version: 66.04
glider: 512
mission: 4
dive: 152
start: 10 14 113 16 19 44
data:
$ID,512
$MISSION,4
$DIVE,152
$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,-109526.35
$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,65
$R_STBD_OVSHOOT,57
$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
$GPS1,155654,2258.621,-15744.535,39,1.9,39,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-83.0
$GPS2,161830,2258.665,-15744.431,12,1.2,12,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.246,-0.143
$KALMAN_X,67519.2,106.4,100.8,-41046.7,1730.4
$KALMAN_Y,37236.6,-139.5,587.7,-10678.0,111.2
$MHEAD_RNG_PITCHd_Wd,229.7,49904,-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,23,-0.45,-126.5,0.0,0.0,0,93,0.00,0.00,-67.78,0.000,2,0.000,0.000,11,2531,2890
$GC,98,-0.45,-126.5,2.2,-1.8,8,127,9.48,1.55,-11.57,0.000,4,0.200,0.038,2551,1432,3406
$GC,319,-0.45,-126.5,51.2,-19.7,33,322,0.00,1.60,0.00,0.000,6,0.000,0.038,2545,2498,3407
$GC,590,-0.45,-126.5,103.7,-14.5,58,593,0.00,1.60,0.00,0.000,4,0.000,0.044,2537,3571,3407
$GC,687,-0.45,-126.5,120.0,-15.4,66,690,0.00,1.52,0.00,0.000,6,0.000,0.018,2537,2490,3408
$GC,959,-0.45,-126.5,162.8,-17.2,91,962,0.00,1.42,0.00,0.000,4,0.000,0.018,2537,1439,3407
$GC,986,-0.45,-126.5,167.7,-16.9,93,989,0.00,1.62,0.00,0.000,6,0.000,0.037,2530,2507,3407
$GC,1264,-0.45,-126.5,215.2,-17.2,113,1268,0.00,1.60,0.00,0.000,4,0.000,0.044,2523,3562,3407
$GC,1362,-0.45,-126.5,232.6,-16.2,115,1366,0.00,1.48,0.00,0.000,6,0.000,0.018,2523,2508,3407
$GC,1650,-0.45,-126.5,274.3,-14.0,122,1653,0.00,1.60,0.00,0.000,4,0.000,0.041,2515,3573,3406
$GC,1674,-0.45,-126.5,277.9,-12.9,122,1678,0.08,1.45,0.00,0.000,6,0.117,0.019,2543,2524,3407
$GC,1945,-0.45,-126.5,306.0,-10.3,129,1948,0.00,1.60,0.00,0.000,4,0.000,0.043,2537,3580,3406
$GC,1986,-0.45,-126.5,310.7,-10.2,129,1995,0.00,1.42,0.00,0.000,6,0.000,0.020,2537,2555,3406
$GC,2243,-0.45,-126.5,339.1,-11.3,136,2246,0.00,1.50,0.00,0.000,4,0.000,0.019,2537,1466,3405
$GC,2295,-0.45,-126.5,345.6,-11.0,137,2298,0.00,1.60,0.00,0.000,6,0.000,0.040,2537,2538,3405
$GC,2583,-0.45,-126.5,376.3,-10.7,144,2586,0.00,1.55,0.00,0.000,4,0.000,0.048,2529,3558,3402
$GC,2634,-0.45,-126.5,381.6,-10.5,145,2637,0.00,1.42,0.00,0.000,6,0.000,0.021,2529,2550,3402
$GC,2928,-0.45,-126.5,411.7,-9.9,152,2932,0.00,1.50,0.00,0.000,4,0.000,0.021,2529,1462,3399
$GC,2979,-0.45,-126.5,416.5,-9.0,153,2982,0.00,1.62,0.00,0.000,6,0.000,0.040,2524,2545,3399
$GC,3274,-0.45,-126.5,446.7,-10.5,160,3278,0.00,1.55,-0.08,0.000,4,0.000,0.068,2523,3566,3420
$GC,3303,-0.45,-126.5,450.3,-10.7,160,3307,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2533,3420
$GC,3569,-0.45,-126.5,478.6,-10.8,167,3573,0.00,1.50,0.00,0.000,4,0.000,0.022,2523,1457,3417
$GC,3620,-0.45,-126.5,484.6,-10.3,168,3624,0.00,1.62,0.00,0.000,6,0.000,0.043,2523,2534,3417
$GC,3909,-0.45,-126.5,513.4,-10.0,175,3913,0.00,1.58,0.00,0.000,4,0.000,0.050,2515,3560,3414
$GC,4018,-0.45,-126.5,524.4,-9.9,177,4022,0.08,1.45,0.00,0.000,6,0.107,0.024,2544,2538,3414
$GC,4296,-0.45,-126.5,545.5,-7.5,184,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2533,3412
$GC,4540,-0.45,-126.5,563.5,-7.4,190,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2534,3410
$GC,4784,-0.45,-126.5,580.1,-6.7,196,4788,0.00,1.50,0.00,0.000,4,0.000,0.024,2547,1467,3408
$GC,4827,-0.45,-126.5,583.2,-7.0,196,4835,0.00,1.67,0.00,0.000,6,0.000,0.044,2541,2554,3408
$GC,5082,-0.45,-126.5,599.6,-6.4,203,5086,0.00,1.55,0.00,0.000,4,0.000,0.053,2536,3556,3406
