version: 66.04
glider: 512
mission: 4
dive: 161
start: 10 16 113 12 55 0
data:
$ID,512
$MISSION,4
$DIVE,161
$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,-109706.03
$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,59
$R_STBD_OVSHOOT,60
$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
$GPS1,124629,2251.601,-15753.106,36,1.7,36,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-82.6
$GPS2,125407,2251.659,-15753.114,17,1.8,17,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.189,-0.154
$KALMAN_X,87822.8,-92.0,-297.7,-75578.9,3154.4
$KALMAN_Y,50606.3,-216.9,-400.7,-35950.3,2534.9
$MHEAD_RNG_PITCHd_Wd,220.8,30200,-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,-67.85,0.000,2,0.000,0.000,10,2540,2890
$GC,94,-0.51,-126.5,2.2,-2.3,8,122,9.50,1.58,-11.27,0.000,4,0.204,0.038,2531,1440,3403
$GC,280,-0.51,-126.5,51.2,-21.7,29,288,0.00,1.58,0.00,0.000,6,0.000,0.038,2525,2463,3404
$GC,545,-0.51,-126.5,112.7,-20.7,54,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2463,3405
$GC,812,-0.51,-126.5,165.3,-19.5,79,816,0.00,1.67,0.00,0.000,4,0.000,0.045,2517,3560,3406
$GC,886,-0.51,-126.5,180.2,-17.7,85,894,0.00,1.48,0.00,0.000,6,0.000,0.018,2517,2514,3406
$GC,1168,-0.51,-126.5,229.0,-17.6,100,1172,0.00,1.60,0.00,0.000,4,0.000,0.041,2509,3573,3406
$GC,1219,-0.51,-126.5,239.2,-18.0,101,1223,0.00,1.42,0.00,0.000,6,0.000,0.019,2509,2562,3406
$GC,1508,-0.51,-126.5,283.4,-15.1,108,1511,0.00,1.52,0.00,0.000,4,0.000,0.020,2510,1456,3406
$GC,1549,-0.51,-126.5,289.9,-13.2,108,1556,0.00,1.65,0.00,0.000,6,0.000,0.037,2502,2547,3406
$GC,1805,-0.51,-126.5,328.7,-15.6,115,1809,0.00,1.52,0.00,0.000,4,0.000,0.045,2494,3556,3406
$GC,1890,-0.51,-126.5,342.2,-15.4,116,1897,0.08,1.45,0.00,0.000,6,0.127,0.019,2528,2515,3405
$GC,2145,-0.51,-126.5,370.7,-11.0,123,2149,0.00,1.60,0.00,0.000,4,0.000,0.044,2521,3569,3405
$GC,2204,-0.51,-126.5,377.4,-10.8,124,2207,0.00,1.42,0.00,0.000,6,0.000,0.020,2522,2557,3404
$GC,2486,-0.51,-126.5,408.9,-11.3,131,2490,0.00,1.50,0.00,0.000,4,0.000,0.021,2522,1472,3402
$GC,2516,-0.51,-126.5,412.8,-12.0,131,2520,0.00,1.62,0.00,0.000,6,0.000,0.039,2515,2538,3402
$GC,2781,-0.51,-126.5,443.1,-11.5,138,2785,0.00,1.58,0.00,0.000,4,0.000,0.048,2506,3568,3399
$GC,2851,-0.51,-126.5,451.7,-11.6,139,2855,0.00,1.45,0.00,0.000,6,0.000,0.021,2507,2547,3399
$GC,3122,-0.51,-126.5,482.9,-11.6,146,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2538,3397
$GC,3366,-0.51,-126.5,509.7,-10.7,152,3369,0.00,1.60,0.00,0.000,4,0.000,0.048,2499,3586,3395
$GC,3431,-0.51,-126.5,516.7,-10.5,153,3434,0.00,1.48,0.00,0.000,6,0.000,0.022,2504,2554,3394
$GC,3709,-0.51,-126.5,544.7,-10.3,160,3712,0.00,1.52,0.00,0.000,4,0.000,0.024,2508,1465,3391
$GC,3772,-0.51,-126.5,551.6,-9.5,161,3776,0.00,1.65,0.00,0.000,6,0.000,0.041,2502,2541,3391
$GC,4049,-0.51,-126.5,581.3,-11.2,168,4052,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3560,3389
$GC,4145,-0.51,-126.5,592.3,-11.4,170,4149,0.08,1.42,0.00,0.000,6,0.124,0.023,2528,2570,3388
$GC,4438,-0.51,-126.5,618.5,-8.7,177,4442,0.00,1.55,0.00,0.000,4,0.000,0.025,2528,1466,3386
$GC,4498,-0.51,-126.5,623.9,-8.5,178,4502,0.00,1.65,0.00,0.000,6,0.000,0.043,2524,2555,3386
$GC,4781,-0.51,-126.5,648.1,-8.5,185,4785,0.00,1.58,0.00,0.000,4,0.000,0.024,2524,1462,3383
