version: 66.04
glider: 512
mission: 4
dive: 155
start: 10 15 113 7 55 25
data:
$ID,512
$MISSION,4
$DIVE,155
$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,-109597.7
$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,60
$R_STBD_OVSHOOT,50
$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
$GPS1,073123,2256.351,-15747.869,29,2.0,46,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-81.4
$GPS2,075412,2256.390,-15747.913,13,2.0,18,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.236,-0.160
$KALMAN_X,73907.1,80.5,325.5,-53585.5,1383.8
$KALMAN_Y,41811.6,117.2,277.4,-19416.4,145.5
$MHEAD_RNG_PITCHd_Wd,225.8,42677,-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,13,begin dive
$GC,18,-0.43,-126.5,0.0,0.0,0,115,0.00,0.00,-94.15,0.000,2,0.000,0.000,10,2525,2883
$GC,120,-0.43,-126.5,2.1,-1.6,11,149,9.48,1.55,-11.80,0.000,4,0.202,0.037,2551,1427,3407
$GC,300,-0.43,-126.5,43.1,-20.4,32,309,0.00,1.62,0.00,0.000,6,0.000,0.038,2546,2484,3408
$GC,566,-0.43,-126.5,99.5,-17.9,57,570,0.00,1.65,0.00,0.000,4,0.000,0.044,2537,3568,3408
$GC,628,-0.43,-126.5,110.5,-15.7,62,632,0.00,1.52,0.00,0.000,6,0.000,0.018,2540,2495,3408
$GC,899,-0.43,-126.5,153.9,-15.4,87,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2488,3408
$GC,1166,-0.43,-126.5,192.0,-14.3,112,1169,0.00,1.42,0.00,0.000,4,0.000,0.020,2544,1447,3408
$GC,1195,-0.43,-126.5,196.7,-14.2,114,1204,0.00,1.62,0.00,0.000,6,0.000,0.037,2538,2520,3408
$GC,1470,-0.43,-126.5,233.7,-13.6,123,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2520,3407
$GC,1713,-0.43,-126.5,263.2,-12.0,129,1717,0.00,1.58,0.00,0.000,4,0.000,0.044,2530,3563,3407
$GC,1809,-0.43,-126.5,274.5,-11.2,131,1813,0.00,1.50,0.00,0.000,6,0.000,0.019,2530,2497,3407
$GC,2103,-0.43,-126.5,307.3,-11.2,138,2107,0.00,1.42,0.00,0.000,4,0.000,0.020,2530,1450,3405
$GC,2262,-0.43,-126.5,325.2,-11.1,141,2266,0.05,1.55,0.00,0.000,6,0.097,0.038,2555,2477,3404
$GC,2534,-0.43,-126.5,348.6,-8.8,148,2538,0.00,1.62,0.00,0.000,4,0.000,0.047,2549,3563,3402
$GC,2598,-0.43,-126.5,354.5,-8.2,149,2602,0.00,1.52,0.00,0.000,6,0.000,0.021,2549,2486,3401
$GC,2875,-0.43,-126.5,378.5,-8.8,156,2879,0.00,1.65,0.00,0.000,4,0.000,0.045,2541,3570,3399
$GC,2934,-0.43,-126.5,383.8,-8.2,157,2938,0.00,1.52,0.00,0.000,6,0.000,0.021,2541,2494,3398
$GC,3217,-0.43,-126.5,407.1,-8.3,164,3219,0.00,0.00,-0.08,0.000,6,0.000,0.000,2541,2487,3419
$GC,3460,-0.43,-126.5,427.2,-8.1,170,3464,0.00,1.65,0.00,0.000,4,0.000,0.048,2537,3561,3416
$GC,3496,-0.43,-126.5,430.4,-8.3,170,3500,0.00,1.50,0.00,0.000,6,0.000,0.022,2537,2507,3416
$GC,3757,-0.43,-126.5,453.7,-9.2,177,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2500,3414
