version: 66.04
glider: 512
mission: 4
dive: 154
start: 10 15 113 2 36 47
data:
$ID,512
$MISSION,4
$DIVE,154
$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,-109578.04
$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,41
$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,63
$R_STBD_OVSHOOT,40
$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
$GPS1,022236,2256.919,-15747.058,29,1.9,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-81.5
$GPS2,023530,2257.004,-15747.024,15,1.7,32,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,-0.146
$KALMAN_X,71733.0,-95.5,-199.3,-49190.3,2547.7
$KALMAN_Y,40195.8,403.4,115.3,-16785.0,890.7
$MHEAD_RNG_PITCHd_Wd,229.0,44563,-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,-0.43,-126.5,0.0,0.0,0,106,0.00,0.00,-85.75,0.000,2,0.000,0.000,15,2515,2825
$GC,112,-0.43,-126.5,2.0,-1.7,10,141,9.50,1.50,-13.65,0.000,4,0.203,0.040,2553,1432,3405
$GC,153,-0.43,-126.5,12.1,-22.0,14,163,0.00,1.62,0.00,0.000,6,0.000,0.035,2547,2498,3406
$GC,431,-0.43,-126.5,86.0,-21.5,43,434,0.00,1.50,0.00,0.000,4,0.000,0.019,2551,1435,3406
$GC,618,-0.43,-126.5,115.9,-13.7,59,621,0.00,1.65,0.00,0.000,6,0.000,0.039,2545,2534,3407
$GC,889,-0.43,-126.5,159.6,-16.2,84,893,0.00,1.55,0.00,0.000,4,0.000,0.044,2537,3558,3407
$GC,984,-0.43,-126.5,175.1,-14.8,92,988,0.00,1.48,0.00,0.000,6,0.000,0.018,2542,2503,3407
$GC,1281,-0.43,-126.5,217.1,-13.4,111,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2496,3407
$GC,1525,-0.43,-126.5,251.1,-13.9,117,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2496,3407
$GC,1768,-0.43,-126.5,281.0,-12.2,123,1772,0.00,1.62,0.00,0.000,4,0.000,0.044,2536,3572,3405
$GC,1866,-0.43,-126.5,291.9,-10.1,125,1869,0.00,1.45,0.00,0.000,6,0.000,0.020,2536,2538,3406
$GC,2155,-0.43,-126.5,318.9,-9.2,132,2158,0.00,1.48,0.00,0.000,4,0.000,0.020,2536,1460,3404
$GC,2230,-0.43,-126.5,326.3,-9.3,133,2234,0.00,1.62,0.00,0.000,6,0.000,0.039,2528,2553,3404
$GC,2496,-0.43,-126.5,354.3,-11.1,140,2500,0.00,1.52,0.00,0.000,4,0.000,0.047,2523,3557,3401
$GC,2525,-0.43,-126.5,358.0,-11.5,140,2529,0.08,1.40,0.00,0.000,6,0.109,0.021,2553,2552,3401
$GC,2792,-0.43,-126.5,381.5,-8.6,147,2796,0.00,1.50,0.00,0.000,4,0.000,0.021,2557,1464,3400
$GC,2851,-0.43,-126.5,386.5,-7.8,148,2855,0.00,1.65,0.00,0.000,6,0.000,0.041,2551,2567,3399
$GC,3134,-0.43,-126.5,410.4,-8.8,155,3136,0.00,0.00,-0.08,0.000,6,0.000,0.000,2551,2567,3419
$GC,3378,-0.43,-126.5,431.9,-8.8,161,3381,0.00,1.52,0.00,0.000,4,0.000,0.050,2543,3560,3417
$GC,3419,-0.43,-126.5,435.8,-8.5,161,3427,0.00,1.42,0.00,0.000,6,0.000,0.023,2543,2551,3416
$GC,3675,-0.43,-126.5,456.7,-8.1,168,3678,0.00,1.52,0.00,0.000,4,0.000,0.024,2543,1471,3415
