0.00,1.52,0.00,0.000,6,0.000,0.018,2526,2492,3408
$GC,1566,-0.45,-126.5,256.1,-14.5,121,1570,0.00,1.65,0.00,0.000,4,0.000,0.046,2523,3572,3408
$GC,1636,-0.45,-126.5,265.2,-12.3,122,1640,0.00,1.48,0.00,0.000,6,0.000,0.018,2523,2517,3408
$GC,1908,-0.45,-126.5,297.5,-12.1,129,1912,0.00,1.45,0.00,0.000,4,0.000,0.020,2523,1457,3407
$GC,2034,-0.45,-126.5,310.9,-9.7,131,2038,0.00,1.58,0.00,0.000,6,0.000,0.041,2523,2491,3407
$GC,2294,-0.45,-126.5,338.3,-10.9,138,2298,0.00,1.60,0.00,0.000,4,0.000,0.049,2523,3559,3404
$GC,2414,-0.45,-126.5,351.4,-10.6,140,2418,0.00,1.48,0.00,0.000,6,0.000,0.021,2523,2508,3403
$GC,2680,-0.45,-126.5,380.1,-11.0,147,2684,0.00,1.45,0.00,0.000,4,0.000,0.021,2523,1454,3402
$GC,2739,-0.45,-126.5,386.6,-9.7,148,2743,0.12,1.58,0.00,0.000,6,0.119,0.038,2552,2492,3401
$GC,3021,-0.45,-126.5,409.2,-8.2,155,3025,0.00,1.62,0.00,0.000,4,0.000,0.050,2545,3557,3398
$GC,3063,-0.45,-126.5,413.4,-9.6,155,3071,0.00,1.52,0.00,0.000,6,0.000,0.021,2545,2475,3398
$GC,3317,-0.45,-126.5,438.9,-10.2,162,3319,0.00,0.00,-0.08,0.000,6,0.000,0.000,2545,2475,3419
$GC,3561,-0.45,-126.5,462.3,-9.4,168,3565,0.00,1.67,0.00,0.000,4,0.000,0.048,2537,3565,3417
$GC,3620,-0.45,-126.5,467.9,-8.6,169,3624,0.00,1.52,0.00,0.000,6,0.000,0.021,2537,2493,3417
$GC,3903,-0.45,-126.5,493.2,-9.0,176,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2487,3414
$GC,4147,-0.45,-126.5,514.4,-8.7,182,4150,0.00,1.65,0.00,0.000,4,0.000,0.051,2537,3558,3413
$GC,4182,-0.45,-126.5,517.6,-8.2,182,4186,0.00,1.52,0.00,0.000,6,0.000,0.023,2536,2491,3412
$GC,4443,-0.45,-126.5,536.1,-7.0,189,4447,0.00,1.45,0.00,0.000,4,0.000,0.023,2536,1446,3410
$GC,4484,-0.45,-126.5,539.3,-6.8,189,4492,0.00,1.58,0.00,0.000,6,0.000,0.043,2536,2471,3411
$GC,4740,-0.45,-126.5,556.3,-6.9,196,4744,0.00,1.67,0.00,0.000,4,0.000,0.054,2534,3569,3408
$GC,4804,-0.45,-126.5,561.0,-7.0,197,4808,0.00,1.55,0.00,0.000,6,0.000,0.023,2534,2492,3408
$GC,5081,-0.45,-126.5,581.4,-7.7,204,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2485,3406
$GC,5325,-0.45,-126.5,601.7,-8.5,210,5328,0.00,1.67,0.00,0.000,4,0.000,0.051,2526,3570,3403
$GC,5361,-0.45,-126.5,605.2,-9.3,210,5364,0.00,1.55,0.00,0.000,6,0.000,0.024,2526,2495,3403
$GC,5622,-0.45,-126.5,629.3,-9.2,217,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2488,3401
$GC,5867,-0.45,-126.5,651.3,-9.1,223,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2488,3400
$GC,6111,-0.45,-126.5,672.9,-8.8,229,6114,0.00,1.67,0.00,0.000,4,0.000,0.054,2524,3566,3400
$GC,6146,-0.45,-126.5,676.5,-8.9,229,6150,0.00,1.55,0.00,0.000,6,0.000,0.025,2524,2496,3399
$GC,6407,-0.45,-126.5,696.1,-7.4,236,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2490,3398
$GC,6650,-0.45,-126.5,713.2,-7.1,242,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2491,3396
$GC,6894,-0.45,-126.5,730.5,-7.1,248,6898,0.00,1.70,0.00,0.000,4,0.000,0.055,2523,3559,3395
$GC,6946,-0.45,-126.5,734.6,-7.5,249,6949,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2507,3395
