version: 66.04
glider: 512
mission: 4
dive: 151
start: 10 14 113 11 21 15
data:
$ID,512
$MISSION,4
$DIVE,151
$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,-109513.55
$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,66
$R_STBD_OVSHOOT,65
$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
$GPS1,111005,2259.264,-15743.450,37,0.9,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-84.9
$GPS2,112001,2259.299,-15743.468,12,2.0,12,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.219,-0.182
$KALMAN_X,65577.8,99.3,-241.1,-37108.3,2430.7
$KALMAN_Y,36190.8,-155.8,-452.5,-7397.9,1916.3
$MHEAD_RNG_PITCHd_Wd,220.1,51912,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.45,-126.5,0.0,0.0,0,92,0.00,0.00,-67.57,0.000,2,0.000,0.000,17,2540,2874
$GC,98,-0.45,-126.5,2.0,-1.5,8,127,9.52,1.58,-12.00,0.000,4,0.202,0.037,2551,1426,3406
$GC,289,-0.45,-126.5,47.8,-20.3,30,299,0.00,1.60,0.00,0.000,6,0.000,0.038,2545,2464,3407
$GC,556,-0.45,-126.5,101.6,-15.6,55,559,0.00,1.67,0.00,0.000,4,0.000,0.044,2537,3561,3408
$GC,652,-0.45,-126.5,116.7,-14.6,63,656,0.00,1.52,0.00,0.000,6,0.000,0.018,2539,2490,3408
$GC,925,-0.45,-126.5,157.9,-16.2,88,929,0.00,1.42,0.00,0.000,4,0.000,0.019,2539,1448,3409
$GC,974,-0.45,-126.5,165.7,-14.4,92,978,0.00,1.60,0.00,0.000,6,0.000,0.039,2537,2491,3409
$GC,1243,-0.45,-126.5,208.0,-16.3,114,1247,0.00,1.62,0.00,0.000,4,0.000,0.044,2528,3564,3409
$GC,1319,-0.45,-126.5,220.6,-14.6,115,1323,0.00,1.52,0.00,0.000,6,0.000,0.018,2528,2481,3409
$GC,1585,-0.45,-126.5,257.7,-13.3,122,1588,0.00,1.65,0.00,0.000,4,0.000,0.044,2523,3563,3409
$GC,1626,-0.45,-126.5,263.5,-12.8,122,1634,0.00,1.50,0.00,0.000,6,0.000,0.019,2523,2487,3409
$GC,1880,-0.45,-126.5,295.0,-12.2,129,1884,0.00,1.62,0.00,0.000,4,0.000,0.043,2516,3567,3409
$GC,1945,-0.45,-126.5,303.0,-10.8,130,1949,0.08,1.50,0.00,0.000,6,0.120,0.018,2555,2482,3408
$GC,2222,-0.45,-126.5,326.6,-8.3,137,2226,0.00,1.67,0.00,0.000,4,0.000,0.046,2549,3559,3408
$GC,2291,-0.45,-126.5,332.1,-7.4,138,2295,0.00,1.45,0.00,0.000,6,0.000,0.020,2549,2525,3407
$GC,2564,-0.45,-126.5,352.2,-7.4,145,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2517,3406
$GC,2809,-0.45,-126.5,372.5,-8.5,151,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2517,3404
$GC,3052,-0.45,-126.5,393.8,-8.7,157,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2517,3402
$GC,3296,-0.45,-126.5,414.2,-8.4,163,3299,0.00,1.60,0.00,0.000,4,0.000,0.048,2541,3566,3400
$GC,3371,-0.45,-126.5,421.2,-8.5,164,3375,0.00,1.50,0.00,0.000,6,0.000,0.021,2541,2511,3399
$GC,3637,-0.45,-126.5,443.2,-8.2,171,3641,0.00,1.45,0.00,0.000,4,0.000,0.021,2541,1460,3398
$GC,3724,-0.45,-126.5,450.4,-7.6,172,3732,0.00,1.60,0.00,0.000,6,0.000,0.042,2537,2500,3398
$GC,3979,-0.45,-126.5,472.0,-8.7,179,3983,0.00,1.65,-0.08,0.000,4,0.000,0.067,2529,3563,3420
$GC,4014,-0.45,-126.5,475.6,-9.2,179,4018,0.00,1.50,0.00,0.000,6,0.000,0.023,2530,2520,3420
$GC,4275,-0.45,-126.5,499.8,-9.5,186,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2512,3418
$GC,4519,-0.45,-126.5,523.3,-9.6,192,4522,0.00,1.62,0.00,0.000,4,0.000,0.051,2524,3565,3417
$GC,4594,-0.45,-126.5,530.8,-8.9,193,4598,0.00,1.52,0.00,0.000,6,0.000,0.024,2524,2505,3416
$GC,4860,-0.45,-126.5,555.2,-9.3,200,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2497,3414
$GC,5104,-0.45,-126.5,578.0,-9.2,206,5107,0.00,1.65,0.00,0.000,4,0.000,0.053,2523,3563,3413
$GC,5156,-0.45,-126.5,583.0,-8.4,207,5160,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2526,3412