$GC,3726,-0.43,-126.5,460.5,-6.9,169,3729,0.00,1.65,0.00,0.000,6,0.000,0.044,2537,2560,3414
$GC,4020,-0.43,-126.5,483.1,-7.7,176,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2560,3412
$GC,4264,-0.43,-126.5,502.7,-8.1,182,4267,0.00,1.58,0.00,0.000,4,0.000,0.024,2537,1461,3410
$GC,4300,-0.43,-126.5,505.9,-8.3,182,4303,0.00,1.65,0.00,0.000,6,0.000,0.045,2537,2548,3410
$GC,4561,-0.43,-126.5,528.5,-9.0,189,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2548,3408
$GC,4804,-0.43,-126.5,550.1,-8.9,195,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2548,3406
$GC,5048,-0.43,-126.5,571.8,-8.9,201,5051,0.00,1.55,0.00,0.000,4,0.000,0.025,2537,1471,3404
$GC,5084,-0.43,-126.5,575.1,-8.3,201,5088,0.00,1.65,0.00,0.000,6,0.000,0.048,2537,2553,3404
$GC,5346,-0.43,-126.5,596.2,-8.1,208,5349,0.00,1.58,0.00,0.000,4,0.000,0.054,2531,3566,3401
$GC,5409,-0.43,-126.5,601.6,-8.1,209,5413,0.00,1.45,0.00,0.000,6,0.000,0.026,2530,2562,3401
$GC,5686,-0.43,-126.5,623.4,-8.0,216,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2554,3400
$GC,5930,-0.43,-126.5,642.3,-7.7,222,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2554,3399
$GC,6174,-0.43,-126.5,662.2,-8.3,228,6177,0.00,1.55,0.00,0.000,4,0.000,0.026,2531,1467,3397
$GC,6216,-0.43,-126.5,666.1,-9.1,228,6224,0.08,1.70,0.00,0.000,6,0.108,0.048,2553,2559,3397
$GC,6472,-0.43,-126.5,683.7,-6.8,235,6475,0.00,1.55,0.00,0.000,4,0.000,0.056,2550,3552,3396
$GC,6509,-0.43,-126.5,686.6,-7.6,235,6513,0.00,1.40,0.00,0.000,6,0.000,0.027,2550,2580,3396
$GC,6769,-0.43,-126.5,704.2,-6.7,242,6773,0.00,1.58,0.00,0.000,4,0.000,0.026,2550,1465,3394
$GC,6833,-0.43,-126.5,708.8,-6.8,243,6837,0.00,1.70,0.00,0.000,6,0.000,0.048,2550,2575,3394
$GC,7112,-0.43,-126.5,725.4,-5.9,250,7115,0.00,1.55,0.00,0.000,4,0.000,0.057,2550,3563,3392
$GC,7164,-0.43,-126.5,728.8,-5.9,251,7168,0.00,1.42,0.00,0.000,6,0.000,0.028,2550,2582,3392
$GC,7453,-0.43,-126.5,745.4,-5.9,258,7456,0.00,1.58,0.00,0.000,4,0.000,0.026,2550,1469,3391
$GC,7523,-0.43,-126.5,750.1,-6.7,259,7526,0.00,1.70,0.00,0.000,6,0.000,0.048,2550,2576,3391
$GC,7795,-0.43,-126.5,766.6,-6.3,266,7798,0.00,1.55,0.00,0.000,4,0.000,0.058,2548,3562,3389
$GC,7831,-0.43,-126.5,769.3,-6.2,266,7834,0.00,1.42,0.00,0.000,6,0.000,0.028,2548,2576,3389
$GC,8091,-0.43,-126.5,785.4,-6.2,273,8095,0.00,1.58,0.00,0.000,4,0.000,0.027,2548,1466,3388
$GC,8127,-0.43,-126.5,788.1,-7.0,273,8131,0.00,1.70,0.00,0.000,6,0.000,0.047,2540,2576,3389
$GC,8389,-0.43,-126.5,805.0,-6.6,280,8392,0.00,1.55,0.00,0.000,4,0.000,0.058,2537,3563,3387
$GC,8439,-0.43,-126.5,808.7,-6.6,281,8443,0.00,1.42,0.00,0.000,6,0.000,0.028,2537,2588,3387
$GC,8734,-0.43,-126.5,828.5,-6.8,288,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2580,3386
