version: 66.04
glider: 512
mission: 4
dive: 169
start: 10 18 113 0 40 56
data:
$ID,512
$MISSION,4
$DIVE,169
$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,-109866.36
$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,55
$R_STBD_OVSHOOT,59
$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
$GPS1,002706,2244.676,-15802.064,40,1.4,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-85.4
$GPS2,003942,2244.819,-15802.052,11,1.7,16,10.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,-0.165
$KALMAN_X,105854.0,-478.1,-229.8,-108560.7,4034.0
$KALMAN_Y,59245.4,-223.0,-497.8,-57154.3,2795.5
$MHEAD_RNG_PITCHd_Wd,224.5,10465,-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,-0.49,-126.5,0.0,0.0,0,92,0.00,0.00,-67.70,0.000,2,0.000,0.000,20,2538,2897
$GC,98,-0.49,-126.5,2.2,-1.8,8,127,9.45,1.58,-11.23,0.000,4,0.201,0.037,2537,1426,3406
$GC,310,-0.49,-126.5,55.4,-22.6,31,314,0.00,1.60,0.00,0.000,6,0.000,0.038,2531,2487,3407
$GC,582,-0.49,-126.5,115.2,-17.9,56,585,0.00,1.62,0.00,0.000,4,0.000,0.044,2523,3571,3408
$GC,645,-0.49,-126.5,125.8,-17.2,61,649,0.00,1.55,0.00,0.000,6,0.000,0.019,2523,2491,3407
$GC,916,-0.49,-126.5,176.3,-19.4,86,919,0.00,1.65,0.00,0.000,4,0.000,0.041,2515,3560,3408
$GC,946,-0.49,-126.5,183.0,-20.8,88,954,0.00,1.48,0.00,0.000,6,0.000,0.018,2515,2511,3408
$GC,1204,-0.49,-126.5,229.7,-17.7,101,1208,0.00,1.45,0.00,0.000,4,0.000,0.019,2518,1448,3408
$GC,1228,-0.49,-126.5,234.3,-16.2,101,1232,0.00,1.60,0.00,0.000,6,0.000,0.036,2512,2526,3408
$GC,1499,-0.49,-126.5,273.7,-14.3,108,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2526,3408
$GC,1743,-0.49,-126.5,307.1,-13.7,114,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2526,3408
$GC,1987,-0.49,-126.5,337.5,-12.1,120,1990,0.00,1.50,0.00,0.000,4,0.000,0.020,2518,1458,3407
$GC,2045,-0.49,-126.5,344.5,-10.8,121,2049,0.00,1.60,0.00,0.000,6,0.000,0.038,2512,2535,3407
$GC,2328,-0.49,-126.5,378.3,-12.4,128,2331,0.00,1.55,0.00,0.000,4,0.000,0.046,2504,3556,3406
$GC,2392,-0.49,-126.5,386.3,-11.5,129,2396,0.00,1.48,0.00,0.000,6,0.000,0.021,2508,2511,3406
$GC,2670,-0.49,-126.5,420.0,-12.6,136,2674,0.00,1.60,0.00,0.000,4,0.000,0.045,2502,3562,3403
$GC,2750,-0.49,-126.5,430.5,-11.5,137,2754,0.00,1.45,0.00,0.000,6,0.000,0.021,2507,2533,3402
$GC,3011,-0.49,-126.5,459.9,-11.3,144,3015,0.00,1.48,0.00,0.000,4,0.000,0.022,2508,1470,3400
$GC,3046,-0.49,-126.5,464.2,-10.9,144,3050,0.12,1.62,0.00,0.000,6,0.125,0.038,2539,2555,3400
$GC,3308,-0.49,-126.5,485.2,-8.1,151,3311,0.00,1.52,0.00,0.000,4,0.000,0.049,2533,3551,3398
$GC,3371,-0.49,-126.5,491.1,-8.6,152,3375,0.00,1.42,0.00,0.000,6,0.000,0.021,2533,2547,3398
$GC,3649,-0.49,-126.5,515.7,-9.0,159,3652,0.00,1.50,0.00,0.000,4,0.000,0.022,2533,1467,3395
$GC,3719,-0.49,-126.5,522.3,-9.0,160,3722,0.00,1.60,0.00,0.000,6,0.000,0.039,2526,2534,3394
$GC,3990,-0.49,-126.5,546.9,-9.2,167,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2534,3392
$GC,4234,-0.49,-126.5,568.2,-8.5,173,4238,0.00,1.52,0.00,0.000,4,0.000,0.023,2526,1467,3390
$GC,4258,-0.49,-126.5,570.4,-8.1,173,4262,0.00,1.60,0.00,0.000,6,0.000,0.043,2524,2521,3390
$GC,4530,-0.49,-126.5,591.4,-7.9,180,4533,0.00,1.60,0.00,0.000,4,0.000,0.054,2524,3569,3388
$GC,4589,-0.49,-126.5,596.3,-7.8,181,4592,0.00,1.48,0.00,0.000,6,0.000,0.025,2524,2548,3387
