version: 66.04
glider: 512
mission: 4
dive: 165
start: 10 17 113 7 40 9
data:
$ID,512
$MISSION,4
$DIVE,165
$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,-109780.56
$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,63
$R_STBD_OVSHOOT,35
$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
$GPS1,072659,2247.965,-15756.936,37,1.6,42,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-82.9
$GPS2,073855,2248.020,-15756.882,16,1.3,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,-0.132
$KALMAN_X,96375.2,-146.0,204.9,-91021.0,2428.9
$KALMAN_Y,53772.0,56.3,249.7,-46785.7,491.7
$MHEAD_RNG_PITCHd_Wd,232.2,20899,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.53,-126.5,0.0,0.0,0,93,0.00,0.00,-68.12,0.000,2,0.000,0.000,11,2506,2891
$GC,98,-0.53,-126.5,2.0,-1.5,8,127,9.45,1.60,-11.45,0.000,4,0.202,0.051,2518,3561,3407
$GC,401,-0.53,-126.5,79.6,-17.5,38,404,0.00,1.55,0.00,0.000,6,0.000,0.019,2518,2488,3408
$GC,673,-0.53,-126.5,130.1,-19.7,63,677,0.00,1.45,0.00,0.000,4,0.000,0.021,2518,1436,3409
$GC,724,-0.53,-126.5,139.2,-17.4,67,728,0.00,1.60,0.00,0.000,6,0.000,0.035,2512,2516,3409
$GC,995,-0.53,-126.5,190.2,-18.7,92,999,0.00,1.58,0.00,0.000,4,0.000,0.043,2503,3560,3409
$GC,1045,-0.53,-126.5,199.8,-19.5,96,1049,0.00,1.52,0.00,0.000,6,0.000,0.018,2508,2493,3409
$GC,1306,-0.53,-126.5,246.3,-17.9,103,1309,0.00,1.62,0.00,0.000,4,0.000,0.041,2502,3573,3409
$GC,1391,-0.53,-126.5,261.3,-17.2,104,1397,0.00,1.48,0.00,0.000,6,0.000,0.019,2507,2528,3409
$GC,1646,-0.53,-126.5,298.6,-14.1,111,1650,0.00,1.48,0.00,0.000,4,0.000,0.020,2515,1453,3409
$GC,1697,-0.53,-126.5,304.9,-12.0,112,1701,0.00,1.60,0.00,0.000,6,0.000,0.037,2510,2504,3409
$GC,1991,-0.53,-126.5,341.3,-12.4,119,1995,0.00,1.60,0.00,0.000,4,0.000,0.045,2502,3561,3408
$GC,2131,-0.53,-126.5,358.7,-12.8,122,2135,0.00,1.48,0.00,0.000,6,0.000,0.019,2508,2520,3407
$GC,2426,-0.53,-126.5,394.7,-12.2,129,2429,0.00,1.48,0.00,0.000,4,0.000,0.021,2515,1455,3406
$GC,2484,-0.53,-126.5,402.0,-11.0,130,2488,0.00,1.60,0.00,0.000,6,0.000,0.038,2509,2529,3406
$GC,2767,-0.53,-126.5,434.0,-11.5,137,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2529,3403
$GC,3010,-0.53,-126.5,460.8,-11.0,143,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2529,3402
$GC,3254,-0.53,-126.5,487.8,-11.2,149,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2529,3399
$GC,3498,-0.53,-126.5,515.9,-11.5,155,3501,0.00,1.58,0.00,0.000,4,0.000,0.049,2502,3558,3398
$GC,3555,-0.53,-126.5,523.0,-11.6,156,3558,0.00,1.50,0.00,0.000,6,0.000,0.022,2507,2506,3396
$GC,3839,-0.53,-126.5,553.9,-11.0,163,3843,0.00,1.45,0.00,0.000,4,0.000,0.023,2508,1470,3394
$GC,3903,-0.53,-126.5,561.2,-10.3,164,3906,0.00,1.60,0.00,0.000,6,0.000,0.041,2502,2530,3394
$GC,4180,-0.53,-126.5,590.3,-10.7,171,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2530,3391
$GC,4423,-0.53,-126.5,615.0,-10.1,177,4427,0.00,1.58,0.00,0.000,4,0.000,0.049,2494,3556,3389
$GC,4504,-0.53,-126.5,623.5,-10.0,178,4508,0.00,1.52,0.00,0.000,6,0.000,0.024,2500,2501,3389
