version: 66.04
glider: 512
mission: 4
dive: 158
start: 10 15 113 23 15 6
data:
$ID,512
$MISSION,4
$DIVE,158
$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,-109650.05
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,225800,2253.552,-15750.233,44,1.7,44,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.9
$GPS2,231407,2253.556,-15750.252,16,2.0,16,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.173,-0.172
$KALMAN_X,81621.5,-66.2,-7.7,-64815.7,2101.1
$KALMAN_Y,46594.2,54.5,-434.5,-28666.8,2185.7
$MHEAD_RNG_PITCHd_Wd,215.1,36178,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.51,-126.5,0.0,0.0,0,88,0.00,0.00,-68.20,0.000,2,0.000,0.000,12,2558,2894
$GC,94,-0.51,-126.5,2.1,-1.8,8,122,9.45,1.62,-11.45,0.000,4,0.203,0.037,2527,1412,3405
$GC,280,-0.51,-126.5,51.6,-23.4,29,289,0.00,1.67,0.00,0.000,6,0.000,0.038,2521,2501,3406
$GC,545,-0.51,-126.5,116.1,-19.6,54,549,0.00,1.62,0.00,0.000,4,0.000,0.044,2513,3569,3406
$GC,620,-0.51,-126.5,131.3,-17.9,60,629,0.00,1.58,0.00,0.000,6,0.000,0.019,2513,2471,3407
$GC,887,-0.51,-126.5,179.0,-18.7,85,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2463,3407
$GC,1168,-0.51,-126.5,228.5,-17.1,100,1171,0.00,1.67,0.00,0.000,4,0.000,0.041,2507,3577,3407
$GC,1203,-0.51,-126.5,235.3,-18.0,100,1207,0.00,1.55,0.00,0.000,6,0.000,0.020,2507,2486,3407
$GC,1462,-0.51,-126.5,275.4,-15.8,107,1466,0.00,1.67,0.00,0.000,4,0.000,0.044,2501,3569,3407
$GC,1694,-0.51,-126.5,307.6,-13.3,112,1698,0.00,1.42,0.00,0.000,6,0.000,0.019,2506,2552,3406
$GC,1988,-0.51,-126.5,347.2,-13.5,119,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2542,3406
$GC,2231,-0.51,-126.5,377.9,-12.6,125,2235,0.00,1.52,0.00,0.000,4,0.000,0.021,2508,1451,3404
$GC,2300,-0.51,-126.5,386.2,-11.6,126,2303,0.00,1.65,0.00,0.000,6,0.000,0.039,2502,2558,3403
$GC,2572,-0.51,-126.5,420.3,-13.0,133,2576,0.00,1.52,0.00,0.000,4,0.000,0.047,2494,3561,3401
$GC,2630,-0.51,-126.5,429.0,-13.3,134,2634,0.08,1.45,0.00,0.000,6,0.122,0.021,2528,2528,3400
$GC,2912,-0.51,-126.5,459.7,-10.6,141,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2520,3398
$GC,3156,-0.51,-126.5,483.3,-9.5,147,3160,0.00,1.60,-0.08,0.000,4,0.000,0.066,2523,3562,3421
$GC,3232,-0.51,-126.5,490.7,-8.9,148,3235,0.00,1.42,0.00,0.000,6,0.000,0.022,2523,2564,3420
$GC,3498,-0.51,-126.5,515.9,-9.6,155,3501,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1471,3417
$GC,3578,-0.51,-126.5,524.0,-9.2,156,3582,0.00,1.62,0.00,0.000,6,0.000,0.043,2523,2526,3416
$GC,3839,-0.51,-126.5,548.2,-9.4,163,3843,0.00,1.60,0.00,0.000,4,0.000,0.051,2517,3581,3414
$GC,3864,-0.51,-126.5,551.0,-9.3,163,3867,0.00,1.50,0.00,0.000,6,0.000,0.024,2517,2541,3414
$GC,4135,-0.51,-126.5,576.0,-9.3,170,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2533,3412
$GC,4379,-0.51,-126.5,599.5,-9.8,176,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2532,3410
$GC,4622,-0.51,-126.5,622.7,-9.6,182,4626,0.00,1.62,0.00,0.000,4,0.000,0.051,2509,3566,3408
$GC,4663,-0.51,-126.5,627.1,-10.1,182,4672,0.00,1.48,0.00,0.000,6,0.000,0.024,2509,2539,3407
$GC,4918,-0.51,-126.5,652.5,-10.1,189,4921,0.00,1.60,0.00,0.000,4,0.000,0.052,2501,3574,3406