$GC,4834,-0.51,-126.5,652.9,-8.3,186,4837,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2542,3384
$GC,5123,-0.51,-126.5,677.4,-8.8,193,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2542,3380
$GC,5367,-0.51,-126.5,698.9,-8.7,199,5370,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3582,3379
$GC,5403,-0.51,-126.5,702.4,-8.8,199,5406,0.00,1.48,0.00,0.000,6,0.000,0.026,2523,2567,3378
$GC,5663,-0.51,-126.5,722.7,-7.8,206,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3377
$GC,5907,-0.51,-126.5,740.6,-7.3,212,5910,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3583,3375
$GC,5931,-0.51,-126.5,742.8,-7.6,212,5935,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2570,3375
$GC,6203,-0.51,-126.5,762.0,-7.2,219,6206,0.00,1.58,0.00,0.000,4,0.000,0.026,2524,1463,3373
$GC,6239,-0.51,-126.5,765.0,-7.6,219,6242,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2556,3373
$GC,6500,-0.51,-126.5,784.6,-7.7,226,6504,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3557,3372
$GC,6571,-0.51,-126.5,790.5,-8.1,227,6574,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2567,3372
$GC,6842,-0.51,-126.5,811.5,-7.8,234,6846,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1460,3370
$GC,6884,-0.51,-126.5,815.2,-8.0,234,6893,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2559,3370
$GC,7140,-0.51,-126.5,834.3,-7.6,241,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3369
$GC,7384,-0.51,-126.5,852.8,-7.6,247,7387,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3557,3368
$GC,7414,-0.51,-126.5,855.3,-8.0,247,7417,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2568,3368
$GC,7680,-0.51,-126.5,875.3,-7.8,254,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3367
$GC,7923,-0.51,-126.5,894.7,-8.0,260,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3366
$STATE,8000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8000,begin apogee
$GC,8012,-0.17,0.0,901.2,8.0,262,8123,0.35,0.00,102.10,1.275,6,0.098,0.000,2641,2221,2889
$STATE,8124,end apogee,CONTROL_FINISHED_OK
$STATE,8124,begin climb
$GC,8129,0.51,126.5,905.1,0.0,265,8283,0.57,1.67,125.28,1.165,4,0.031,0.029,2894,1184,2373
$GC,8324,0.51,126.5,887.6,17.7,269,8328,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2235,2369
$GC,8601,0.51,126.5,832.7,20.2,276,8605,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3290,2362
$GC,8652,0.51,126.5,822.3,21.4,277,8657,0.10,1.60,0.00,0.000,6,0.182,0.027,2869,2243,2361
$GC,8946,0.51,126.5,769.5,17.3,284,8950,0.00,1.67,0.00,0.000,4,0.000,0.047,2865,3281,2361
$GC,8981,0.51,126.5,762.4,19.0,284,8984,0.00,1.58,0.00,0.000,6,0.000,0.028,2871,2240,2360
$GC,9241,0.51,126.5,716.7,17.7,291,9245,0.00,1.65,0.00,0.000,4,0.000,0.048,2871,3285,2359
$GC,9305,0.51,126.5,704.3,18.7,292,9309,0.00,1.52,0.00,0.000,6,0.000,0.026,2878,2265,2359
$GC,9583,0.51,126.5,655.3,17.7,299,9586,0.00,1.60,0.00,0.000,4,0.000,0.028,2886,1172,2358
$GC,9618,0.51,126.5,648.5,17.0,299,9622,0.00,1.67,0.00,0.000,6,0.000,0.041,2886,2264,2358
$GC,9878,0.51,126.5,604.1,17.1,306,9882,0.00,1.62,0.00,0.000,4,0.000,0.028,2893,1158,2357
$GC,9948,0.51,126.5,591.9,15.9,307,9951,0.00,1.67,0.00,0.000,6,0.000,0.042,2891,2249,2357