$GC,4765,-0.53,-126.5,647.9,-9.5,185,4769,0.00,1.65,0.00,0.000,4,0.000,0.050,2494,3566,3387
$GC,4839,-0.53,-126.5,655.7,-10.1,186,4843,0.00,1.52,0.00,0.000,6,0.000,0.023,2500,2507,3386
$GC,5107,-0.53,-126.5,680.7,-9.6,193,5110,0.00,1.65,0.00,0.000,4,0.000,0.051,2494,3574,3384
$GC,5138,-0.53,-126.5,684.2,-9.3,193,5142,0.00,1.52,0.00,0.000,6,0.000,0.024,2500,2522,3384
$GC,5404,-0.53,-126.5,709.8,-9.6,200,5408,0.00,1.50,0.00,0.000,4,0.000,0.025,2508,1459,3382
$GC,5501,-0.53,-126.5,718.6,-8.6,202,5505,0.00,1.62,0.00,0.000,6,0.000,0.043,2502,2507,3381
$GC,5795,-0.53,-126.5,747.5,-9.8,209,5799,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3555,3379
$GC,5858,-0.53,-126.5,754.1,-10.4,210,5861,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2525,3378
$GC,6137,-0.53,-126.5,780.2,-9.5,217,6140,0.00,1.52,0.00,0.000,4,0.000,0.027,2508,1454,3378
$GC,6172,-0.53,-126.5,784.1,-9.5,217,6176,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2515,3378
$GC,6433,-0.53,-126.5,808.2,-9.4,224,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2515,3376
$GC,6677,-0.53,-126.5,831.4,-9.5,230,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2515,3374
$GC,6921,-0.53,-126.5,854.6,-9.5,236,6924,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3560,3373
$GC,7006,-0.53,-126.5,863.6,-10.9,237,7015,0.00,1.55,0.00,0.000,6,0.000,0.026,2500,2496,3373
$GC,7262,-0.53,-126.5,887.3,-9.5,244,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2496,3372
$STATE,7418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7418,begin apogee
$GC,7430,-0.17,0.0,901.8,8.9,248,7541,0.43,0.00,103.60,1.268,6,0.107,0.000,2644,2220,2891
$STATE,7541,end apogee,CONTROL_FINISHED_OK
$STATE,7541,begin climb
$GC,7546,0.53,126.5,904.7,0.0,251,7691,0.60,1.62,123.22,1.177,4,0.028,0.027,2902,1170,2375
$GC,7759,0.53,126.5,881.3,19.8,255,7768,0.08,1.73,0.00,0.000,6,0.171,0.038,2879,2232,2368
$GC,8015,0.53,126.5,833.6,18.8,262,8018,0.00,1.62,0.00,0.000,4,0.000,0.044,2878,3281,2363
$GC,8050,0.53,126.5,825.7,19.7,262,8054,0.00,1.58,0.00,0.000,6,0.000,0.026,2884,2244,2362
$GC,8310,0.53,126.5,776.3,19.2,269,8314,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1156,2361
$GC,8406,0.53,126.5,759.3,17.2,271,8410,0.00,1.67,0.00,0.000,6,0.000,0.040,2891,2219,2361
$GC,8699,0.53,126.5,704.6,18.8,278,8703,0.00,1.58,0.00,0.000,4,0.000,0.028,2896,1159,2360
$GC,8763,0.53,126.5,692.7,16.8,279,8766,0.00,1.60,0.00,0.000,6,0.000,0.040,2891,2203,2359
$GC,9041,0.53,126.5,645.6,17.0,286,9044,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3282,2358
$GC,9115,0.53,126.5,631.6,18.7,287,9119,0.00,1.60,0.00,0.000,6,0.000,0.025,2897,2189,2357
$GC,9381,0.53,126.5,586.0,17.5,294,9385,0.00,1.73,0.00,0.000,4,0.000,0.047,2898,3274,2357
$GC,9501,0.53,126.5,562.8,17.6,296,9505,0.08,1.52,0.00,0.000,6,0.179,0.025,2874,2245,2356
$GC,9766,0.53,126.5,524.5,14.2,303,9770,0.00,1.58,0.00,0.000,4,0.000,0.028,2880,1161,2356
