version: 66.04
glider: 512
mission: 4
dive: 157
start: 10 15 113 18 37 31
data:
$ID,512
$MISSION,4
$DIVE,157
$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,25
$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,-109632.5
$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,89
$R_STBD_OVSHOOT,32
$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
$GPS1,181724,2254.660,-15749.429,41,1.4,41,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-82.2
$GPS2,183636,2254.697,-15749.260,10,1.7,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.192,-0.149
$KALMAN_X,79229.1,316.6,239.2,-61361.5,1380.7
$KALMAN_Y,45317.3,-53.6,373.6,-25977.9,774.0
$MHEAD_RNG_PITCHd_Wd,222.1,38854,-18.9,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.51,-126.5,0.0,0.0,0,110,0.00,0.00,-85.55,0.000,2,0.000,0.000,11,2459,3104
$GC,115,-0.51,-126.5,2.6,-2.7,10,136,9.48,1.45,-5.97,0.000,4,0.202,0.039,2536,1433,3409
$GC,239,-0.51,-126.5,39.0,-20.7,25,242,0.00,1.62,0.00,0.000,6,0.000,0.039,2530,2507,3409
$GC,510,-0.51,-126.5,100.3,-19.6,50,513,0.00,1.60,0.00,0.000,4,0.000,0.044,2522,3574,3409
$GC,619,-0.51,-126.5,120.5,-17.2,59,622,0.00,1.52,0.00,0.000,6,0.000,0.019,2522,2513,3409
$GC,890,-0.51,-126.5,170.1,-17.4,84,894,0.00,1.48,0.00,0.000,4,0.000,0.019,2522,1442,3410
$GC,929,-0.51,-126.5,177.0,-16.8,87,933,0.00,1.62,0.00,0.000,6,0.000,0.037,2515,2512,3410
$GC,1196,-0.51,-126.5,222.6,-17.5,103,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2512,3410
$GC,1441,-0.51,-126.5,259.0,-13.8,109,1444,0.00,1.60,0.00,0.000,4,0.000,0.045,2507,3586,3410
$GC,1645,-0.51,-126.5,287.7,-12.3,113,1648,0.00,1.55,0.00,0.000,6,0.000,0.019,2509,2494,3409
$GC,1916,-0.51,-126.5,321.7,-12.9,120,1920,0.00,1.62,0.00,0.000,4,0.000,0.043,2501,3566,3409
$GC,2036,-0.51,-126.5,337.7,-13.7,122,2040,0.00,1.48,0.00,0.000,6,0.000,0.020,2502,2514,3408
$GC,2302,-0.51,-126.5,372.6,-13.3,129,2305,0.00,1.45,0.00,0.000,4,0.000,0.021,2509,1458,3405
$GC,2353,-0.51,-126.5,378.7,-11.9,130,2356,0.00,1.62,0.00,0.000,6,0.000,0.038,2503,2550,3405
$GC,2647,-0.51,-126.5,415.7,-12.6,137,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2551,3403
$GC,2890,-0.51,-126.5,443.9,-11.2,143,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2551,3401
$GC,3134,-0.51,-126.5,469.6,-10.4,149,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2551,3398
$GC,3378,-0.51,-126.5,494.7,-10.4,155,3382,0.00,1.52,-0.08,0.000,4,0.000,0.067,2495,3563,3421
$GC,3446,-0.51,-126.5,502.7,-11.3,156,3451,0.08,1.48,0.00,0.000,6,0.118,0.022,2531,2526,3421
$GC,3719,-0.51,-126.5,526.4,-8.8,163,3723,0.00,1.48,0.00,0.000,4,0.000,0.023,2531,1463,3418
$GC,3777,-0.51,-126.5,532.3,-8.8,164,3781,0.00,1.62,0.00,0.000,6,0.000,0.042,2525,2522,3418
$GC,4060,-0.51,-126.5,559.8,-9.9,171,4063,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3573,3415
$GC,4130,-0.51,-126.5,567.0,-9.8,172,4134,0.00,1.50,0.00,0.000,6,0.000,0.023,2523,2526,3415
$GC,4402,-0.51,-126.5,592.4,-9.3,179,4406,0.00,1.50,0.00,0.000,4,0.000,0.024,2523,1454,3412
$GC,4460,-0.51,-126.5,598.1,-9.1,180,4464,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2505,3412
$GC,4744,-0.51,-126.5,621.4,-8.2,187,4747,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3569,3410
$GC,4819,-0.51,-126.5,627.2,-7.3,188,4822,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2518,3410
