version: 66.04
glider: 512
mission: 4
dive: 164
start: 10 17 113 3 30 32
data:
$ID,512
$MISSION,4
$DIVE,164
$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,-109763.82
$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,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,0.0012000001
$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
$GPS1,031636,2248.582,-15755.880,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-83.0
$GPS2,032915,2248.698,-15755.818,10,2.1,29,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,-0.150
$KALMAN_X,94341.7,-214.7,-225.3,-86671.0,2873.4
$KALMAN_Y,52869.9,-111.5,-118.5,-44082.9,1408.2
$MHEAD_RNG_PITCHd_Wd,228.1,23092,-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,-0.53,-126.5,0.0,0.0,0,88,0.00,0.00,-68.05,0.000,2,0.000,0.000,11,2521,2906
$GC,94,-0.53,-126.5,2.1,-1.8,8,122,9.48,1.55,-10.93,0.000,4,0.202,0.037,2529,1417,3407
$GC,272,-0.53,-126.5,47.6,-22.3,29,282,0.00,1.67,0.00,0.000,6,0.000,0.039,2523,2499,3407
$GC,537,-0.53,-126.5,111.1,-20.2,54,541,0.00,1.62,0.00,0.000,4,0.000,0.043,2514,3569,3408
$GC,622,-0.53,-126.5,127.7,-17.3,61,626,0.00,1.55,0.00,0.000,6,0.000,0.018,2515,2486,3408
$GC,894,-0.53,-126.5,179.2,-18.7,86,897,0.00,1.65,0.00,0.000,4,0.000,0.041,2509,3574,3408
$GC,924,-0.53,-126.5,185.4,-18.8,88,932,0.00,1.50,0.00,0.000,6,0.000,0.019,2509,2508,3408
$GC,1182,-0.53,-126.5,230.8,-17.8,101,1185,0.00,1.45,0.00,0.000,4,0.000,0.020,2517,1452,3408
$GC,1217,-0.53,-126.5,237.5,-16.6,101,1221,0.00,1.60,0.00,0.000,6,0.000,0.035,2511,2534,3408
$GC,1477,-0.53,-126.5,277.0,-15.1,108,1481,0.00,1.55,0.00,0.000,4,0.000,0.044,2502,3560,3408
$GC,1618,-0.53,-126.5,298.4,-14.4,111,1622,0.00,1.45,0.00,0.000,6,0.000,0.019,2508,2533,3408
$GC,1913,-0.53,-126.5,338.9,-13.5,118,1916,0.00,1.60,0.00,0.000,4,0.000,0.044,2502,3589,3407
$GC,1948,-0.53,-126.5,344.3,-13.7,118,1952,0.00,1.50,0.00,0.000,6,0.000,0.019,2508,2523,3407
$GC,2208,-0.53,-126.5,377.4,-12.5,125,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2517,3405
$GC,2452,-0.53,-126.5,405.5,-11.2,131,2455,0.00,1.48,0.00,0.000,4,0.000,0.021,2515,1455,3403
$GC,2503,-0.53,-126.5,410.8,-9.9,132,2507,0.00,1.62,0.00,0.000,6,0.000,0.038,2510,2541,3403
$GC,2798,-0.53,-126.5,442.1,-10.8,139,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2541,3400
$GC,3042,-0.53,-126.5,468.8,-10.8,145,3046,0.00,1.52,0.00,0.000,4,0.000,0.022,2516,1470,3398
$GC,3085,-0.53,-126.5,473.6,-10.5,145,3093,0.00,1.62,0.00,0.000,6,0.000,0.039,2509,2531,3398
$GC,3339,-0.53,-126.5,501.3,-11.0,152,3343,0.00,1.58,0.00,0.000,4,0.000,0.048,2502,3562,3395
$GC,3408,-0.53,-126.5,509.5,-11.5,153,3411,0.00,1.42,0.00,0.000,6,0.000,0.022,2508,2564,3395
$GC,3681,-0.53,-126.5,539.4,-11.3,160,3685,0.00,1.55,0.00,0.000,4,0.000,0.023,2508,1458,3392
$GC,3744,-0.53,-126.5,547.3,-11.4,161,3748,0.00,1.65,0.00,0.000,6,0.000,0.041,2502,2557,3391
$GC,4021,-0.53,-126.5,578.2,-11.2,168,4025,0.00,1.55,0.00,0.000,4,0.000,0.050,2494,3565,3389
$GC,4091,-0.53,-126.5,586.3,-10.9,169,4094,0.00,1.42,0.00,0.000,6,0.000,0.023,2499,2576,3388
