version: 66.04
glider: 512
mission: 4
dive: 160
start: 10 16 113 8 32 42
data:
$ID,512
$MISSION,4
$DIVE,160
$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,-109687.39
$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,56
$R_STBD_OVSHOOT,66
$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
$GPS1,081836,2252.503,-15751.886,43,1.4,43,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-83.5
$GPS2,083143,2252.550,-15751.883,16,1.5,16,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,-0.127
$KALMAN_X,86048.0,-234.9,-1.3,-71856.3,2797.3
$KALMAN_Y,49487.9,-29.9,-98.2,-33675.4,1414.9
$MHEAD_RNG_PITCHd_Wd,228.5,32864,-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,13,begin dive
$GC,18,-0.51,-126.5,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,2,0.000,0.000,10,2540,2842
$GC,94,-0.51,-126.5,2.2,-2.1,8,123,9.52,1.55,-12.62,0.000,4,0.204,0.038,2533,1418,3405
$GC,283,-0.51,-126.5,47.7,-22.4,30,287,0.00,1.60,0.00,0.000,6,0.000,0.039,2527,2480,3406
$GC,556,-0.51,-126.5,110.1,-19.2,55,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2480,3406
$GC,821,-0.51,-126.5,160.9,-20.2,80,825,0.00,1.62,0.00,0.000,4,0.000,0.044,2519,3571,3407
$GC,906,-0.51,-126.5,177.9,-19.0,87,916,0.00,1.55,0.00,0.000,6,0.000,0.020,2519,2473,3407
$GC,1197,-0.51,-126.5,227.1,-16.6,103,1200,0.00,1.65,0.00,0.000,4,0.000,0.041,2512,3567,3407
$GC,1260,-0.51,-126.5,237.0,-14.9,104,1263,0.00,1.50,0.00,0.000,6,0.000,0.018,2517,2500,3406
$GC,1537,-0.51,-126.5,277.6,-14.6,111,1541,0.00,1.42,0.00,0.000,4,0.000,0.019,2519,1451,3406
$GC,1589,-0.51,-126.5,284.1,-12.8,112,1593,0.00,1.58,0.00,0.000,6,0.000,0.038,2513,2490,3406
$GC,1882,-0.51,-126.5,323.5,-13.5,119,1886,0.00,1.62,0.00,0.000,4,0.000,0.045,2505,3564,3406
$GC,2023,-0.51,-126.5,340.6,-12.8,122,2027,0.00,1.52,0.00,0.000,6,0.000,0.020,2506,2486,3404
$GC,2317,-0.51,-126.5,376.6,-12.3,129,2320,0.00,1.62,0.00,0.000,4,0.000,0.044,2500,3560,3402
$GC,2370,-0.51,-126.5,383.6,-12.2,130,2373,0.00,1.50,0.00,0.000,6,0.000,0.021,2506,2500,3402
$GC,2658,-0.51,-126.5,416.5,-11.1,137,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2493,3399
$GC,2901,-0.51,-126.5,441.4,-10.1,143,2905,0.00,1.62,0.00,0.000,4,0.000,0.045,2499,3567,3398
$GC,2958,-0.51,-126.5,447.9,-10.6,144,2962,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2510,3397
$GC,3242,-0.51,-126.5,477.2,-10.5,151,3244,0.00,0.00,-0.08,0.000,6,0.000,0.000,2505,2504,3419
$GC,3486,-0.51,-126.5,505.4,-11.8,157,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2504,3417
$GC,3730,-0.51,-126.5,534.6,-12.1,163,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2504,3414
$GC,3973,-0.51,-126.5,562.3,-11.2,169,3977,0.00,1.62,0.00,0.000,4,0.000,0.048,2498,3571,3413
$GC,4030,-0.51,-126.5,569.3,-11.3,170,4034,0.00,1.50,0.00,0.000,6,0.000,0.024,2504,2530,3412
$GC,4313,-0.51,-126.5,597.9,-10.0,177,4317,0.00,1.60,0.00,0.000,4,0.000,0.049,2499,3569,3410
$GC,4383,-0.51,-126.5,605.3,-9.9,178,4387,0.00,1.50,0.00,0.000,6,0.000,0.023,2504,2530,3410
$GC,4655,-0.51,-126.5,632.3,-10.2,185,4658,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1448,3408
$GC,4706,-0.51,-126.5,637.9,-10.3,186,4710,0.00,1.65,0.00,0.000,6,0.000,0.043,2502,2518,3407