$GC,4000,-0.43,-126.5,477.0,-9.6,183,4004,0.00,1.62,0.00,0.000,4,0.000,0.049,2529,3562,3412
$GC,4024,-0.43,-126.5,479.8,-10.2,183,4028,0.00,1.50,0.00,0.000,6,0.000,0.023,2529,2510,3412
$GC,4297,-0.43,-126.5,505.4,-9.4,190,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2503,3410
$GC,4542,-0.43,-126.5,525.4,-8.1,196,4546,0.00,1.62,0.00,0.000,4,0.000,0.050,2523,3563,3408
$GC,4594,-0.43,-126.5,530.2,-7.7,197,4598,0.08,1.48,0.00,0.000,6,0.107,0.024,2553,2525,3408
$GC,4882,-0.43,-126.5,546.6,-5.7,204,4886,0.00,1.48,0.00,0.000,4,0.000,0.024,2557,1466,3406
$GC,4912,-0.43,-126.5,548.4,-6.0,204,4916,0.00,1.62,0.00,0.000,6,0.000,0.043,2551,2525,3406
$GC,5180,-0.43,-126.5,564.6,-6.4,211,5183,0.00,1.60,0.00,0.000,4,0.000,0.053,2543,3578,3403
$GC,5210,-0.43,-126.5,566.9,-7.4,211,5214,0.00,1.50,0.00,0.000,6,0.000,0.025,2543,2537,3403
$GC,5476,-0.43,-126.5,584.9,-6.8,218,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2530,3401
$GC,5719,-0.43,-126.5,601.3,-6.7,224,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2530,3400
$GC,5963,-0.43,-126.5,618.0,-6.9,230,5967,0.00,1.52,0.00,0.000,4,0.000,0.025,2544,1454,3399
$GC,6004,-0.43,-126.5,621.3,-7.3,230,6013,0.00,1.67,0.00,0.000,6,0.000,0.046,2537,2531,3398
$GC,6259,-0.43,-126.5,640.9,-7.8,237,6263,0.00,1.60,0.00,0.000,4,0.000,0.056,2534,3558,3397
$GC,6312,-0.43,-126.5,645.3,-7.5,238,6316,0.00,1.48,0.00,0.000,6,0.000,0.027,2534,2538,3396
$GC,6601,-0.43,-126.5,666.0,-7.2,245,6605,0.00,1.52,0.00,0.000,4,0.000,0.025,2534,1453,3395
$GC,6642,-0.43,-126.5,669.2,-7.2,245,6649,0.00,1.67,0.00,0.000,6,0.000,0.045,2527,2533,3394
$GC,6897,-0.43,-126.5,687.3,-7.2,252,6899,0.12,0.00,0.00,0.000,6,0.123,0.000,2563,2533,3393
$GC,7141,-0.43,-126.5,699.2,-4.8,258,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2533,3392
$GC,7385,-0.43,-126.5,712.6,-5.6,264,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2533,3391
$GC,7629,-0.43,-126.5,726.7,-5.8,270,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2533,3390
$GC,7872,-0.43,-126.5,739.3,-5.1,276,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2533,3389
$GC,8116,-0.43,-126.5,750.5,-4.5,282,8119,0.00,1.60,0.00,0.000,4,0.000,0.057,2563,3570,3388
$GC,8147,-0.43,-126.5,752.0,-4.7,282,8151,0.00,1.52,0.00,0.000,6,0.000,0.028,2562,2519,3387
$GC,8415,-0.43,-126.5,764.3,-4.8,289,8418,0.00,1.65,0.00,0.000,4,0.000,0.058,2563,3566,3387
$GC,8534,-0.43,-126.5,770.7,-6.7,291,8537,0.00,1.42,0.00,0.000,6,0.000,0.028,2562,2584,3386
$GC,8801,-0.43,-126.5,786.6,-6.3,298,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2579,3385
$GC,9045,-0.43,-126.5,802.7,-6.7,304,9048,0.00,1.60,0.00,0.000,4,0.000,0.027,2562,1441,3384
$GC,9125,-0.43,-126.5,808.7,-7.2,305,9128,0.00,1.75,0.00,0.000,6,0.000,0.048,2562,2582,3384