$GC,5085,-0.51,-126.5,645.1,-6.7,195,5088,0.00,1.65,0.00,0.000,4,0.000,0.052,2523,3557,3408
$GC,5115,-0.51,-126.5,647.3,-7.2,195,5118,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2501,3407
$GC,5382,-0.51,-126.5,665.3,-7.1,202,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2493,3406
$GC,5625,-0.51,-126.5,683.3,-7.5,208,5629,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3566,3403
$GC,5700,-0.51,-126.5,689.7,-7.5,209,5704,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2514,3403
$GC,5967,-0.51,-126.5,710.3,-7.8,216,5970,0.00,1.65,0.00,0.000,4,0.000,0.052,2516,3554,3401
$GC,5991,-0.51,-126.5,712.7,-8.3,216,5994,0.00,1.48,0.00,0.000,6,0.000,0.026,2516,2535,3401
$GC,6264,-0.51,-126.5,735.1,-8.3,223,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2528,3400
$GC,6509,-0.51,-126.5,754.8,-8.2,229,6512,0.00,1.62,0.00,0.000,4,0.000,0.054,2510,3570,3399
$GC,6552,-0.51,-126.5,759.0,-8.9,229,6560,0.00,1.50,0.00,0.000,6,0.000,0.025,2510,2532,3398
$GC,6807,-0.51,-126.5,780.9,-8.6,236,6810,0.00,1.52,0.00,0.000,4,0.000,0.025,2517,1461,3397
$GC,6875,-0.51,-126.5,786.8,-8.2,237,6879,0.00,1.65,0.00,0.000,6,0.000,0.045,2511,2543,3397
$GC,7148,-0.51,-126.5,809.3,-8.5,244,7152,0.00,1.60,0.00,0.000,4,0.000,0.056,2504,3582,3395
$GC,7217,-0.51,-126.5,816.1,-8.9,245,7221,0.00,1.48,0.00,0.000,6,0.000,0.028,2504,2566,3395
$GC,7489,-0.51,-126.5,839.9,-8.9,252,7493,0.00,1.58,0.00,0.000,4,0.000,0.027,2506,1464,3394
$GC,7554,-0.51,-126.5,846.2,-8.8,253,7558,0.12,1.67,0.00,0.000,6,0.124,0.047,2536,2561,3393
$GC,7831,-0.51,-126.5,864.0,-6.2,260,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2561,3392
$GC,8074,-0.51,-126.5,878.4,-5.9,266,8078,0.00,1.58,0.00,0.000,4,0.000,0.059,2534,3557,3392
$GC,8110,-0.51,-126.5,880.9,-6.0,266,8114,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2546,3391
$GC,8371,-0.51,-126.5,896.4,-6.1,273,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2537,3390
$STATE,8446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8446,begin apogee
$GC,8458,-0.17,0.0,901.4,6.0,275,8570,0.32,0.00,109.38,1.262,6,0.091,0.000,2647,2218,2890
$STATE,8570,end apogee,CONTROL_FINISHED_OK
$STATE,8571,begin climb
$GC,8576,0.51,126.5,904.4,0.0,278,8723,0.55,1.70,124.68,1.171,4,0.030,0.028,2891,1156,2373
$GC,8736,0.51,126.5,891.6,17.2,281,8740,0.00,1.75,0.00,0.000,6,0.000,0.041,2891,2225,2370
$GC,9002,0.51,126.5,838.7,19.9,288,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2225,2363
$GC,9246,0.51,126.5,788.7,20.8,294,9249,0.00,1.65,0.00,0.000,4,0.000,0.048,2890,3294,2361
$GC,9299,0.51,126.5,776.7,21.5,295,9303,0.15,1.60,0.00,0.000,6,0.196,0.026,2863,2211,2360
$GC,9586,0.51,126.5,724.4,18.0,302,9590,0.00,1.55,0.00,0.000,4,0.000,0.028,2870,1153,2358
$GC,9604,0.51,126.5,720.8,17.5,302,9608,0.00,1.67,0.00,0.000,6,0.000,0.042,2870,2242,2359
$GC,9881,0.51,126.5,673.0,17.4,309,9885,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3303,2358
$GC,9990,0.51,126.5,653.0,17.7,311,9994,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2251,2357
$GC,10267,0.51,126.5,608.5,15.6,318,10271,0.00,1.62,0.00,0.000,4,0.000,0.049,2870,3285,2357
$GC,10365,0.51,126.5,591.5,16.4,320,10368,0.00,1.48,0.00,0.000,6,0.000,0.028,2877,2296,2357
$GC,10653,0.51,126.5,545.4,16.0,327,10657,0.00,1.65,0.00,0.000,4,0.000,0.030,2885,1152,2356