$GC,8978,-0.43,-126.5,844.6,-6.6,294,8981,0.00,1.58,0.00,0.000,4,0.000,0.026,2537,1477,3385
$GC,9037,-0.43,-126.5,849.0,-6.8,295,9040,0.00,1.73,0.00,0.000,6,0.000,0.050,2537,2593,3385
$GC,9320,-0.43,-126.5,867.4,-6.5,302,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2593,3384
$GC,9564,-0.43,-126.5,882.0,-5.9,308,9567,0.00,1.60,0.00,0.000,4,0.000,0.027,2537,1474,3384
$GC,9614,-0.43,-126.5,884.9,-5.4,309,9618,0.00,1.75,0.00,0.000,6,0.000,0.051,2537,2581,3383
$GC,9909,-0.43,-126.5,899.8,-4.9,316,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2580,3382
$STATE,9943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9943,begin apogee
$GC,9955,-0.17,0.0,901.6,4.7,317,10067,0.32,0.00,108.15,1.266,6,0.094,0.000,2648,2243,2890
$STATE,10067,end apogee,CONTROL_FINISHED_OK
$STATE,10067,begin climb
$GC,10072,0.43,126.5,902.8,0.0,320,10246,0.50,1.75,132.88,1.123,4,0.029,0.048,2871,3286,2373
$GC,10260,0.43,126.5,885.2,18.0,324,10264,0.17,1.65,0.00,0.000,6,0.192,0.025,2839,2228,2371
$GC,10526,0.43,126.5,837.9,17.8,331,10530,0.00,1.60,0.00,0.000,4,0.000,0.030,2845,1162,2363
$GC,10621,0.43,126.5,822.1,16.7,333,10625,0.00,1.67,0.00,0.000,6,0.000,0.044,2846,2205,2361
$GC,10916,0.43,126.5,772.7,16.7,340,10919,0.00,1.67,0.00,0.000,4,0.000,0.050,2845,3284,2360
$GC,11040,0.43,126.5,750.7,17.3,342,11043,0.00,1.60,0.00,0.000,6,0.000,0.028,2847,2215,2360
$GC,11301,0.43,126.5,709.2,15.9,349,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2215,2359
$GC,11544,0.43,126.5,672.5,14.8,355,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2209,2358
$GC,11788,0.43,126.5,639.2,13.5,361,11792,0.00,1.58,0.00,0.000,4,0.000,0.031,2847,1146,2357
$GC,11823,0.43,126.5,634.3,11.6,361,11827,0.00,1.73,0.00,0.000,6,0.000,0.043,2847,2249,2356
$GC,12084,0.43,126.5,602.6,12.3,368,12087,0.00,1.62,0.00,0.000,4,0.000,0.051,2847,3306,2356
$GC,12148,0.43,126.5,593.6,13.9,369,12152,0.00,1.60,0.00,0.000,6,0.000,0.028,2856,2218,2356
$GC,12426,0.43,126.5,557.3,13.3,376,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2212,2356
$GC,12670,0.43,126.5,523.0,14.1,382,12673,0.00,1.67,0.00,0.000,4,0.000,0.048,2857,3288,2355
$GC,12750,0.43,126.5,510.0,15.4,383,12753,0.00,1.55,0.00,0.000,6,0.000,0.027,2864,2244,2355
$GC,13010,0.43,126.5,472.7,14.0,390,13014,0.00,1.58,0.00,0.000,4,0.000,0.028,2870,1163,2355
$GC,13039,0.43,126.5,468.5,12.5,390,13044,0.12,1.67,0.00,0.000,6,0.156,0.042,2838,2259,2354
$GC,13307,0.43,126.5,438.2,11.2,397,13311,0.00,1.58,0.00,0.000,4,0.000,0.049,2837,3273,2354
$GC,13348,0.43,126.5,433.0,12.0,397,13356,0.00,1.52,0.00,0.000,6,0.000,0.025,2843,2238,2354
$GC,13602,0.43,126.5,405.3,10.8,404,13606,0.00,1.65,0.00,0.000,4,0.000,0.048,2843,3277,2354
$GC,13676,0.43,126.5,396.7,11.6,405,13679,0.00,1.50,0.00,0.000,6,0.000,0.028,2846,2274,2354