$GC,4872,-0.49,-126.5,618.6,-7.9,188,4875,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1448,3385
$GC,4922,-0.49,-126.5,622.7,-8.3,189,4926,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2521,3385
$GC,5217,-0.49,-126.5,646.4,-8.1,196,5221,0.00,1.60,0.00,0.000,4,0.000,0.055,2524,3565,3382
$GC,5312,-0.49,-126.5,654.5,-8.4,198,5316,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2536,3381
$GC,5607,-0.49,-126.5,679.6,-8.7,205,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3380
$GC,5851,-0.49,-126.5,700.2,-8.3,211,5854,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1455,3378
$GC,5937,-0.49,-126.5,707.8,-8.1,212,5943,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2527,3378
$GC,6191,-0.49,-126.5,728.8,-8.3,219,6195,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3566,3376
$GC,6244,-0.49,-126.5,733.6,-8.6,220,6248,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2541,3376
$GC,6533,-0.49,-126.5,757.9,-8.6,227,6537,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1448,3374
$GC,6583,-0.49,-126.5,762.4,-8.7,228,6587,0.00,1.73,0.00,0.000,6,0.000,0.047,2523,2543,3374
$GC,6879,-0.49,-126.5,787.3,-8.3,235,6882,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3580,3372
$GC,6915,-0.49,-126.5,790.7,-8.5,235,6918,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2539,3372
$GC,7175,-0.49,-126.5,810.2,-7.4,242,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2532,3371
$GC,7419,-0.49,-126.5,827.3,-6.9,248,7423,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1450,3370
$GC,7471,-0.49,-126.5,831.3,-7.1,249,7475,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2554,3370
$GC,7761,-0.49,-126.5,851.1,-7.1,256,7764,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3586,3369
$GC,7797,-0.49,-126.5,854.0,-7.6,256,7800,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2546,3369
$GC,8057,-0.49,-126.5,872.3,-7.2,263,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3368
$GC,8301,-0.49,-126.5,890.9,-7.8,269,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3367
$STATE,8417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8417,begin apogee
$GC,8428,-0.17,0.0,900.5,7.8,272,8540,0.35,0.00,102.90,1.269,6,0.098,0.000,2642,2212,2890
$STATE,8541,end apogee,CONTROL_FINISHED_OK
$STATE,8541,begin climb
$GC,8546,0.49,126.5,904.2,0.0,275,8678,0.57,1.65,119.57,1.210,4,0.030,0.026,2894,1190,2373
$GC,8729,0.49,126.5,886.4,19.2,279,8733,0.12,1.67,0.00,0.000,6,0.170,0.038,2862,2230,2368
$GC,9023,0.49,126.5,835.9,16.9,286,9027,0.00,1.65,0.00,0.000,4,0.000,0.047,2862,3288,2362
$GC,9066,0.49,126.5,827.6,19.8,286,9074,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2231,2361
$GC,9320,0.49,126.5,783.2,17.6,293,9324,0.00,1.58,0.00,0.000,4,0.000,0.028,2875,1154,2361
$GC,9345,0.49,126.5,778.5,17.2,293,9348,0.00,1.65,0.00,0.000,6,0.000,0.040,2875,2222,2360
$GC,9616,0.49,126.5,732.2,17.5,300,9619,0.00,1.65,0.00,0.000,4,0.000,0.048,2875,3291,2359
$GC,9657,0.49,126.5,723.9,18.7,300,9666,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2222,2359
$GC,9913,0.49,126.5,678.3,18.0,307,9916,0.00,1.55,0.00,0.000,4,0.000,0.028,2889,1161,2358
$GC,9981,0.49,126.5,665.4,17.2,308,9986,0.10,1.60,0.00,0.000,6,0.156,0.041,2859,2183,2357
$GC,10252,0.49,126.5,623.5,15.2,315,10256,0.00,1.70,0.00,0.000,4,0.000,0.049,2859,3288,2356
