version: 66.04
glider: 512
mission: 4
dive: 168
start: 10 17 113 20 13 50
data:
$ID,512
$MISSION,4
$DIVE,168
$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,-109848.91
$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,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,0.00089999998
$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
$GPS1,200106,2246.061,-15800.787,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-82.0
$GPS2,201231,2246.087,-15800.831,16,1.2,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.238,-0.157
$KALMAN_X,103206.0,-315.7,91.7,-104311.4,3044.3
$KALMAN_Y,57956.2,-68.1,192.5,-54369.5,1370.4
$MHEAD_RNG_PITCHd_Wd,226.5,13604,-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,12,begin dive
$GC,17,-0.49,-126.5,0.0,0.0,0,122,0.00,0.00,-101.75,0.000,2,0.000,0.000,11,2570,2957
$GC,128,-0.49,-126.5,2.3,-2.1,12,156,9.48,1.62,-9.57,0.000,4,0.203,0.038,2536,1434,3407
$GC,254,-0.49,-126.5,37.6,-21.1,28,257,0.00,1.62,0.00,0.000,6,0.000,0.039,2530,2505,3407
$GC,526,-0.49,-126.5,104.3,-20.1,53,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2505,3408
$GC,792,-0.49,-126.5,156.3,-16.5,78,796,0.00,1.60,0.00,0.000,4,0.000,0.045,2523,3574,3408
$GC,898,-0.49,-126.5,173.0,-14.7,87,902,0.00,1.55,0.00,0.000,6,0.000,0.020,2522,2482,3408
$GC,1186,-0.49,-126.5,221.6,-17.2,105,1189,0.00,1.65,0.00,0.000,4,0.000,0.042,2515,3568,3408
$GC,1222,-0.49,-126.5,229.1,-19.7,105,1225,0.00,1.45,0.00,0.000,6,0.000,0.018,2516,2535,3407
$GC,1483,-0.49,-126.5,269.6,-15.8,112,1486,0.00,1.48,0.00,0.000,4,0.000,0.020,2521,1455,3408
$GC,1535,-0.49,-126.5,276.9,-11.9,113,1538,0.00,1.65,0.00,0.000,6,0.000,0.038,2515,2544,3408
$GC,1823,-0.49,-126.5,316.2,-13.7,120,1827,0.00,1.55,0.00,0.000,4,0.000,0.045,2507,3566,3407
$GC,1864,-0.49,-126.5,321.9,-13.2,120,1874,0.00,1.48,0.00,0.000,6,0.000,0.020,2508,2510,3407
$GC,2120,-0.49,-126.5,351.9,-12.0,127,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2509,3406
$GC,2363,-0.49,-126.5,381.9,-12.5,133,2367,0.00,1.60,0.00,0.000,4,0.000,0.044,2502,3570,3404
$GC,2482,-0.49,-126.5,397.0,-11.6,135,2486,0.00,1.45,0.00,0.000,6,0.000,0.020,2507,2543,3402
$GC,2749,-0.49,-126.5,424.8,-10.5,142,2753,0.00,1.50,0.00,0.000,4,0.000,0.022,2515,1460,3400
$GC,2824,-0.49,-126.5,432.3,-8.7,143,2828,0.00,1.60,0.00,0.000,6,0.000,0.039,2511,2530,3400
$GC,3090,-0.49,-126.5,461.2,-11.6,150,3094,0.00,1.58,-0.08,0.000,4,0.000,0.066,2502,3572,3421
$GC,3205,-0.49,-126.5,476.5,-13.1,152,3208,0.00,1.48,0.00,0.000,6,0.000,0.022,2507,2540,3420
$GC,3476,-0.49,-126.5,509.0,-11.7,159,3480,0.00,1.52,0.00,0.000,4,0.000,0.023,2508,1452,3418
$GC,3541,-0.49,-126.5,516.2,-9.4,160,3545,0.12,1.62,0.00,0.000,6,0.123,0.041,2540,2532,3417
$GC,3818,-0.49,-126.5,536.1,-7.0,167,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2533,3415
$GC,4062,-0.49,-126.5,553.5,-7.3,173,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2533,3413
$GC,4306,-0.49,-126.5,574.5,-9.0,179,4310,0.00,1.60,0.00,0.000,4,0.000,0.051,2533,3563,3411
$GC,4336,-0.49,-126.5,577.7,-10.2,179,4339,0.00,1.50,0.00,0.000,6,0.000,0.024,2533,2522,3411
$GC,4602,-0.49,-126.5,601.2,-8.6,186,4605,0.00,1.50,0.00,0.000,4,0.000,0.024,2533,1451,3409
$GC,4638,-0.49,-126.5,604.5,-7.7,186,4641,0.00,1.62,0.00,0.000,6,0.000,0.044,2526,2523,3409