$GC,10694,0.51,126.5,538.4,16.1,327,10703,0.00,1.80,0.00,0.000,6,0.000,0.044,2885,2304,2356
$GC,10950,0.51,126.5,498.3,16.2,334,10953,0.00,1.67,0.00,0.000,4,0.000,0.028,2891,1155,2356
$GC,10980,0.51,126.5,492.9,15.8,334,10984,0.00,1.77,0.00,0.000,6,0.000,0.042,2890,2292,2355
$GC,11245,0.51,126.5,450.4,16.3,341,11249,0.00,1.55,0.00,0.000,4,0.000,0.051,2891,3287,2355
$GC,11297,0.51,126.5,441.0,18.0,342,11302,0.10,1.48,0.00,0.000,6,0.178,0.026,2868,2293,2354
$GC,11587,0.51,126.5,402.5,13.0,349,11590,0.00,1.58,0.00,0.000,4,0.000,0.048,2865,3280,2354
$GC,11611,0.51,126.5,398.8,12.7,349,11615,0.00,1.42,0.00,0.000,6,0.000,0.027,2870,2319,2353
$GC,11882,0.51,126.5,367.3,11.4,356,11886,0.00,1.67,0.00,0.000,4,0.000,0.029,2879,1147,2354
$GC,11951,0.51,126.5,358.7,12.0,357,11954,0.00,1.80,0.00,0.000,6,0.000,0.043,2876,2323,2354
$GC,12223,0.51,126.5,326.7,12.2,364,12227,0.00,1.70,0.00,0.000,4,0.000,0.027,2882,1153,2353
$GC,12273,0.51,126.5,321.0,11.8,365,12277,0.00,1.83,0.00,0.000,6,0.000,0.041,2878,2328,2353
$GC,12567,0.51,126.5,287.4,10.9,372,12571,0.00,1.48,0.00,0.000,4,0.000,0.048,2876,3281,2354
$GC,12828,0.51,128.7,257.5,9.9,377,12832,0.00,1.33,0.00,0.000,6,0.000,0.025,2881,2364,2353
$GC,13089,0.52,145.7,234.2,9.1,384,13108,0.00,1.45,14.18,0.771,4,0.000,0.046,2878,3277,2295
$GC,13364,0.52,145.7,204.9,10.5,390,13368,0.00,1.23,0.00,0.000,6,0.000,0.023,2883,2424,2294
$GC,13631,0.52,145.7,177.3,10.2,409,13635,0.00,1.35,0.00,0.000,4,0.000,0.043,2878,3290,2293
$GC,13658,0.52,145.7,174.3,11.0,411,13662,0.00,1.25,0.00,0.000,6,0.000,0.023,2883,2418,2293
$GC,13930,0.52,145.7,146.0,10.2,436,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2412,2293
$GC,14197,0.52,145.7,117.7,10.9,461,14200,0.00,1.77,0.00,0.000,4,0.000,0.025,2892,1149,2294
$GC,14389,0.53,183.0,102.4,8.0,477,14429,0.00,1.90,32.12,0.650,6,0.000,0.036,2891,2413,2143
$GC,14688,0.56,234.0,78.6,7.3,504,14736,0.00,1.38,42.45,0.621,4,0.000,0.041,2891,3284,1934
$GC,14836,0.56,257.1,66.5,8.8,516,14864,0.00,1.27,19.48,0.593,6,0.000,0.021,2896,2398,1840
$GC,15125,0.56,257.1,37.1,11.5,542,15129,0.00,1.77,0.00,0.000,4,0.000,0.025,2899,1163,1836
$GC,15212,0.57,266.5,27.5,9.5,550,15230,0.00,1.92,8.45,0.521,6,0.000,0.038,2899,2407,1802
$STATE,15426,end climb,SURFACE_DEPTH_REACHED
$STATE,15426,begin surface coast
$FINISH,0.4,1.006104
$STATE,15459,end surface coast,CONTROL_FINISHED_OK
$STATE,15459,begin surface
$SM_CCo,15484,52.30,0.543,0,0,1299,390.02
$SM_GC,1.30,0.00,0.00,52.30,0.000,0.000,0.543,34,2560,1299,-8.31,1.78,390.02
$IRIDIUM_FIX,2246.36,-15751.06,090103,181827
$TT8_MAMPS,0.023777
$HUMID,2184
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,7
$24V_AH,23.9,26.335
$10V_AH,10.7,28.867
$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,18.075,114.075,350.725,52.300,0.000,78.602,109.736,638.156,1.750,0.000,0.000,15.842,1296.699,10280.436,435.835,3211.110,1458.642,33.373,1466.366,0.000,3200.458,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,66.729,1262.482,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,401.094,1937.106,2007.242,944.975,1290.355,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50812,588
$CAP_FILE_SIZE,134158,0
$CFSIZE,260165632,248291328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,151013,225800,2253.552,-15750.233,44,1.7,44,10.1