$GC,5446,-0.45,-126.5,608.3,-9.0,214,5449,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1459,3411
$GC,5482,-0.45,-126.5,612.1,-9.0,214,5485,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2519,3411
$GC,5742,-0.45,-126.5,634.3,-8.6,221,5746,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3559,3409
$GC,5783,-0.45,-126.5,638.0,-8.3,221,5792,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2505,3409
$GC,6039,-0.45,-126.5,657.8,-7.8,228,6042,0.00,1.48,0.00,0.000,4,0.000,0.025,2523,1463,3408
$GC,6075,-0.45,-126.5,660.9,-7.8,228,6078,0.00,1.62,0.00,0.000,6,0.000,0.045,2523,2527,3408
$GC,6336,-0.45,-126.5,680.4,-7.7,235,6340,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3569,3406
$GC,6431,-0.45,-126.5,688.0,-8.4,237,6435,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2542,3405
$GC,6726,-0.45,-126.5,712.6,-8.7,244,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2533,3404
$GC,6970,-0.45,-126.5,734.3,-8.9,250,6974,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1448,3402
$GC,7000,-0.45,-126.5,737.4,-9.0,250,7004,0.00,1.70,0.00,0.000,6,0.000,0.046,2523,2537,3402
$GC,7266,-0.45,-126.5,760.7,-8.8,257,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3401
$GC,7510,-0.45,-126.5,781.8,-8.6,263,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3400
$GC,7754,-0.45,-126.5,802.4,-8.5,269,7757,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3555,3400
$GC,7804,-0.45,-126.5,806.7,-8.5,270,7808,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2535,3400
$GC,8099,-0.45,-126.5,831.7,-8.6,277,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2527,3398
$GC,8344,-0.45,-126.5,851.7,-8.1,283,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2527,3398
$GC,8588,-0.45,-126.5,869.5,-7.1,289,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2527,3397
$GC,8832,-0.45,-126.5,884.9,-6.2,295,8835,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3562,3396
$GC,8867,-0.45,-126.5,887.6,-6.6,295,8871,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2542,3396
$STATE,9083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9083,begin apogee
$GC,9094,-0.18,0.0,900.5,6.0,301,9206,0.35,0.00,108.88,1.269,6,0.097,0.000,2643,2203,2890
$STATE,9207,end apogee,CONTROL_FINISHED_OK
$STATE,9207,begin climb
$GC,9212,0.45,126.5,902.5,0.0,304,9344,0.52,1.65,119.12,1.209,4,0.031,0.027,2882,1177,2373
$GC,9364,0.45,126.5,889.7,16.5,307,9368,0.12,1.73,0.00,0.000,6,0.168,0.040,2849,2237,2369
$GC,9640,0.45,126.5,843.9,16.3,314,9644,0.00,1.67,0.00,0.000,4,0.000,0.048,2848,3287,2363
$GC,9709,0.45,126.5,831.4,16.9,315,9712,0.00,1.58,0.00,0.000,6,0.000,0.026,2854,2250,2360
$GC,9981,0.45,126.5,788.4,15.8,322,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2244,2360
$GC,10226,0.45,126.5,751.1,15.1,328,10230,0.00,1.60,0.00,0.000,4,0.000,0.028,2863,1158,2359
$GC,10261,0.45,126.5,745.5,14.3,328,10265,0.00,1.67,0.00,0.000,6,0.000,0.042,2863,2220,2358
$GC,10521,0.45,126.5,705.4,15.9,335,10525,0.00,1.65,0.00,0.000,4,0.000,0.051,2863,3275,2357
$GC,10572,0.45,126.5,697.3,16.7,336,10575,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2213,2357
$GC,10866,0.45,126.5,647.5,17.1,343,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2206,2356
$GC,11111,0.45,126.5,604.8,17.9,349,11115,0.00,1.67,0.00,0.000,4,0.000,0.047,2863,3281,2356
$GC,11135,0.45,126.5,599.7,17.7,349,11139,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2212,2356
$GC,11407,0.45,126.5,556.3,15.9,356,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2206,2355
