version: 66.04
glider: 512
mission: 4
dive: 166
start: 10 17 113 11 40 12
data:
$ID,512
$MISSION,4
$DIVE,166
$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,-109796.88
$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,66
$R_STBD_OVSHOOT,53
$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
$GPS1,113123,2247.026,-15758.190,43,1.0,60,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-81.8
$GPS2,113855,2247.042,-15758.242,15,0.9,15,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,-0.147
$KALMAN_X,98840.9,43.9,-239.9,-95556.4,3536.7
$KALMAN_Y,54896.3,133.8,-383.5,-49166.2,1861.2
$MHEAD_RNG_PITCHd_Wd,228.9,17959,-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,13,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,-67.57,0.000,2,0.000,0.000,11,2526,2880
$GC,94,-0.53,-126.5,2.1,-2.0,8,122,9.43,1.58,-11.65,0.000,4,0.199,0.039,2528,1435,3404
$GC,377,-0.53,-126.5,71.6,-18.5,37,380,0.00,1.60,0.00,0.000,6,0.000,0.038,2523,2494,3406
$GC,648,-0.53,-126.5,126.0,-18.7,62,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2495,3407
$GC,914,-0.53,-126.5,175.0,-17.1,87,918,0.00,1.62,0.00,0.000,4,0.000,0.044,2515,3566,3407
$GC,964,-0.53,-126.5,183.9,-18.9,91,968,0.00,1.58,0.00,0.000,6,0.000,0.018,2515,2468,3408
$GC,1258,-0.53,-126.5,236.9,-18.0,104,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2460,3408
$GC,1502,-0.53,-126.5,278.3,-16.8,110,1506,0.00,1.70,0.00,0.000,4,0.000,0.041,2508,3569,3408
$GC,1667,-0.53,-126.5,305.3,-13.7,113,1670,0.00,1.55,0.00,0.000,6,0.000,0.018,2509,2474,3408
$GC,1933,-0.53,-126.5,339.9,-12.8,120,1937,0.00,1.70,0.00,0.000,4,0.000,0.043,2503,3573,3408
$GC,2042,-0.53,-126.5,353.2,-11.5,122,2045,0.00,1.50,0.00,0.000,6,0.000,0.019,2508,2506,3408
$GC,2318,-0.53,-126.5,382.7,-10.8,129,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2498,3407
$GC,2562,-0.53,-126.5,411.0,-11.6,135,2566,0.00,1.42,0.00,0.000,4,0.000,0.021,2516,1464,3406
$GC,2632,-0.53,-126.5,418.9,-10.4,136,2635,0.00,1.60,0.00,0.000,6,0.000,0.038,2510,2539,3406
$GC,2903,-0.53,-126.5,450.8,-12.0,143,2907,0.00,1.55,0.00,0.000,4,0.000,0.046,2502,3557,3403
$GC,2935,-0.53,-126.5,455.2,-13.4,143,2938,0.00,1.45,0.00,0.000,6,0.000,0.021,2508,2535,3403
$GC,3200,-0.53,-126.5,486.9,-11.9,150,3204,0.00,1.50,0.00,0.000,4,0.000,0.021,2516,1452,3401
$GC,3266,-0.53,-126.5,494.3,-9.9,151,3269,0.00,1.62,0.00,0.000,6,0.000,0.039,2510,2536,3400
$GC,3542,-0.53,-126.5,522.9,-10.3,158,3546,0.00,1.58,0.00,0.000,4,0.000,0.048,2502,3561,3398
$GC,3639,-0.53,-126.5,532.6,-9.7,160,3643,0.00,1.48,0.00,0.000,6,0.000,0.021,2508,2532,3397
$GC,3933,-0.53,-126.5,562.9,-10.4,167,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2524,3395
$GC,4176,-0.53,-126.5,590.2,-11.3,173,4180,0.00,1.50,0.00,0.000,4,0.000,0.023,2515,1460,3393
$GC,4226,-0.53,-126.5,595.6,-10.5,174,4230,0.00,1.62,0.00,0.000,6,0.000,0.040,2510,2532,3393
$GC,4522,-0.53,-126.5,626.7,-10.4,181,4525,0.00,1.60,0.00,0.000,4,0.000,0.051,2502,3586,3390