$GC,5134,-0.45,-126.5,603.0,-6.4,204,5137,0.00,1.42,0.00,0.000,6,0.000,0.026,2535,2563,3405
$GC,5429,-0.45,-126.5,624.4,-7.3,211,5433,0.00,1.55,0.00,0.000,4,0.000,0.024,2536,1459,3403
$GC,5471,-0.45,-126.5,627.9,-7.5,211,5479,0.00,1.73,0.00,0.000,6,0.000,0.045,2536,2570,3402
$GC,5726,-0.45,-126.5,646.7,-7.6,218,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2570,3400
$GC,5969,-0.45,-126.5,666.0,-7.9,224,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2571,3400
$GC,6213,-0.45,-126.5,684.4,-7.4,230,6216,0.00,1.60,0.00,0.000,4,0.000,0.025,2536,1442,3399
$GC,6254,-0.45,-126.5,687.6,-7.5,230,6262,0.00,1.75,0.00,0.000,6,0.000,0.047,2536,2565,3398
$GC,6509,-0.45,-126.5,705.4,-7.0,237,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2565,3397
$GC,6753,-0.45,-126.5,723.1,-7.4,243,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2565,3395
$GC,6997,-0.45,-126.5,741.6,-7.5,249,7000,0.00,1.60,0.00,0.000,4,0.000,0.027,2535,1438,3394
$GC,7048,-0.45,-126.5,745.4,-7.2,250,7051,0.00,1.73,0.00,0.000,6,0.000,0.047,2528,2563,3394
$GC,7342,-0.45,-126.5,768.2,-7.9,257,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2564,3393
$GC,7585,-0.45,-126.5,787.0,-7.7,263,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2564,3392
$GC,7829,-0.45,-126.5,806.0,-7.8,269,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2563,3390
$GC,8073,-0.45,-126.5,824.5,-7.5,275,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2564,3390
$GC,8317,-0.45,-126.5,842.0,-7.1,281,8320,0.00,1.55,0.00,0.000,4,0.000,0.058,2524,3549,3389
$GC,8367,-0.45,-126.5,845.6,-6.4,282,8371,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2568,3388
$GC,8662,-0.45,-126.5,865.1,-6.5,289,8666,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1475,3387
$GC,8693,-0.45,-126.5,867.5,-7.2,289,8696,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2558,3387
$GC,8959,-0.45,-126.5,884.3,-6.4,296,8962,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3558,3386
$GC,8989,-0.45,-126.5,886.5,-6.5,296,8992,0.00,1.42,0.00,0.000,6,0.000,0.029,2523,2578,3386
$STATE,9250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9250,begin apogee
$GC,9261,-0.18,0.0,902.0,5.9,303,9373,0.35,0.00,108.55,1.266,6,0.100,0.000,2642,2233,2890
$STATE,9374,end apogee,CONTROL_FINISHED_OK
$STATE,9374,begin climb
$GC,9379,0.45,126.5,903.3,0.0,306,9533,0.55,0.00,125.28,1.164,6,0.029,0.000,2878,2232,2376
$GC,9779,0.45,126.5,838.4,21.7,316,9784,0.15,1.67,0.00,0.000,4,0.193,0.046,2844,3290,2367
$GC,9816,0.45,126.5,830.4,20.3,316,9820,0.00,1.60,0.00,0.000,6,0.000,0.027,2850,2219,2366
$GC,10076,0.45,126.5,783.8,17.7,323,10080,0.00,1.70,0.00,0.000,4,0.000,0.048,2850,3297,2364
$GC,10117,0.45,126.5,775.8,19.3,323,10126,0.00,1.62,0.00,0.000,6,0.000,0.026,2856,2221,2363
$GC,10372,0.45,126.5,733.2,16.4,330,10376,0.00,1.58,0.00,0.000,4,0.000,0.028,2864,1148,2362
$GC,10413,0.45,126.5,725.9,16.7,330,10422,0.00,1.67,0.00,0.000,6,0.000,0.042,2863,2215,2361
$GC,10670,0.45,126.5,686.5,15.7,337,10674,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3289,2361
$GC,10694,0.45,126.5,681.6,16.2,337,10698,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2218,2361
$GC,10966,0.45,126.5,639.6,15.6,344,10969,0.00,1.67,0.00,0.000,4,0.000,0.047,2863,3289,2361
$GC,11040,0.45,126.5,627.1,16.1,345,11043,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2245,2361
$GC,11307,0.45,126.5,586.2,15.8,352,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2239,2360
$GC,11551,0.45,126.5,549.4,15.0,358,11555,0.00,1.62,0.00,0.000,4,0.000,0.047,2864,3286,2360