$GC,4996,-0.51,-126.5,665.8,-10.1,193,4999,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3572,3404
$GC,5090,-0.51,-126.5,675.7,-10.2,195,5094,0.08,1.55,0.00,0.000,6,0.119,0.025,2530,2500,3403
$GC,5385,-0.51,-126.5,699.1,-7.9,202,5388,0.00,1.48,0.00,0.000,4,0.000,0.025,2530,1453,3401
$GC,5426,-0.51,-126.5,702.7,-7.3,202,5434,0.00,1.62,0.00,0.000,6,0.000,0.045,2524,2501,3401
$GC,5681,-0.51,-126.5,723.1,-8.2,209,5685,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3556,3400
$GC,5716,-0.51,-126.5,726.5,-8.0,209,5720,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2521,3400
$GC,5977,-0.51,-126.5,747.3,-8.0,216,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2513,3398
$GC,6221,-0.51,-126.5,766.7,-8.0,222,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2514,3397
$GC,6464,-0.51,-126.5,786.2,-7.9,228,6468,0.00,1.65,0.00,0.000,4,0.000,0.057,2523,3569,3395
$GC,6516,-0.51,-126.5,790.0,-7.7,229,6519,0.00,1.55,0.00,0.000,6,0.000,0.027,2523,2511,3394
$GC,6810,-0.51,-126.5,812.1,-7.5,236,6814,0.00,1.50,0.00,0.000,4,0.000,0.027,2523,1454,3393
$GC,6846,-0.51,-126.5,815.1,-7.8,236,6850,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2513,3393
$GC,7107,-0.51,-126.5,833.9,-7.4,243,7111,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3559,3392
$GC,7172,-0.51,-126.5,839.0,-8.0,244,7176,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2518,3391
$GC,7449,-0.51,-126.5,859.8,-7.7,251,7453,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1443,3390
$GC,7485,-0.51,-126.5,863.0,-8.0,251,7489,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2531,3390
$GC,7746,-0.51,-126.5,882.9,-7.9,258,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3389
$STATE,7984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7984,begin apogee
$GC,7996,-0.17,0.0,902.4,8.0,264,8107,0.35,0.00,108.45,1.265,6,0.099,0.000,2641,2213,2889
$STATE,8108,end apogee,CONTROL_FINISHED_OK
$STATE,8108,begin climb
$GC,8113,0.51,126.5,906.6,0.0,267,8245,0.57,1.67,120.43,1.206,4,0.032,0.028,2885,1175,2373
$GC,8298,0.51,126.5,890.5,16.9,271,8301,0.00,1.73,0.00,0.000,6,0.000,0.041,2880,2226,2367
$GC,8591,0.51,126.5,838.1,17.6,278,8595,0.00,1.67,0.00,0.000,4,0.000,0.048,2877,3279,2362
$GC,8627,0.51,126.5,830.8,18.9,278,8630,0.00,1.60,0.00,0.000,6,0.000,0.028,2883,2217,2361
$GC,8887,0.51,126.5,784.6,18.1,285,8891,0.00,1.70,0.00,0.000,4,0.000,0.049,2884,3291,2360
$GC,8919,0.51,126.5,778.2,19.7,285,8922,0.00,1.60,0.00,0.000,6,0.000,0.027,2891,2197,2360
$GC,9186,0.51,126.5,727.8,19.2,292,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2190,2359
$GC,9429,0.51,126.5,680.6,19.2,298,9432,0.00,1.50,0.00,0.000,4,0.000,0.029,2899,1164,2358
$GC,9472,0.51,126.5,672.5,17.6,298,9480,0.10,1.73,0.00,0.000,6,0.153,0.043,2868,2267,2358
$GC,9726,0.51,126.5,631.1,16.0,305,9730,0.00,1.58,0.00,0.000,4,0.000,0.049,2863,3274,2357
$GC,9749,0.51,126.5,626.9,15.8,305,9753,0.00,1.50,0.00,0.000,6,0.000,0.027,2869,2265,2356
$GC,10021,0.51,126.5,587.3,14.4,312,10025,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1160,2356
$GC,10051,0.51,126.5,582.5,14.0,312,10055,0.00,1.75,0.00,0.000,6,0.000,0.044,2877,2277,2355
$GC,10318,0.51,126.5,543.9,14.9,319,10321,0.00,1.55,0.00,0.000,4,0.000,0.049,2875,3276,2355