$GC,7236,-0.45,-126.5,756.5,-7.8,256,7239,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3559,3393
$GC,7316,-0.45,-126.5,762.4,-6.8,257,7319,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2511,3393
$GC,7576,-0.45,-126.5,780.1,-6.7,264,7580,0.00,1.67,0.00,0.000,4,0.000,0.055,2523,3557,3391
$GC,7628,-0.45,-126.5,783.3,-6.1,265,7632,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2529,3392
$GC,7922,-0.45,-126.5,802.5,-6.5,272,7926,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1455,3390
$GC,8002,-0.45,-126.5,808.4,-6.8,273,8005,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2529,3390
$GC,8264,-0.45,-126.5,827.7,-7.9,280,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3389
$GC,8507,-0.45,-126.5,847.6,-8.2,286,8510,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3566,3388
$GC,8564,-0.45,-126.5,852.6,-8.0,287,8568,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2532,3388
$GC,8848,-0.45,-126.5,874.7,-7.9,294,8851,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1459,3387
$GC,8889,-0.45,-126.5,878.5,-8.0,294,8898,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2544,3387
$GC,9146,-0.45,-126.5,898.0,-7.7,301,9150,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3578,3386
$STATE,9166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9166,begin apogee
$GC,9179,-0.18,0.0,900.3,7.6,301,9290,0.32,0.00,108.28,1.262,6,0.098,0.000,2641,2233,2890
$STATE,9291,end apogee,CONTROL_FINISHED_OK
$STATE,9291,begin climb
$GC,9296,0.45,126.5,903.8,0.0,304,9450,0.52,1.73,125.78,1.160,4,0.032,0.027,2880,1154,2373
$GC,9491,0.45,126.5,887.6,16.9,308,9495,0.12,1.73,0.00,0.000,6,0.163,0.040,2848,2229,2368
$GC,9769,0.45,126.5,842.6,16.5,315,9772,0.00,1.65,0.00,0.000,4,0.000,0.048,2848,3285,2362
$GC,9827,0.45,126.5,832.0,17.4,316,9831,0.00,1.60,0.00,0.000,6,0.000,0.026,2854,2208,2361
$GC,10109,0.45,126.5,784.5,16.9,323,10113,0.00,1.55,0.00,0.000,4,0.000,0.029,2860,1161,2360
$GC,10145,0.45,126.5,778.1,16.4,323,10148,0.00,1.65,0.00,0.000,6,0.000,0.042,2860,2229,2359
$GC,10405,0.45,126.5,736.3,16.3,330,10409,0.00,1.62,0.00,0.000,4,0.000,0.050,2860,3284,2358
$GC,10501,0.45,126.5,719.6,17.5,332,10504,0.00,1.58,0.00,0.000,6,0.000,0.027,2868,2230,2358
$GC,10795,0.45,126.5,665.2,18.8,339,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2224,2358
$GC,11038,0.45,126.5,621.7,17.5,345,11042,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3285,2357
$GC,11062,0.45,126.5,617.0,17.5,345,11066,0.00,1.55,0.00,0.000,6,0.000,0.026,2868,2243,2357
$GC,11335,0.45,126.5,574.3,15.7,352,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2237,2356
$GC,11580,0.45,126.5,536.4,15.6,358,11583,0.00,1.62,0.00,0.000,4,0.000,0.047,2863,3287,2356
$GC,11604,0.45,126.5,531.6,16.1,358,11608,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2238,2356
$GC,11875,0.45,126.5,492.5,14.3,365,11879,0.00,1.55,0.00,0.000,4,0.000,0.028,2877,1162,2355
$GC,11925,0.45,126.5,485.7,14.8,366,11929,0.12,1.67,0.00,0.000,6,0.159,0.042,2843,2258,2355
$GC,12220,0.45,126.5,450.0,12.0,373,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2258,2354