$GC,9891,0.53,126.5,507.0,12.9,305,9894,0.00,1.60,0.00,0.000,6,0.000,0.041,2878,2207,2355
$GC,10151,0.53,126.5,470.1,14.6,312,10155,0.00,1.67,0.00,0.000,4,0.000,0.048,2876,3287,2355
$GC,10238,0.53,126.5,455.3,17.7,313,10246,0.00,1.58,0.00,0.000,6,0.000,0.025,2882,2219,2355
$GC,10492,0.53,126.5,418.3,14.7,320,10496,0.00,1.52,0.00,0.000,4,0.000,0.028,2889,1164,2354
$GC,10550,0.53,126.5,409.7,13.3,321,10553,0.00,1.60,0.00,0.000,6,0.000,0.041,2889,2213,2354
$GC,10834,0.53,126.5,371.6,13.4,328,10837,0.00,1.62,0.00,0.000,4,0.000,0.047,2889,3289,2354
$GC,10875,0.53,126.5,365.4,13.9,328,10883,0.00,1.60,0.00,0.000,6,0.000,0.024,2897,2202,2354
$GC,11130,0.53,126.5,331.5,13.0,335,11133,0.00,1.50,0.00,0.000,4,0.000,0.027,2905,1158,2354
$GC,11215,0.53,126.5,320.4,12.3,336,11224,0.10,1.58,0.00,0.000,6,0.156,0.038,2872,2178,2354
$GC,11471,0.53,126.5,292.1,11.2,343,11475,0.00,1.70,0.00,0.000,4,0.000,0.048,2872,3277,2354
$GC,11732,0.61,193.6,268.0,7.5,348,11790,0.00,1.52,53.83,0.832,6,0.000,0.025,2878,2235,2100
$GC,12036,0.61,193.6,233.6,12.4,356,12039,0.00,1.65,0.00,0.000,4,0.000,0.044,2876,3275,2093
$GC,12162,0.61,193.6,214.4,14.7,358,12165,0.00,1.50,0.00,0.000,6,0.000,0.022,2881,2261,2092
$GC,12427,0.61,193.6,175.4,14.7,374,12431,0.00,1.60,0.00,0.000,4,0.000,0.041,2877,3276,2091
$GC,12489,0.61,193.6,166.3,14.5,379,12492,0.00,1.45,0.00,0.000,6,0.000,0.022,2883,2295,2092
$GC,12761,0.61,193.6,125.5,13.6,404,12764,0.00,1.62,0.00,0.000,4,0.000,0.025,2891,1145,2092
$GC,12803,0.61,193.6,119.2,12.3,407,12811,0.00,1.80,0.00,0.000,6,0.000,0.037,2891,2311,2091
$GC,13069,0.61,193.6,83.9,12.5,432,13072,0.00,1.65,0.00,0.000,4,0.000,0.022,2898,1164,2091
$GC,13192,0.61,193.6,69.7,10.2,442,13196,0.00,1.73,0.00,0.000,6,0.000,0.036,2897,2310,2091
$GC,13465,0.79,344.1,45.1,4.3,467,13591,0.15,1.70,117.90,0.600,4,0.055,0.022,2982,1173,1486
$GC,13651,0.79,344.1,15.1,23.0,484,13661,0.08,1.70,0.00,0.000,6,0.145,0.033,2959,2261,1482
$STATE,13705,end climb,SURFACE_DEPTH_REACHED
$STATE,13705,begin surface coast
$FINISH,0.2,1.002205
$STATE,13720,end surface coast,CONTROL_FINISHED_OK
$STATE,13720,begin surface
$SM_CCo,13745,19.85,0.539,0,0,1300,390.02
$SM_GC,1.61,0.00,0.00,19.85,0.000,0.000,0.539,37,2530,1300,-8.31,0.85,390.02
$IRIDIUM_FIX,2241.69,-15759.32,110103,030335
$TT8_MAMPS,0.023777
$HUMID,2267
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,23.9,27.565
$10V_AH,10.6,30.488
$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,18.475,105.425,398.550,19.850,0.000,27.183,36.296,473.128,0.500,0.000,0.000,16.113,1130.807,9072.095,427.493,2787.840,1081.283,33.364,1387.949,0.000,2778.857,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,53.690,1267.851,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,336.113,1622.276,1687.742,1037.114,1068.981,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41471,494
$CAP_FILE_SIZE,115644,0
$CFSIZE,260165632,247799808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,171013,113123,2247.026,-15758.190,43,1.0,60,10.1