$GC,10317,0.49,126.5,612.5,16.1,316,10320,0.00,1.60,0.00,0.000,6,0.000,0.025,2865,2190,2356
$GC,10594,0.49,126.5,570.9,14.8,323,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2184,2356
$GC,10837,0.49,126.5,534.4,15.1,329,10841,0.00,1.73,0.00,0.000,4,0.000,0.046,2863,3295,2355
$GC,10889,0.49,126.5,525.6,17.0,330,10893,0.00,1.62,0.00,0.000,6,0.000,0.025,2869,2200,2355
$GC,11179,0.49,126.5,484.0,14.1,337,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2196,2355
$GC,11422,0.49,126.5,451.9,13.0,343,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2194,2355
$GC,11666,0.49,126.5,419.6,13.2,349,11669,0.00,1.50,0.00,0.000,4,0.000,0.029,2877,1157,2354
$GC,11751,0.49,126.5,408.8,11.4,350,11759,0.00,1.62,0.00,0.000,6,0.000,0.041,2877,2199,2354
$GC,12006,0.49,126.5,378.6,11.8,357,12009,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3281,2354
$GC,12057,0.49,126.5,372.0,13.4,358,12061,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2175,2353
$GC,12351,0.49,126.5,334.4,12.3,365,12354,0.00,1.73,0.00,0.000,4,0.000,0.047,2878,3285,2353
$GC,12540,0.49,126.5,308.7,14.4,369,12544,0.00,1.60,0.00,0.000,6,0.000,0.025,2884,2203,2353
$GC,12835,0.50,136.2,278.0,9.6,376,12845,0.00,1.67,5.97,0.704,4,0.000,0.046,2885,3284,2335
$GC,13105,0.50,136.2,250.9,10.5,382,13110,0.10,1.50,0.00,0.000,6,0.173,0.024,2861,2261,2334
$GC,13398,0.53,170.9,226.3,8.7,389,13434,0.00,1.58,31.17,0.779,4,0.000,0.024,2868,1158,2192
$GC,13566,0.53,170.9,209.0,10.1,391,13575,0.00,1.67,0.00,0.000,6,0.000,0.037,2865,2231,2187
$GC,13828,0.53,170.9,180.9,10.4,410,13832,0.00,1.60,0.00,0.000,4,0.000,0.043,2863,3274,2186
$GC,13890,0.53,170.9,174.4,10.9,415,13893,0.00,1.52,0.00,0.000,6,0.000,0.021,2869,2232,2186
$GC,14161,0.53,170.9,145.1,11.4,440,14169,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2227,2186
$GC,14428,0.53,170.9,114.8,12.1,465,14435,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2227,2186
$GC,14694,0.59,238.6,90.2,7.5,490,14752,0.00,0.00,55.62,0.637,6,0.000,0.000,2869,2227,1916
$GC,15017,0.65,304.0,62.4,7.5,520,15075,0.12,1.73,52.75,0.601,4,0.057,0.038,2944,3295,1649
$GC,15130,0.65,304.0,44.3,18.5,528,15140,0.12,1.55,0.00,0.000,6,0.132,0.021,2913,2254,1646
$STATE,15411,end climb,SURFACE_DEPTH_REACHED
$STATE,15411,begin surface coast
$FINISH,0.3,1.022996
$STATE,15438,end surface coast,CONTROL_FINISHED_OK
$STATE,15438,begin surface
$SM_CCo,15463,36.22,0.545,0,0,1299,390.02
$SM_GC,1.34,0.00,0.00,36.22,0.000,0.000,0.545,39,2537,1299,-8.31,1.07,390.02
$IRIDIUM_FIX,2234.68,-15803.24,120103,000047
$TT8_MAMPS,0.023777
$HUMID,2221
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,23.9,28.156
$10V_AH,10.7,31.243
$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,18.400,108.650,368.000,36.225,0.000,66.065,71.666,374.281,0.750,0.000,0.000,16.810,1269.479,10381.372,430.495,3072.794,1119.300,33.359,1425.385,0.000,3067.149,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,57.525,1269.385,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,388.921,1879.445,1953.162,1139.717,1227.829,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47821,571
$CAP_FILE_SIZE,126137,0
$CFSIZE,260165632,247541760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181013,050053,2243.630,-15803.554,32,1.1,49,10.0