$GC,10421,0.51,126.5,527.4,15.3,321,10424,0.00,1.45,0.00,0.000,6,0.000,0.027,2881,2296,2355
$GC,10705,0.51,126.5,484.5,15.0,328,10708,0.00,1.62,0.00,0.000,4,0.000,0.029,2889,1158,2354
$GC,10718,0.51,126.5,481.9,14.9,328,10721,0.00,1.75,0.00,0.000,6,0.000,0.043,2889,2300,2354
$GC,11000,0.51,126.5,439.1,15.1,335,11004,0.00,1.52,0.00,0.000,4,0.000,0.049,2889,3281,2354
$GC,11063,0.51,126.5,428.5,16.7,336,11067,0.10,1.45,0.00,0.000,6,0.173,0.028,2867,2307,2354
$GC,11341,0.51,126.5,392.7,12.8,343,11344,0.00,1.65,0.00,0.000,4,0.000,0.030,2873,1160,2353
$GC,11393,0.51,126.5,386.0,12.3,344,11396,0.00,1.75,0.00,0.000,6,0.000,0.042,2873,2316,2353
$GC,11681,0.51,126.5,351.4,12.2,351,11684,0.00,1.50,0.00,0.000,4,0.000,0.049,2873,3285,2353
$GC,11807,0.51,126.5,334.9,12.5,353,11810,0.00,1.40,0.00,0.000,6,0.000,0.026,2880,2333,2352
$GC,12067,0.51,126.5,305.2,11.0,360,12070,0.00,1.67,0.00,0.000,4,0.000,0.027,2888,1151,2353
$GC,12108,0.51,126.5,299.9,11.8,360,12117,0.00,1.77,0.00,0.000,6,0.000,0.043,2888,2295,2352
$GC,12364,0.51,126.5,270.2,11.8,367,12367,0.00,1.52,0.00,0.000,4,0.000,0.049,2888,3284,2353
$GC,12623,0.52,135.6,240.6,9.5,372,12638,0.00,1.33,5.12,0.643,6,0.000,0.025,2894,2368,2339
$GC,12885,0.52,142.5,214.8,9.6,379,12898,0.00,1.45,8.23,0.704,4,0.000,0.044,2891,3283,2309
$GC,12985,0.52,142.5,203.6,11.2,381,12989,0.10,1.30,0.00,0.000,6,0.153,0.025,2865,2387,2309
$GC,13262,0.54,185.1,179.1,7.7,404,13301,0.00,0.00,36.92,0.732,6,0.000,0.000,2865,2381,2134
$GC,13558,0.54,185.1,149.8,10.5,432,13561,0.00,1.75,0.00,0.000,4,0.000,0.026,2872,1167,2129
$GC,13646,0.54,185.1,140.1,10.2,439,13654,0.00,1.92,0.00,0.000,6,0.000,0.039,2872,2401,2128
$GC,13911,0.54,185.1,109.4,12.2,464,13915,0.00,1.83,0.00,0.000,4,0.000,0.024,2881,1165,2128
$GC,13974,0.54,185.1,102.4,11.5,469,13978,0.00,1.88,0.00,0.000,6,0.000,0.038,2878,2376,2127
$GC,14247,0.56,256.6,77.3,6.2,494,14316,0.00,1.45,57.72,0.628,4,0.000,0.042,2877,3289,1842
$GC,14346,0.57,260.9,69.1,9.8,501,14361,0.00,1.35,4.75,0.461,6,0.000,0.021,2883,2361,1826
$GC,14622,0.57,275.2,44.9,9.2,526,14640,0.00,1.77,12.90,0.564,4,0.000,0.025,2885,1158,1767
$GC,14724,0.59,313.0,35.7,8.0,534,14766,0.00,1.85,30.88,0.577,6,0.000,0.036,2886,2368,1612
$STATE,15046,end climb,SURFACE_DEPTH_REACHED
$STATE,15046,begin surface coast
$FINISH,0.4,1.022984
$STATE,15085,end surface coast,CONTROL_FINISHED_OK
$STATE,15085,begin surface
$SM_CCo,15110,31.77,0.540,0,0,1300,390.02
$SM_GC,1.24,0.00,0.00,31.77,0.000,0.000,0.540,46,2544,1300,-8.28,1.24,390.02
$IRIDIUM_FIX,2246.36,-15754.11,100103,080827
$TT8_MAMPS,0.023777
$HUMID,2229
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,8
$24V_AH,23.9,26.860
$10V_AH,10.7,29.497
$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,18.125,112.125,385.400,31.775,0.000,59.787,69.805,401.419,2.000,0.000,0.000,16.430,1259.602,9964.875,433.883,3126.627,1143.964,33.377,1446.189,0.000,3123.604,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,58.292,1264.783,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,399.042,1930.549,2001.245,1276.703,1318.053,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47802,586
$CAP_FILE_SIZE,126998,0
$CFSIZE,260165632,248102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161013,124629,2251.601,-15753.106,36,1.7,36,10.1