$GC,9385,-0.43,-126.5,825.8,-6.8,312,9389,0.00,1.62,0.00,0.000,4,0.000,0.028,2562,1462,3383
$GC,9539,-0.43,-126.5,836.5,-7.0,315,9543,0.00,1.70,0.00,0.000,6,0.000,0.050,2562,2569,3383
$GC,9818,-0.43,-126.5,853.5,-6.1,322,9822,0.00,1.62,0.00,0.000,4,0.000,0.028,2563,1451,3382
$GC,9892,-0.43,-126.5,858.6,-5.9,323,9896,0.00,1.70,0.00,0.000,6,0.000,0.050,2562,2555,3381
$GC,10159,-0.43,-126.5,873.8,-5.7,330,10162,0.00,1.60,0.00,0.000,4,0.000,0.027,2562,1431,3381
$GC,10268,-0.43,-126.5,880.8,-6.3,332,10272,0.00,1.73,0.00,0.000,6,0.000,0.051,2562,2546,3380
$GC,10545,-0.43,-126.5,896.4,-5.8,339,10549,0.00,1.58,0.00,0.000,4,0.000,0.057,2563,3552,3380
$STATE,10593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10594,begin apogee
$GC,10607,-0.17,0.0,900.3,6.5,340,10717,0.20,0.00,107.38,1.271,6,0.067,0.000,2648,2227,2890
$STATE,10718,end apogee,CONTROL_FINISHED_OK
$STATE,10718,begin climb
$GC,10723,0.43,126.5,904.6,0.0,342,10882,0.47,1.80,126.97,1.167,4,0.030,0.048,2860,3277,2373
$GC,11025,0.43,126.5,868.8,18.2,348,11029,0.12,1.60,0.00,0.000,6,0.189,0.026,2842,2218,2366
$GC,11285,0.43,126.5,828.3,15.3,355,11289,0.00,1.70,0.00,0.000,4,0.000,0.047,2836,3288,2362
$GC,11321,0.43,126.5,822.2,15.6,355,11325,0.00,1.58,0.00,0.000,6,0.000,0.026,2842,2248,2361
$GC,11581,0.43,126.5,785.2,14.2,362,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2242,2360
$GC,11824,0.43,126.5,750.4,14.3,368,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2242,2359
$GC,12068,0.43,126.5,714.3,15.0,374,12072,0.00,1.65,0.00,0.000,4,0.000,0.050,2843,3296,2359
$GC,12118,0.43,126.5,706.2,16.9,375,12122,0.00,1.55,0.00,0.000,6,0.000,0.028,2847,2267,2358
$GC,12413,0.43,126.5,663.5,14.5,382,12417,0.00,1.62,0.00,0.000,4,0.000,0.029,2855,1136,2358
$GC,12560,0.43,126.5,643.0,13.7,385,12564,0.00,1.70,0.00,0.000,6,0.000,0.042,2855,2244,2356
$GC,12843,0.43,126.5,603.8,14.0,392,12844,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2243,2356
$GC,13086,0.43,126.5,568.7,14.4,398,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2243,2356
$GC,13330,0.43,126.5,535.5,13.6,404,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2243,2356
$GC,13574,0.43,126.5,502.4,13.5,410,13577,0.00,1.62,0.00,0.000,4,0.000,0.051,2855,3304,2355
$GC,13669,0.43,126.5,488.5,14.6,412,13673,0.00,1.62,0.00,0.000,6,0.000,0.029,2860,2199,2355
$GC,13963,0.43,126.5,447.8,13.5,419,13967,0.00,1.70,0.00,0.000,4,0.000,0.048,2860,3285,2355
$GC,13982,0.43,126.5,444.8,13.5,419,13986,0.10,1.55,0.00,0.000,6,0.183,0.027,2839,2239,2355
$GC,14258,0.43,126.5,415.6,10.2,426,14262,0.00,1.58,0.00,0.000,4,0.000,0.029,2845,1146,2354
$GC,14317,0.43,126.5,409.4,10.3,427,14320,0.00,1.67,0.00,0.000,6,0.000,0.042,2845,2244,2354