$GC,13943,0.43,126.5,368.7,10.7,412,13946,0.00,1.60,0.00,0.000,4,0.000,0.031,2847,1175,2354
$GC,13984,0.43,126.5,363.8,11.0,412,13992,0.00,1.70,0.00,0.000,6,0.000,0.041,2847,2270,2353
$GC,14238,0.43,126.5,336.4,11.4,419,14242,0.00,1.58,0.00,0.000,4,0.000,0.049,2847,3282,2353
$GC,14454,0.43,126.5,313.5,10.4,423,14458,0.00,1.38,0.00,0.000,6,0.000,0.025,2854,2341,2353
$GC,14715,0.45,181.4,292.6,7.9,430,14769,0.00,0.00,46.00,0.824,6,0.000,0.000,2855,2334,2150
$GC,15005,0.45,181.4,260.6,12.0,437,15009,0.00,1.52,0.00,0.000,4,0.000,0.048,2854,3286,2143
$GC,15147,0.45,181.4,240.2,13.2,440,15151,0.00,1.35,0.00,0.000,6,0.000,0.025,2857,2384,2142
$GC,15435,0.45,181.4,207.6,11.0,447,15439,0.00,1.77,0.00,0.000,4,0.000,0.028,2860,1177,2142
$GC,15576,0.47,215.2,195.1,8.7,453,15615,0.00,1.83,28.33,0.746,6,0.000,0.039,2860,2347,2011
$GC,15872,0.47,215.2,159.1,12.4,480,15875,0.00,1.75,0.00,0.000,4,0.000,0.026,2860,1156,2007
$GC,15933,0.47,215.2,151.4,11.3,485,15937,0.00,1.83,0.00,0.000,6,0.000,0.038,2860,2325,2006
$GC,16204,0.47,215.2,118.3,12.3,510,16208,0.00,1.48,0.00,0.000,4,0.000,0.042,2860,3289,2006
$GC,16246,0.47,215.2,112.6,12.7,513,16254,0.00,1.38,0.00,0.000,6,0.000,0.023,2860,2359,2006
$GC,16512,0.47,215.2,84.2,10.3,538,16516,0.00,1.70,0.00,0.000,4,0.000,0.025,2860,1159,2006
$GC,16576,0.50,287.7,78.9,7.3,543,16645,0.00,1.80,58.33,0.630,6,0.000,0.038,2860,2351,1714
$GC,16902,0.54,402.3,56.8,5.7,572,16999,0.00,1.83,89.22,0.600,4,0.000,0.022,2860,1159,1252
$GC,17029,0.60,553.2,50.7,4.3,581,17154,0.00,1.83,118.93,0.581,6,0.000,0.032,2860,2345,633
$GC,17443,0.63,618.5,4.7,7.5,630,17462,0.12,0.00,17.05,0.520,2,0.147,0.000,2895,2345,550
$STATE,17463,end climb,SURFACE_DEPTH_REACHED
$STATE,17463,begin surface coast
$FINISH,0.4,0.999946
$STATE,17502,end surface coast,CONTROL_FINISHED_OK
$STATE,17502,begin surface
$SM_CCo,17587,0.00,0.000,0,0,548,574.48
$SM_GC,1.26,7.32,0.00,0.00,0.022,0.000,0.000,32,2530,548,-8.21,0.90,574.48
$IRIDIUM_FIX,2248.70,-15745.85,080103,212104
$TT8_MAMPS,0.023777
$HUMID,2187
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,23.9,25.858
$10V_AH,10.6,28.211
$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,18.225,124.925,598.875,0.000,0.000,31.241,33.226,501.434,1.000,0.000,0.000,32.188,1379.794,11791.471,589.281,3378.633,1231.992,33.383,1737.627,0.000,3363.771,0.000,0.545,0.000
$DEVICE_MAMPS,203.255,58.292,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,433.489,2099.023,2169.799,1257.862,1374.496,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54115,638
$CAP_FILE_SIZE,140487,0
$CFSIZE,260165632,248492032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,151013,073123,2256.351,-15747.869,29,2.0,46,10.1