$GC,4959,-0.51,-126.5,657.1,-10.7,189,4967,0.00,1.48,0.00,0.000,6,0.000,0.025,2505,2551,3406
$GC,5215,-0.51,-126.5,683.2,-10.3,196,5218,0.00,1.60,0.00,0.000,4,0.000,0.052,2499,3585,3403
$GC,5279,-0.51,-126.5,690.5,-10.5,197,5283,0.00,1.48,0.00,0.000,6,0.000,0.025,2504,2571,3403
$GC,5556,-0.51,-126.5,717.1,-9.4,204,5560,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1463,3401
$GC,5615,-0.51,-126.5,722.6,-8.9,205,5619,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2577,3401
$GC,5898,-0.51,-126.5,747.6,-8.9,212,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2577,3399
$GC,6142,-0.51,-126.5,768.9,-8.7,218,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2577,3398
$GC,6386,-0.51,-126.5,789.8,-8.6,224,6390,0.00,1.52,0.00,0.000,4,0.000,0.054,2494,3557,3396
$GC,6422,-0.51,-126.5,793.5,-9.9,224,6426,0.08,1.45,0.00,0.000,6,0.119,0.027,2530,2560,3396
$GC,6682,-0.51,-126.5,811.0,-6.7,231,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2551,3394
$GC,6926,-0.51,-126.5,827.6,-6.8,237,6929,0.00,1.60,0.00,0.000,4,0.000,0.055,2524,3576,3394
$GC,6962,-0.51,-126.5,830.5,-7.6,237,6965,0.00,1.48,0.00,0.000,6,0.000,0.028,2524,2570,3393
$GC,7223,-0.51,-126.5,849.4,-7.4,244,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2562,3392
$GC,7467,-0.51,-126.5,867.4,-7.4,250,7471,0.00,1.58,0.00,0.000,4,0.000,0.027,2526,1466,3391
$GC,7553,-0.51,-126.5,873.9,-7.5,251,7561,0.00,1.75,0.00,0.000,6,0.000,0.047,2524,2584,3391
$GC,7808,-0.51,-126.5,892.7,-7.6,258,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2584,3390
$STATE,7924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7924,begin apogee
$GC,7936,-0.17,0.0,902.0,7.7,261,8048,0.35,0.00,108.95,1.263,6,0.097,0.000,2642,2229,2891
$STATE,8048,end apogee,CONTROL_FINISHED_OK
$STATE,8049,begin climb
$GC,8054,0.51,126.5,906.1,0.0,264,8206,0.60,1.70,125.95,1.162,4,0.039,0.028,2892,1171,2373
$GC,8265,0.51,126.5,887.1,17.7,268,8269,0.00,1.70,0.00,0.000,6,0.000,0.040,2891,2230,2367
$GC,8553,0.51,126.5,833.7,18.9,275,8557,0.00,1.62,0.00,0.000,4,0.000,0.028,2897,1160,2362
$GC,8583,0.51,126.5,827.4,18.9,275,8587,0.00,1.67,0.00,0.000,6,0.000,0.041,2892,2234,2361
$GC,8849,0.51,126.5,778.6,18.5,282,8853,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3287,2361
$GC,8975,0.51,126.5,753.0,19.1,284,8979,0.08,1.55,0.00,0.000,6,0.172,0.027,2867,2257,2359
$GC,9235,0.51,126.5,709.3,16.9,291,9238,0.00,1.60,0.00,0.000,4,0.000,0.029,2874,1168,2359
$GC,9293,0.51,126.5,699.0,16.5,292,9297,0.00,1.67,0.00,0.000,6,0.000,0.042,2874,2255,2358
$GC,9576,0.51,126.5,650.6,17.3,299,9579,0.00,1.60,0.00,0.000,4,0.000,0.049,2874,3281,2357
$GC,9661,0.51,126.5,634.4,18.0,300,9670,0.00,1.50,0.00,0.000,6,0.000,0.028,2881,2278,2357
$GC,9917,0.51,126.5,592.2,16.8,307,9921,0.00,1.60,0.00,0.000,4,0.000,0.049,2878,3280,2356
$GC,9980,0.51,126.5,580.6,17.4,308,9984,0.00,1.48,0.00,0.000,6,0.000,0.028,2884,2295,2356
$GC,10257,0.51,126.5,535.0,16.3,315,10260,0.00,1.62,0.00,0.000,4,0.000,0.031,2891,1158,2355
$GC,10321,0.51,126.5,524.7,14.5,316,10325,0.00,1.75,0.00,0.000,6,0.000,0.044,2891,2292,2355
$GC,10598,0.51,126.5,480.9,15.6,323,10602,0.00,1.70,0.00,0.000,4,0.000,0.029,2897,1153,2355