$GC,4363,-0.53,-126.5,613.3,-9.8,176,4366,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1460,3386
$GC,4421,-0.53,-126.5,619.1,-9.2,177,4424,0.00,1.65,0.00,0.000,6,0.000,0.041,2502,2555,3386
$GC,4705,-0.53,-126.5,645.9,-9.7,184,4708,0.00,1.55,0.00,0.000,4,0.000,0.051,2494,3562,3384
$GC,4734,-0.53,-126.5,649.5,-10.1,184,4738,0.00,1.42,0.00,0.000,6,0.000,0.024,2500,2564,3382
$GC,5000,-0.53,-126.5,675.2,-9.6,191,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2555,3380
$GC,5244,-0.53,-126.5,697.3,-9.0,197,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3379
$GC,5488,-0.53,-126.5,719.3,-9.1,203,5492,0.00,1.55,0.00,0.000,4,0.000,0.026,2507,1467,3377
$GC,5584,-0.53,-126.5,727.4,-7.8,205,5588,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2547,3377
$GC,5878,-0.53,-126.5,754.0,-9.2,212,5881,0.00,1.58,0.00,0.000,4,0.000,0.052,2494,3562,3374
$GC,5964,-0.53,-126.5,763.0,-10.1,213,5973,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2547,3374
$GC,6219,-0.53,-126.5,786.5,-9.3,220,6223,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1461,3373
$GC,6288,-0.53,-126.5,793.1,-8.6,221,6292,0.00,1.65,0.00,0.000,6,0.000,0.043,2502,2525,3372
$GC,6560,-0.53,-126.5,818.4,-9.5,228,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2525,3371
$GC,6803,-0.53,-126.5,840.7,-9.1,234,6807,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3571,3370
$GC,6873,-0.53,-126.5,847.8,-10.0,235,6877,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2519,3369
$GC,7145,-0.53,-126.5,872.7,-9.4,242,7149,0.00,1.50,0.00,0.000,4,0.000,0.026,2507,1478,3368
$GC,7196,-0.53,-126.5,877.3,-9.0,243,7200,0.00,1.60,0.00,0.000,6,0.000,0.045,2501,2505,3368
$STATE,7444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7444,begin apogee
$GC,7456,-0.17,0.0,900.2,9.0,249,7567,0.43,0.00,103.43,1.266,6,0.133,0.000,2640,2211,2890
$STATE,7567,end apogee,CONTROL_FINISHED_OK
$STATE,7567,begin climb
$GC,7573,0.53,126.5,903.7,0.0,252,7727,0.62,1.65,125.97,1.159,4,0.041,0.027,2905,1174,2373
$GC,7851,0.53,126.5,868.6,18.8,258,7855,0.15,1.65,0.00,0.000,6,0.171,0.038,2869,2224,2365
$GC,8135,0.53,126.5,816.9,18.3,265,8139,0.00,1.65,0.00,0.000,4,0.000,0.047,2864,3292,2361
$GC,8153,0.53,126.5,812.6,18.5,265,8157,0.00,1.58,0.00,0.000,6,0.000,0.025,2869,2247,2361
$GC,8431,0.53,126.5,763.8,17.7,272,8434,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1158,2360
$GC,8495,0.53,126.5,752.5,16.2,273,8499,0.00,1.62,0.00,0.000,6,0.000,0.040,2877,2213,2359
$GC,8773,0.53,126.5,704.3,17.4,280,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2213,2357
$GC,9017,0.53,126.5,662.0,17.2,286,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2213,2357
$GC,9260,0.53,126.5,620.9,16.8,292,9264,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3295,2356
$GC,9356,0.53,126.5,603.3,18.1,294,9360,0.00,1.65,0.00,0.000,6,0.000,0.025,2882,2190,2356
$GC,9646,0.53,126.5,556.1,16.2,301,9649,0.00,1.70,0.00,0.000,4,0.000,0.046,2878,3283,2355
$GC,9703,0.53,126.5,546.0,16.9,302,9707,0.00,1.62,0.00,0.000,6,0.000,0.027,2884,2191,2355