$GC,4900,-0.49,-126.5,623.6,-7.4,193,4903,0.00,1.52,0.00,0.000,4,0.000,0.025,2526,1461,3407
$GC,4930,-0.49,-126.5,626.4,-8.3,193,4934,0.00,1.62,0.00,0.000,6,0.000,0.045,2524,2504,3406
$GC,5196,-0.49,-126.5,647.9,-8.4,200,5200,0.00,1.65,0.00,0.000,4,0.000,0.055,2524,3560,3404
$GC,5265,-0.49,-126.5,654.4,-8.3,201,5269,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2512,3403
$GC,5538,-0.49,-126.5,678.0,-8.7,208,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2505,3402
$GC,5781,-0.49,-126.5,698.1,-8.1,214,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2505,3400
$GC,6026,-0.49,-126.5,717.4,-7.9,220,6030,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1450,3399
$GC,6062,-0.49,-126.5,720.9,-8.0,220,6066,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2506,3399
$GC,6323,-0.49,-126.5,741.9,-8.2,227,6327,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3557,3397
$GC,6392,-0.49,-126.5,747.6,-7.7,228,6395,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2527,3397
$GC,6665,-0.49,-126.5,767.5,-7.2,235,6668,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1452,3395
$GC,6690,-0.49,-126.5,769.7,-7.6,235,6693,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2522,3396
$GC,6961,-0.49,-126.5,785.8,-5.9,242,6965,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3557,3394
$GC,7024,-0.49,-126.5,789.7,-5.9,243,7028,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2524,3394
$GC,7303,-0.49,-126.5,806.5,-6.3,250,7306,0.00,1.62,0.00,0.000,4,0.000,0.055,2523,3558,3393
$GC,7340,-0.49,-126.5,809.0,-6.7,250,7344,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2542,3392
$GC,7601,-0.49,-126.5,827.0,-7.1,257,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3392
$GC,7844,-0.49,-126.5,845.2,-7.5,263,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2534,3391
$GC,8088,-0.49,-126.5,863.3,-7.4,269,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2533,3390
$GC,8332,-0.49,-126.5,880.2,-6.8,275,8336,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1455,3389
$GC,8362,-0.49,-126.5,882.3,-6.4,275,8365,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2561,3389
$GC,8628,-0.49,-126.5,898.6,-6.1,282,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2561,3388
$STATE,8664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8664,begin apogee
$GC,8676,-0.17,0.0,901.2,6.0,283,8788,0.35,0.00,108.68,1.262,6,0.097,0.000,2642,2218,2890
$STATE,8789,end apogee,CONTROL_FINISHED_OK
$STATE,8789,begin climb
$GC,8794,0.49,126.5,903.0,0.0,286,8937,0.55,0.00,124.43,1.179,6,0.029,0.000,2885,2218,2374
$GC,9170,0.49,126.5,844.6,20.6,295,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2218,2363
$GC,9414,0.49,126.5,794.9,20.2,301,9418,0.00,1.70,0.00,0.000,4,0.000,0.048,2879,3281,2362
$GC,9509,0.49,126.5,775.6,19.6,303,9513,0.00,1.58,0.00,0.000,6,0.000,0.026,2885,2237,2361
$GC,9804,0.49,126.5,720.1,18.5,310,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2231,2359
$GC,10048,0.49,126.5,677.1,17.5,316,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2232,2358
$GC,10291,0.49,126.5,635.1,17.0,322,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2231,2357