$GC,11575,0.45,126.5,544.8,15.4,358,11579,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2243,2359
$GC,11847,0.45,126.5,504.8,14.7,365,11850,0.00,1.58,0.00,0.000,4,0.000,0.028,2877,1154,2359
$GC,11877,0.45,126.5,500.1,14.5,365,11881,0.12,1.65,0.00,0.000,6,0.161,0.041,2843,2237,2358
$GC,12142,0.45,126.5,466.8,12.6,372,12145,0.00,1.62,0.00,0.000,4,0.000,0.048,2843,3302,2358
$GC,12200,0.45,126.5,458.6,14.1,373,12204,0.00,1.60,0.00,0.000,6,0.000,0.027,2846,2208,2358
$GC,12483,0.45,126.5,423.1,12.7,380,12487,0.00,1.70,0.00,0.000,4,0.000,0.050,2846,3274,2357
$GC,12524,0.45,126.5,417.3,12.9,380,12532,0.00,1.52,0.00,0.000,6,0.000,0.026,2854,2241,2358
$GC,12778,0.45,126.5,384.6,12.8,387,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2234,2357
$GC,13022,0.45,126.5,355.5,11.7,393,13025,0.00,1.55,0.00,0.000,4,0.000,0.028,2857,1169,2357
$GC,13052,0.45,126.5,351.8,10.8,393,13056,0.00,1.70,0.00,0.000,6,0.000,0.041,2857,2268,2357
$GC,13319,0.45,126.5,320.5,12.0,400,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2268,2357
$GC,13563,0.45,126.5,295.2,10.3,406,13565,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2268,2357
$GC,13808,0.47,163.4,274.3,8.6,412,13850,0.00,1.55,31.52,0.798,4,0.000,0.047,2857,3283,2224
$GC,13892,0.47,163.4,263.5,14.3,413,13900,0.00,1.52,0.00,0.000,6,0.000,0.025,2864,2265,2222
$GC,14146,0.47,163.4,234.7,11.0,420,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2258,2219
$GC,14390,0.48,191.1,212.6,9.0,426,14416,0.00,0.00,24.30,0.766,6,0.000,0.000,2864,2258,2109
$GC,14639,0.48,191.1,185.2,11.4,441,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2258,2105
$GC,14906,0.48,191.1,156.1,10.8,466,14910,0.00,1.60,0.00,0.000,4,0.000,0.044,2863,3300,2105
$GC,14990,0.48,191.1,146.5,11.2,473,14994,0.00,1.52,0.00,0.000,6,0.000,0.023,2869,2259,2105
$GC,15261,0.48,191.1,115.2,11.9,498,15265,0.00,1.58,0.00,0.000,4,0.000,0.026,2873,1165,2105
$GC,15372,0.48,191.4,102.7,10.0,507,15380,0.00,1.67,0.00,0.000,6,0.000,0.037,2873,2259,2105
$GC,15639,0.50,254.6,77.7,7.6,532,15695,0.00,0.00,52.03,0.630,6,0.000,0.000,2873,2259,1851
$GC,15957,0.53,329.8,53.2,7.2,560,16027,0.00,1.60,59.53,0.599,4,0.000,0.039,2873,3276,1545
$GC,16058,0.55,377.8,45.2,8.2,567,16103,0.00,1.55,39.38,0.580,6,0.000,0.021,2872,2237,1348
$GC,16384,0.57,416.0,20.2,8.6,604,16420,0.00,1.60,30.65,0.555,4,0.000,0.024,2872,1167,1192
$GC,16464,0.61,518.4,14.8,6.2,614,16552,0.00,1.67,79.82,0.552,6,0.000,0.031,2873,2251,776
$STATE,16589,end climb,SURFACE_DEPTH_REACHED
$STATE,16589,begin surface coast
$FINISH,0.4,1.011345
$STATE,16626,end surface coast,CONTROL_FINISHED_OK
$STATE,16626,begin surface
$SM_CCo,16712,0.00,0.000,0,0,772,519.54
$SM_GC,1.33,7.32,0.00,0.00,0.025,0.000,0.000,38,2585,772,-8.22,2.40,519.54
$IRIDIUM_FIX,2248.70,-15745.85,080103,161621
$TT8_MAMPS,0.023777
$HUMID,2181
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,26.30
$XPDR_PINGS,3
$24V_AH,24.0,25.486
$10V_AH,10.6,27.770
$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,18.125,111.325,551.050,0.000,0.000,86.578,111.728,768.918,0.750,0.000,0.000,12.161,1331.543,11393.953,556.715,3114.645,1621.570,33.388,1584.778,0.000,3132.864,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,68.263,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,430.839,2089.763,2159.940,555.131,1406.360,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54107,635
$CAP_FILE_SIZE,135599,0
$CFSIZE,260165632,248639488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,141013,205936,2257.744,-15745.878,37,1.3,37,10.1