$GC,9985,0.53,126.5,501.4,16.2,309,9988,0.00,1.70,0.00,0.000,4,0.000,0.048,2885,3287,2354
$GC,10036,0.53,126.5,493.5,15.7,310,10040,0.00,1.58,0.00,0.000,6,0.000,0.025,2891,2222,2354
$GC,10330,0.53,126.5,447.0,15.8,317,10334,0.00,1.52,0.00,0.000,4,0.000,0.028,2899,1160,2354
$GC,10387,0.53,126.5,438.1,13.7,318,10392,0.08,1.65,0.00,0.000,6,0.157,0.041,2875,2223,2354
$GC,10671,0.53,126.5,399.9,13.6,325,10675,0.00,1.62,0.00,0.000,4,0.000,0.048,2875,3289,2353
$GC,10779,0.53,126.5,383.5,14.6,327,10782,0.00,1.52,0.00,0.000,6,0.000,0.025,2881,2254,2353
$GC,11057,0.53,126.5,345.9,14.0,334,11060,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1160,2352
$GC,11153,0.53,126.5,333.1,12.3,336,11157,0.00,1.65,0.00,0.000,6,0.000,0.041,2889,2227,2352
$GC,11442,0.53,126.5,298.5,12.4,343,11446,0.00,1.62,0.00,0.000,4,0.000,0.048,2888,3299,2352
$GC,11544,0.53,126.5,283.7,13.3,345,11548,0.00,1.52,0.00,0.000,6,0.000,0.025,2894,2257,2352
$GC,11828,0.53,126.5,254.1,10.2,352,11831,0.00,1.60,0.00,0.000,4,0.000,0.044,2891,3281,2352
$GC,12088,0.56,152.0,228.2,9.0,357,12111,0.00,1.40,19.42,0.783,6,0.000,0.025,2897,2308,2270
$GC,12364,0.56,152.0,197.2,11.8,365,12368,0.00,1.52,0.00,0.000,4,0.000,0.044,2897,3284,2266
$GC,12380,0.56,152.0,195.2,11.7,366,12384,0.00,1.45,0.00,0.000,6,0.000,0.023,2904,2295,2266
$GC,12653,0.56,152.0,161.0,12.2,391,12656,0.00,1.55,0.00,0.000,4,0.000,0.043,2905,3285,2266
$GC,12736,0.56,152.0,149.8,13.2,398,12741,0.08,1.40,0.00,0.000,6,0.159,0.021,2887,2324,2266
$GC,13013,0.56,152.0,118.2,11.2,423,13016,0.00,1.62,0.00,0.000,4,0.000,0.024,2894,1165,2266
$GC,13132,0.56,152.0,104.3,10.4,433,13136,0.00,1.75,0.00,0.000,6,0.000,0.035,2891,2332,2266
$GC,13405,0.60,180.3,77.2,8.9,458,13439,0.00,0.00,24.67,0.627,6,0.000,0.000,2891,2332,2153
$GC,13700,0.74,301.1,56.5,5.5,485,13802,0.12,1.48,96.78,0.607,4,0.061,0.036,2960,3296,1661
$GC,13868,0.74,301.1,32.9,19.8,497,13871,0.00,1.45,0.00,0.000,6,0.000,0.020,2966,2321,1658
$STATE,14012,end climb,SURFACE_DEPTH_REACHED
$STATE,14012,begin surface coast
$FINISH,0.4,1.011422
$STATE,14031,end surface coast,CONTROL_FINISHED_OK
$STATE,14031,begin surface
$SM_CCo,14057,38.85,0.548,0,0,1299,390.02
$SM_GC,1.34,0.00,0.00,38.85,0.000,0.000,0.548,35,2511,1299,-8.31,0.31,390.02
$IRIDIUM_FIX,2239.35,-15754.99,100103,222201
$TT8_MAMPS,0.023777
$HUMID,2250
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,24.0,27.420
$10V_AH,10.7,30.314
$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,18.425,104.250,370.275,38.850,0.000,30.366,39.078,479.819,1.250,0.000,0.000,30.783,1180.244,9234.531,423.493,2913.741,1117.820,33.379,1390.979,0.000,2886.023,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,53.690,1266.317,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.309,1711.745,1775.006,1069.814,1133.629,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44571,520
$CAP_FILE_SIZE,118569,0
$CFSIZE,260165632,247861248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,171013,072659,2247.965,-15756.936,37,1.6,42,10.1