$GC,10535,0.49,126.5,594.8,16.3,328,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2231,2357
$GC,10778,0.49,126.5,555.6,16.0,334,10782,0.00,1.65,0.00,0.000,4,0.000,0.045,2879,3301,2357
$GC,10829,0.49,126.5,547.3,16.7,335,10832,0.00,1.62,0.00,0.000,6,0.000,0.025,2884,2193,2356
$GC,11122,0.49,126.5,503.3,15.2,342,11126,0.00,1.50,0.00,0.000,4,0.000,0.027,2893,1156,2356
$GC,11198,0.49,126.5,492.4,13.2,343,11202,0.12,1.60,0.00,0.000,6,0.164,0.039,2858,2212,2354
$GC,11464,0.49,126.5,456.5,13.4,350,11467,0.00,1.62,0.00,0.000,4,0.000,0.047,2858,3280,2354
$GC,11604,0.49,126.5,434.1,16.2,353,11607,0.00,1.58,0.00,0.000,6,0.000,0.025,2864,2224,2354
$GC,11898,0.49,126.5,395.1,12.9,360,11901,0.00,1.55,0.00,0.000,4,0.000,0.028,2872,1152,2354
$GC,11922,0.49,126.5,392.0,11.0,360,11926,0.00,1.70,0.00,0.000,6,0.000,0.040,2872,2249,2354
$GC,12195,0.49,126.5,362.9,10.7,367,12198,0.00,1.60,0.00,0.000,4,0.000,0.048,2872,3281,2354
$GC,12426,0.49,126.5,331.8,13.6,372,12429,0.00,1.55,0.00,0.000,6,0.000,0.025,2879,2235,2354
$GC,12715,0.49,126.5,300.0,10.6,379,12719,0.00,1.55,0.00,0.000,4,0.000,0.027,2887,1156,2354
$GC,12750,0.49,126.5,295.9,10.7,379,12755,0.08,1.67,0.00,0.000,6,0.142,0.039,2862,2246,2354
$GC,13010,0.53,172.0,273.8,8.3,386,13054,0.00,1.62,35.92,0.831,4,0.000,0.025,2868,1158,2187
$GC,13068,0.60,248.9,269.1,7.1,387,13138,0.00,1.65,65.03,0.805,6,0.000,0.038,2865,2228,1875
$GC,13388,0.60,248.9,231.7,12.9,394,13391,0.00,1.62,0.00,0.000,4,0.000,0.044,2864,3283,1866
$GC,13438,0.60,248.9,224.7,13.3,395,13442,0.00,1.62,0.00,0.000,6,0.000,0.024,2868,2225,1865
$GC,13705,0.60,248.9,184.3,15.6,408,13709,0.00,1.58,0.00,0.000,4,0.000,0.028,2873,1153,1865
$GC,13780,0.60,248.9,173.5,12.6,414,13789,0.00,1.62,0.00,0.000,6,0.000,0.036,2872,2202,1864
$GC,14047,0.60,248.9,135.2,14.1,439,14051,0.00,1.65,0.00,0.000,4,0.000,0.042,2873,3282,1863
$GC,14109,0.60,248.9,126.3,13.4,444,14112,0.00,1.60,0.00,0.000,6,0.000,0.022,2881,2194,1863
$GC,14381,0.60,248.9,89.3,14.3,469,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2189,1863
$GC,14648,0.68,332.1,61.1,6.9,494,14719,0.10,1.55,64.95,0.613,4,0.067,0.023,2953,1148,1535
$GC,14784,0.68,332.1,40.9,15.8,504,14788,0.15,1.65,0.00,0.000,6,0.130,0.032,2913,2232,1531
$STATE,15028,end climb,SURFACE_DEPTH_REACHED
$STATE,15028,begin surface coast
$FINISH,0.3,1.023351
$STATE,15055,end surface coast,CONTROL_FINISHED_OK
$STATE,15055,begin surface
$SM_CCo,15081,26.15,0.549,0,0,1299,390.02
$SM_GC,1.59,0.00,0.00,26.15,0.000,0.000,0.549,38,2539,1299,-8.31,1.07,390.02
$IRIDIUM_FIX,2237.01,-15758.03,110103,161603
$TT8_MAMPS,0.023777
$HUMID,2256
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,23.9,28.018
$10V_AH,10.7,31.048
$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,18.275,99.050,399.000,26.150,0.000,31.557,37.021,437.315,0.500,0.000,0.000,16.761,1194.900,10216.842,453.629,2854.259,1095.248,33.366,1390.823,0.000,2864.134,0.000,0.544,0.000
$DEVICE_MAMPS,203.255,65.962,1262.482,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,369.179,1782.311,1862.901,894.795,1186.071,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47748,541
$CAP_FILE_SIZE,119546,0
$CFSIZE,260165632,247607296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,181013,002706,2244.676,-15802.064,40,1.4,40,10.1