$GC,4616,-0.53,-126.5,636.5,-9.9,183,4620,0.00,1.50,0.00,0.000,6,0.000,0.023,2508,2549,3389
$GC,4912,-0.53,-126.5,663.1,-8.9,190,4915,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1449,3387
$GC,4964,-0.53,-126.5,668.1,-9.1,191,4968,0.00,1.70,0.00,0.000,6,0.000,0.043,2502,2546,3387
$GC,5251,-0.53,-126.5,695.9,-10.1,198,5255,0.00,1.58,0.00,0.000,4,0.000,0.052,2494,3560,3385
$GC,5281,-0.53,-126.5,699.5,-11.3,198,5285,0.00,1.48,0.00,0.000,6,0.000,0.025,2500,2545,3385
$GC,5549,-0.53,-126.5,727.2,-10.6,205,5552,0.00,1.55,0.00,0.000,4,0.000,0.026,2508,1453,3383
$GC,5578,-0.53,-126.5,730.8,-10.8,205,5582,0.00,1.67,0.00,0.000,6,0.000,0.044,2501,2553,3383
$GC,5844,-0.53,-126.5,757.5,-10.2,212,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2552,3380
$GC,6088,-0.53,-126.5,781.6,-9.8,218,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2553,3379
$GC,6332,-0.53,-126.5,805.2,-9.7,224,6336,0.00,1.58,0.00,0.000,4,0.000,0.053,2494,3562,3378
$GC,6373,-0.53,-126.5,809.8,-10.6,224,6381,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2528,3377
$GC,6628,-0.53,-126.5,833.6,-9.4,231,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2527,3377
$GC,6872,-0.53,-126.5,855.6,-8.9,237,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2527,3375
$GC,7116,-0.53,-126.5,876.4,-8.4,243,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2526,3374
$GC,7359,-0.53,-126.5,897.0,-8.4,249,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2527,3373
$STATE,7396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7396,begin apogee
$GC,7407,-0.17,0.0,900.4,8.3,250,7518,0.43,0.00,103.68,1.270,6,0.107,0.000,2644,2209,2890
$STATE,7519,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7524,0.53,126.5,903.4,0.0,253,7669,0.57,1.60,123.25,1.177,4,0.028,0.027,2898,1166,2373
$GC,7731,0.53,126.5,881.0,19.3,257,7735,0.00,1.70,0.00,0.000,6,0.000,0.038,2892,2228,2367
$GC,7997,0.53,126.5,828.9,19.6,264,8001,0.00,1.67,0.00,0.000,4,0.000,0.047,2891,3283,2362
$GC,8021,0.53,126.5,823.7,19.8,264,8025,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2243,2361
$GC,8294,0.53,126.5,769.9,20.0,271,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2237,2361
$GC,8537,0.53,126.5,723.3,19.0,277,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2237,2360
$GC,8781,0.53,126.5,677.3,19.0,283,8785,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1156,2358
$GC,8810,0.53,126.5,671.2,18.8,283,8815,0.12,1.67,0.00,0.000,6,0.172,0.038,2874,2254,2357
$GC,9076,0.53,126.5,627.5,16.5,290,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2254,2356
$GC,9320,0.53,126.5,588.3,15.9,296,9323,0.00,1.60,0.00,0.000,4,0.000,0.047,2874,3282,2355
$GC,9369,0.53,126.5,579.6,18.1,297,9373,0.00,1.55,0.00,0.000,6,0.000,0.025,2880,2241,2356
$GC,9665,0.53,126.5,531.7,16.1,304,9668,0.00,1.55,0.00,0.000,4,0.000,0.028,2887,1164,2355
$GC,9683,0.53,126.5,528.1,15.8,304,9687,0.00,1.67,0.00,0.000,6,0.000,0.041,2887,2238,2355