$GC,11650,0.45,126.5,518.6,15.6,362,11654,0.00,1.70,0.00,0.000,4,0.000,0.048,2863,3279,2355
$GC,11753,0.45,126.5,503.0,14.0,364,11757,0.00,1.58,0.00,0.000,6,0.000,0.026,2869,2221,2354
$GC,12035,0.45,126.5,464.5,13.7,371,12039,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3293,2354
$GC,12070,0.45,126.5,458.8,14.9,371,12074,0.00,1.58,0.00,0.000,6,0.000,0.026,2869,2230,2354
$GC,12331,0.45,126.5,423.8,13.7,378,12334,0.00,1.55,0.00,0.000,4,0.000,0.028,2877,1159,2354
$GC,12389,0.45,126.5,415.8,13.4,379,12393,0.12,1.65,0.00,0.000,6,0.163,0.042,2843,2240,2354
$GC,12671,0.45,126.5,384.0,11.0,386,12675,0.00,1.62,0.00,0.000,4,0.000,0.049,2840,3284,2353
$GC,12721,0.45,126.5,378.1,12.1,387,12725,0.00,1.58,0.00,0.000,6,0.000,0.025,2847,2225,2353
$GC,13016,0.45,126.5,345.9,10.8,394,13020,0.00,1.65,0.00,0.000,4,0.000,0.048,2846,3281,2353
$GC,13041,0.45,126.5,342.6,12.0,394,13045,0.00,1.55,0.00,0.000,6,0.000,0.026,2847,2242,2352
$GC,13312,0.45,126.5,313.8,10.7,401,13315,0.00,1.58,0.00,0.000,4,0.000,0.027,2856,1143,2353
$GC,13363,0.45,138.1,309.1,9.6,402,13377,0.00,1.67,7.82,0.779,6,0.000,0.040,2856,2245,2326
$GC,13658,0.46,143.4,280.3,9.8,409,13668,0.00,1.65,6.45,0.704,4,0.000,0.048,2856,3290,2304
$GC,13765,0.46,143.4,266.8,12.6,411,13768,0.00,1.58,0.00,0.000,6,0.000,0.024,2860,2228,2303
$GC,14037,0.48,188.4,242.6,8.3,418,14082,0.00,1.67,38.80,0.801,4,0.000,0.044,2860,3284,2121
$GC,14179,0.48,188.4,227.7,12.3,421,14183,0.00,1.58,0.00,0.000,6,0.000,0.025,2868,2240,2118
$GC,14442,0.48,188.4,197.5,11.8,428,14450,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2234,2116
$GC,14708,0.48,188.4,166.4,11.2,453,14712,0.00,1.65,0.00,0.000,4,0.000,0.043,2863,3285,2116
$GC,14815,0.48,188.4,153.5,10.9,462,14825,0.00,1.50,0.00,0.000,6,0.000,0.023,2868,2268,2116
$GC,15083,0.48,188.4,125.4,11.5,487,15086,0.00,1.58,0.00,0.000,4,0.000,0.026,2873,1173,2116
$GC,15213,0.49,214.8,111.8,9.0,498,15241,0.00,1.65,22.65,0.653,6,0.000,0.035,2873,2253,2013
$GC,15502,0.49,214.8,80.0,10.5,524,15505,0.00,1.58,0.00,0.000,4,0.000,0.041,2873,3283,2010
$GC,15580,0.51,271.5,72.2,7.9,530,15637,0.00,1.45,46.12,0.623,6,0.000,0.021,2880,2277,1784
$GC,15893,0.52,302.7,46.8,8.8,558,15923,0.00,0.00,25.98,0.586,6,0.000,0.000,2881,2277,1655
$GC,16202,0.52,302.7,17.1,10.3,595,16211,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2277,1651
$STATE,16353,end climb,SURFACE_DEPTH_REACHED
$STATE,16353,begin surface coast
$FINISH,0.3,1.006589
$STATE,16390,end surface coast,CONTROL_FINISHED_OK
$STATE,16390,begin surface
$SM_CCo,16415,35.70,0.542,0,0,1298,390.02
$SM_GC,1.38,0.00,0.00,35.70,0.000,0.000,0.542,35,2534,1298,-8.31,0.96,390.02
$IRIDIUM_FIX,2251.04,-15739.74,080103,060642
$TT8_MAMPS,0.023777
$HUMID,2199
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.20
$XPDR_PINGS,4
$24V_AH,23.9,25.296
$10V_AH,10.7,27.555
$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,17.975,111.975,375.825,35.700,0.000,29.283,36.317,340.816,1.000,0.000,0.000,13.031,1359.772,10993.946,433.941,3214.711,1057.749,33.382,1447.626,0.000,3232.577,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,67.496,1268.618,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,425.661,2055.730,2133.893,1036.122,1390.955,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54016,624
$CAP_FILE_SIZE,129265,0
$CFSIZE,260165632,248717312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141013,155654,2258.621,-15744.535,39,1.9,39,10.1