$GC,12464,0.45,126.5,421.8,11.6,379,12467,0.00,1.58,0.00,0.000,4,0.000,0.048,2840,3275,2354
$GC,12588,0.45,126.5,406.6,11.5,381,12591,0.00,1.52,0.00,0.000,6,0.000,0.026,2846,2242,2354
$GC,12849,0.45,126.5,379.0,10.5,388,12853,0.00,1.55,0.00,0.000,4,0.000,0.028,2847,1170,2354
$GC,12891,0.45,135.4,374.4,9.7,388,12900,0.00,1.62,5.65,0.752,6,0.000,0.040,2846,2222,2337
$GC,13146,0.45,136.5,348.6,10.0,395,13149,0.00,1.62,0.00,0.000,4,0.000,0.049,2847,3293,2336
$GC,13181,0.45,136.5,344.3,10.9,395,13185,0.00,1.55,0.00,0.000,6,0.000,0.025,2854,2236,2336
$GC,13442,0.45,136.5,318.4,10.1,402,13445,0.00,1.62,0.00,0.000,4,0.000,0.047,2855,3290,2336
$GC,13493,0.45,136.5,312.8,11.6,403,13496,0.00,1.52,0.00,0.000,6,0.000,0.025,2860,2261,2336
$GC,13786,0.45,136.5,280.4,10.5,410,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2256,2336
$GC,14030,0.46,158.7,256.8,9.2,416,14056,0.00,1.65,21.65,0.806,4,0.000,0.028,2860,1155,2241
$GC,14261,0.47,165.5,234.5,9.7,421,14272,0.00,1.65,6.68,0.680,6,0.000,0.038,2860,2236,2215
$GC,14538,0.48,203.3,210.3,8.6,428,14581,0.00,1.67,32.72,0.761,4,0.000,0.045,2860,3283,2061
$GC,14677,0.48,203.3,194.1,12.1,434,14681,0.00,1.55,0.00,0.000,6,0.000,0.025,2867,2250,2058
$GC,14948,0.48,203.3,158.3,13.0,459,14952,0.00,1.58,0.00,0.000,4,0.000,0.026,2873,1167,2056
$GC,14976,0.48,203.3,154.5,13.8,461,14980,0.00,1.67,0.00,0.000,6,0.000,0.037,2873,2251,2055
$GC,15247,0.48,203.3,120.7,12.2,486,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2251,2055
$GC,15514,0.49,219.5,92.2,9.4,511,15533,0.00,0.00,13.90,0.623,6,0.000,0.000,2873,2251,1995
$GC,15791,0.52,306.6,70.2,6.7,537,15866,0.00,1.65,70.50,0.617,4,0.000,0.041,2873,3284,1639
$GC,15959,0.54,339.3,57.0,8.8,549,15991,0.00,1.52,26.50,0.589,6,0.000,0.021,2873,2254,1505
$GC,16259,0.55,378.7,32.1,8.5,576,16296,0.00,1.58,31.70,0.568,4,0.000,0.023,2872,1164,1345
$GC,16339,0.59,469.9,26.0,6.6,585,16418,0.00,1.70,71.95,0.562,6,0.000,0.033,2872,2264,973
$STATE,16601,end climb,SURFACE_DEPTH_REACHED
$STATE,16601,begin surface coast
$FINISH,0.4,0.996610
$STATE,16627,end surface coast,CONTROL_FINISHED_OK
$STATE,16627,begin surface
$SM_CCo,16713,0.00,0.000,0,0,968,471.46
$SM_GC,1.38,7.25,0.00,0.00,0.023,0.000,0.000,45,2521,968,-8.21,0.59,471.46
$IRIDIUM_FIX,2253.38,-15741.91,080103,010135
$TT8_MAMPS,0.02301
$HUMID,2178
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.30
$XPDR_PINGS,4
$24V_AH,24.0,24.986
$10V_AH,10.7,27.124
$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,17.925,118.550,515.300,0.000,0.000,62.645,74.293,467.486,1.000,0.000,0.000,19.398,1365.481,11193.681,483.617,3299.977,1246.061,33.378,1595.786,0.000,3297.452,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,57.525,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.981,2067.137,2141.662,608.280,1409.538,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54173,628
$CAP_FILE_SIZE,136909,0
$CFSIZE,260165632,248852480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,141013,054706,2300.653,-15741.777,33,1.0,33,10.1