$GC,10219,0.51,126.5,545.8,17.1,314,10223,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3308,2356
$GC,10269,0.51,126.5,536.7,19.8,315,10274,0.10,1.58,0.00,0.000,6,0.172,0.027,2868,2259,2356
$GC,10564,0.51,126.5,490.5,15.2,322,10567,0.00,1.60,0.00,0.000,4,0.000,0.030,2873,1168,2355
$GC,10638,0.51,126.5,479.7,12.6,323,10642,0.00,1.65,0.00,0.000,6,0.000,0.042,2873,2246,2355
$GC,10904,0.51,126.5,444.9,13.0,330,10908,0.00,1.60,0.00,0.000,4,0.000,0.050,2873,3273,2355
$GC,11024,0.51,126.5,427.6,12.9,332,11027,0.00,1.48,0.00,0.000,6,0.000,0.027,2880,2276,2354
$GC,11289,0.51,126.5,393.4,13.1,339,11293,0.00,1.62,0.00,0.000,4,0.000,0.030,2888,1164,2354
$GC,11313,0.51,126.5,389.9,12.8,339,11317,0.00,1.70,0.00,0.000,6,0.000,0.043,2888,2273,2353
$GC,11586,0.51,126.5,354.4,13.3,346,11590,0.00,1.58,0.00,0.000,4,0.000,0.048,2888,3289,2354
$GC,11681,0.51,126.5,341.2,12.5,348,11685,0.10,1.50,0.00,0.000,6,0.167,0.025,2865,2278,2354
$GC,11976,0.51,126.5,306.4,11.9,355,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2272,2353
$GC,12219,0.52,137.4,282.6,9.4,361,12232,0.00,1.62,7.28,0.749,4,0.000,0.047,2863,3291,2329
$GC,12492,0.52,137.4,253.1,10.8,367,12496,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2255,2328
$GC,12787,0.52,151.2,226.3,9.3,374,12811,0.00,1.60,15.38,0.686,4,0.000,0.044,2869,3295,2273
$GC,13022,0.52,151.2,198.9,12.1,379,13025,0.00,1.52,0.00,0.000,6,0.000,0.024,2877,2256,2272
$GC,13298,0.52,151.2,169.1,11.0,402,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2250,2272
$GC,13565,0.52,152.6,141.2,9.9,427,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2249,2272
$GC,13831,0.53,163.0,116.4,9.4,452,13847,0.00,0.00,11.30,0.632,6,0.000,0.000,2877,2250,2226
$GC,14107,0.53,170.3,90.3,9.6,478,14122,0.00,1.60,8.07,0.576,4,0.000,0.041,2877,3279,2195
$GC,14389,0.57,277.7,70.0,4.3,501,14482,0.00,1.48,86.68,0.616,6,0.000,0.022,2884,2251,1756
$GC,14738,0.57,281.3,40.6,9.8,532,14742,0.00,1.60,0.00,0.000,4,0.000,0.041,2884,3294,1751
$GC,14793,0.59,310.5,35.7,8.4,536,14824,0.00,1.52,26.48,0.570,6,0.000,0.021,2889,2251,1623
$GC,15127,0.59,310.5,3.0,11.4,583,15136,0.00,1.55,0.00,0.000,4,0.000,0.024,2897,1171,1619
$STATE,15143,end climb,SURFACE_DEPTH_REACHED
$STATE,15143,begin surface coast
$FINISH,0.3,1.009769
$STATE,15176,end surface coast,CONTROL_FINISHED_OK
$STATE,15176,begin surface
$SM_CCo,15203,32.67,0.536,0,0,1299,390.02
$SM_GC,1.23,0.00,0.00,32.67,0.000,0.000,0.536,42,2515,1299,-8.30,0.42,390.02
$IRIDIUM_FIX,2244.02,-15754.11,100103,080819
$TT8_MAMPS,0.023777
$HUMID,2172
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.40
$XPDR_PINGS,6
$24V_AH,24.0,26.985
$10V_AH,10.7,29.697
$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,18.125,111.150,382.550,32.675,0.000,30.654,36.210,204.564,1.500,0.000,0.000,18.011,1279.079,9896.893,449.739,3202.377,861.449,33.375,1489.562,0.000,3187.277,0.000,0.545,0.000
$DEVICE_MAMPS,204.022,59.059,1274.754,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,401.516,1935.393,1997.464,1320.810,1333.422,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50963,590
$CAP_FILE_SIZE,123740,0
$CFSIZE,260165632,248037376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,161013,171029,2250.932,-15753.668,39,1.0,44,10.1