$GC,14599,0.43,126.5,380.3,10.4,434,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2244,2354
$GC,14843,0.43,126.5,355.6,10.3,440,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2244,2354
$GC,15087,0.44,137.1,331.7,9.6,446,15098,0.00,1.65,7.00,0.778,4,0.000,0.049,2845,3293,2331
$GC,15279,0.44,137.1,311.3,10.5,450,15283,0.00,1.58,0.00,0.000,6,0.000,0.027,2846,2237,2330
$GC,15557,0.44,153.3,284.3,9.4,457,15577,0.00,1.55,15.45,0.824,4,0.000,0.027,2854,1156,2266
$GC,15727,0.45,186.8,269.2,8.7,460,15760,0.00,1.62,29.58,0.820,6,0.000,0.039,2854,2219,2128
$GC,16027,0.45,186.8,238.7,10.8,468,16030,0.00,1.62,0.00,0.000,4,0.000,0.046,2854,3280,2122
$GC,16288,0.45,186.8,206.5,12.1,473,16292,0.00,1.52,0.00,0.000,6,0.000,0.025,2857,2254,2121
$GC,16556,0.45,186.8,176.6,11.4,492,16560,0.00,1.58,0.00,0.000,4,0.000,0.028,2860,1169,2121
$GC,16674,0.47,223.6,165.1,8.6,502,16714,0.00,1.65,30.73,0.716,6,0.000,0.038,2859,2236,1977
$GC,16971,0.47,223.6,133.3,11.0,529,16974,0.00,1.60,0.00,0.000,4,0.000,0.042,2859,3277,1973
$GC,17022,0.47,223.6,127.0,12.6,533,17025,0.00,1.52,0.00,0.000,6,0.000,0.022,2860,2256,1972
$GC,17293,0.47,223.6,97.5,10.6,558,17302,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2255,1973
$GC,17560,0.49,282.2,73.3,7.8,583,17612,0.00,1.60,47.47,0.622,4,0.000,0.025,2860,1149,1739
$GC,17660,0.55,419.0,66.5,4.9,591,17774,0.00,1.70,107.80,0.606,6,0.000,0.035,2860,2265,1179
$GC,18043,0.55,419.0,35.1,11.9,624,18046,0.00,1.58,0.00,0.000,4,0.000,0.044,2860,3277,1175
$GC,18225,0.55,419.0,13.9,11.7,649,18234,0.00,1.55,0.00,0.000,6,0.000,0.020,2860,2215,1174
$STATE,18328,end climb,SURFACE_DEPTH_REACHED
$STATE,18328,begin surface coast
$FINISH,0.3,0.997063
$STATE,18371,end surface coast,CONTROL_FINISHED_OK
$STATE,18371,begin surface
$SM_CCo,18456,0.00,0.000,0,0,1172,421.42
$SM_GC,1.42,7.18,0.00,0.00,0.025,0.000,0.000,37,2526,1172,-8.23,0.82,421.42
$IRIDIUM_FIX,2246.36,-15751.06,090103,070719
$TT8_MAMPS,0.02301
$HUMID,2226
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.9,26.031
$10V_AH,10.6,28.442
$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,17.800,115.600,472.375,0.000,0.000,155.223,183.024,574.927,0.500,0.000,0.000,19.037,1461.404,12705.738,469.911,3600.548,1594.844,33.383,1649.616,0.000,3591.878,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,57.525,1270.919,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,457.614,2208.877,2281.546,1129.320,1442.373,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57399,671
$CAP_FILE_SIZE,151361,0
$CFSIZE,260165632,248410112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,151013,130424,2255.515,-15748.917,40,1.7,40,10.1