$GC,10639,0.51,126.5,474.2,14.7,323,10648,0.00,1.75,0.00,0.000,6,0.000,0.041,2892,2278,2354
$GC,10893,0.51,126.5,437.5,14.5,330,10897,0.00,1.55,0.00,0.000,4,0.000,0.049,2891,3278,2354
$GC,10945,0.51,126.5,430.2,15.4,331,10949,0.10,1.48,0.00,0.000,6,0.183,0.028,2868,2294,2354
$GC,11238,0.51,126.5,391.9,13.0,338,11242,0.00,1.58,0.00,0.000,4,0.000,0.049,2865,3284,2353
$GC,11295,0.51,126.5,383.5,14.9,339,11299,0.00,1.45,0.00,0.000,6,0.000,0.027,2870,2307,2353
$GC,11580,0.51,126.5,344.8,13.7,346,11584,0.00,1.67,0.00,0.000,4,0.000,0.028,2879,1153,2353
$GC,11649,0.51,126.5,336.3,10.4,347,11652,0.00,1.73,0.00,0.000,6,0.000,0.040,2876,2286,2353
$GC,11920,0.51,126.5,307.6,10.2,354,11924,0.00,1.65,0.00,0.000,4,0.000,0.027,2882,1141,2353
$GC,11933,0.51,129.0,306.1,9.9,354,11937,0.00,1.77,0.00,0.000,6,0.000,0.042,2877,2302,2353
$GC,12217,0.52,145.6,280.6,9.1,361,12236,0.00,1.52,14.07,0.815,4,0.000,0.048,2876,3280,2296
$GC,12266,0.52,145.6,275.4,11.8,362,12269,0.00,1.35,0.00,0.000,6,0.000,0.025,2881,2363,2295
$GC,12559,0.52,145.6,237.1,13.2,369,12563,0.00,1.75,0.00,0.000,4,0.000,0.028,2889,1159,2293
$GC,12821,0.52,147.5,209.7,9.9,374,12824,0.00,1.83,0.00,0.000,6,0.000,0.041,2889,2355,2292
$GC,13089,0.52,147.5,179.3,11.9,393,13092,0.00,1.73,0.00,0.000,4,0.000,0.025,2897,1160,2293
$GC,13140,0.52,147.5,173.6,10.4,397,13143,0.00,1.85,0.00,0.000,6,0.000,0.039,2891,2375,2293
$GC,13411,0.52,147.5,144.2,10.1,422,13415,0.00,1.38,0.00,0.000,4,0.000,0.044,2891,3280,2293
$GC,13577,0.52,147.5,125.4,11.3,436,13581,0.08,1.30,0.00,0.000,6,0.162,0.022,2872,2375,2293
$GC,13853,0.54,204.4,101.9,7.0,461,13904,0.00,0.00,49.62,0.653,6,0.000,0.000,2872,2369,2056
$GC,14166,0.56,247.2,74.6,7.7,489,14208,0.00,1.80,35.03,0.617,4,0.000,0.025,2872,1163,1881
$GC,14309,0.59,313.8,63.7,6.5,500,14368,0.00,1.92,53.78,0.604,6,0.000,0.037,2872,2411,1608
$GC,14636,0.60,348.6,38.3,8.1,529,14668,0.00,1.85,27.98,0.574,4,0.000,0.022,2872,1167,1466
$GC,14710,0.62,405.8,32.3,7.0,534,14762,0.00,1.88,45.83,0.568,6,0.000,0.035,2872,2386,1234
$GC,15069,0.66,502.5,11.3,4.9,586,15131,0.12,0.00,60.00,0.546,2,0.063,0.000,2964,2386,919
$STATE,15132,end climb,SURFACE_DEPTH_REACHED
$STATE,15132,begin surface coast
$FINISH,0.4,1.022923
$STATE,15153,end surface coast,CONTROL_FINISHED_OK
$STATE,15153,begin surface
$SM_CCo,15238,0.00,0.000,0,0,913,484.70
$SM_GC,1.40,7.55,0.00,0.00,0.025,0.000,0.000,47,2527,913,-8.21,0.76,484.70
$IRIDIUM_FIX,2244.02,-15748.90,090103,232338
$TT8_MAMPS,0.023777
$HUMID,2167
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.70
$XPDR_PINGS,5
$24V_AH,24.0,26.504
$10V_AH,10.6,29.075
$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,18.475,110.000,521.200,0.000,0.000,53.075,79.764,579.968,1.250,0.000,0.000,16.920,1259.255,9950.152,493.028,3171.941,1325.661,33.402,1552.302,0.000,3167.300,0.000,0.546,0.000
$DEVICE_MAMPS,203.255,65.962,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,404.304,1960.961,2027.656,1167.480,1367.443,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50922,596
$CAP_FILE_SIZE,129327,0
$CFSIZE,260165632,248229888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,161013,033029,2252.845,-15750.957,37,0.9,42,10.1