$GC,9959,0.53,126.5,487.0,15.1,311,9963,0.00,1.62,0.00,0.000,4,0.000,0.048,2887,3281,2354
$GC,10028,0.53,126.5,475.1,17.3,312,10031,0.00,1.52,0.00,0.000,6,0.000,0.025,2894,2246,2354
$GC,10301,0.53,126.5,433.0,15.2,319,10305,0.00,1.58,0.00,0.000,4,0.000,0.028,2903,1157,2353
$GC,10386,0.53,126.5,419.7,14.3,320,10395,0.10,1.65,0.00,0.000,6,0.161,0.040,2872,2222,2353
$GC,10641,0.53,126.5,388.4,12.1,327,10644,0.00,1.62,0.00,0.000,4,0.000,0.048,2872,3288,2352
$GC,10692,0.53,126.5,381.8,14.3,328,10695,0.00,1.55,0.00,0.000,6,0.000,0.024,2878,2238,2353
$GC,10986,0.53,126.5,343.9,12.8,335,10990,0.00,1.55,0.00,0.000,4,0.000,0.027,2886,1158,2352
$GC,11010,0.53,126.5,340.6,11.9,335,11014,0.00,1.65,0.00,0.000,6,0.000,0.038,2886,2225,2353
$GC,11281,0.53,126.5,305.1,13.1,342,11285,0.00,1.62,0.00,0.000,4,0.000,0.048,2886,3295,2353
$GC,11377,0.53,126.5,292.2,14.3,344,11380,0.00,1.50,0.00,0.000,6,0.000,0.024,2893,2275,2352
$GC,11671,0.60,179.4,266.4,8.0,351,11717,0.00,1.65,41.88,0.827,4,0.000,0.045,2891,3285,2158
$GC,11813,0.60,179.4,248.9,13.6,354,11816,0.00,1.48,0.00,0.000,6,0.000,0.023,2897,2300,2154
$GC,12107,0.60,179.4,205.0,15.0,361,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2294,2151
$GC,12361,0.60,179.4,169.0,14.9,382,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2294,2151
$GC,12628,0.60,179.4,131.4,12.9,407,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2294,2151
$GC,12893,0.60,179.4,96.1,11.3,432,12897,0.00,1.60,0.00,0.000,4,0.000,0.025,2900,1159,2152
$GC,13004,0.60,179.4,83.9,10.0,441,13012,0.00,1.75,0.00,0.000,6,0.000,0.036,2900,2306,2151
$GC,13271,0.71,275.8,65.1,6.4,466,13360,0.00,1.73,77.50,0.617,4,0.000,0.022,2904,1162,1762
$GC,13390,0.71,275.8,55.1,10.6,475,13393,0.00,1.77,0.00,0.000,6,0.000,0.035,2905,2316,1760
$GC,13674,0.71,275.8,22.4,12.4,504,13683,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2316,1759
$STATE,13807,end climb,SURFACE_DEPTH_REACHED
$STATE,13807,begin surface coast
$FINISH,0.3,1.011108
$STATE,13833,end surface coast,CONTROL_FINISHED_OK
$STATE,13833,begin surface
$SM_CCo,13858,48.65,0.548,0,0,1298,390.02
$SM_GC,1.25,0.00,0.00,48.65,0.000,0.000,0.548,32,2554,1298,-8.32,1.53,390.02
$IRIDIUM_FIX,2239.35,-15754.99,110103,070734
$TT8_MAMPS,0.023777
$HUMID,2212
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.80
$XPDR_PINGS,3
$24V_AH,23.9,27.689
$10V_AH,10.7,30.668
$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,17.925,86.525,346.300,48.650,0.000,24.334,39.531,196.399,0.750,0.000,0.000,15.693,1137.159,9232.191,423.389,2769.105,819.145,33.369,1304.295,0.000,2779.745,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,52.923,1270.152,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,360.267,1742.765,1818.900,1136.040,1208.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44836,529
$CAP_FILE_SIZE,104489,0
$CFSIZE,260165632,247750656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,171013,153323,2246.385,-15759.709,35,1.8,35,10.1