version: 66.04
glider: 512
mission: 4
dive: 170
start: 10 18 113 5 11 13
data:
$ID,512
$MISSION,4
$DIVE,170
$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,-109885.73
$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,45
$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
$GPS1,050053,2243.630,-15803.554,32,1.1,49,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-83.2
$GPS2,051000,2243.690,-15803.525,13,1.3,18,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.250,-0.136
$KALMAN_X,107449.3,-409.9,-329.5,-112632.6,3856.4
$KALMAN_Y,59676.2,-412.5,58.0,-60035.2,1549.3
$MHEAD_RNG_PITCHd_Wd,231.4,7266,-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,-126.5,0.0,0.0,0,93,0.00,0.00,-68.57,0.000,2,0.000,0.000,23,2536,2923
$GC,99,-0.49,-126.5,2.3,-2.1,8,128,9.38,1.58,-10.40,0.000,4,0.199,0.038,2536,1423,3406
$GC,213,-0.49,-126.5,34.2,-22.4,23,216,0.00,1.60,0.00,0.000,6,0.000,0.038,2529,2484,3407
$GC,484,-0.49,-126.5,99.1,-17.9,48,487,0.00,1.62,0.00,0.000,4,0.000,0.043,2521,3570,3407
$GC,581,-0.49,-126.5,116.9,-16.5,56,584,0.00,1.55,0.00,0.000,6,0.000,0.018,2522,2489,3408
$GC,851,-0.49,-126.5,164.7,-17.6,81,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2481,3408
$GC,1116,-0.49,-126.5,208.7,-16.8,103,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2481,3409
$GC,1360,-0.49,-126.5,245.7,-14.5,109,1363,0.00,1.42,0.00,0.000,4,0.000,0.018,2522,1441,3409
$GC,1434,-0.49,-126.5,255.4,-11.9,110,1438,0.00,1.55,0.00,0.000,6,0.000,0.036,2515,2468,3409
$GC,1700,-0.49,-126.5,291.6,-14.1,117,1704,0.00,1.65,0.00,0.000,4,0.000,0.044,2507,3558,3409
$GC,1787,-0.49,-126.5,303.7,-12.4,118,1796,0.00,1.52,0.00,0.000,6,0.000,0.019,2507,2477,3409
$GC,2042,-0.49,-126.5,334.7,-12.3,125,2045,0.00,1.67,0.00,0.000,4,0.000,0.043,2501,3560,3408
$GC,2140,-0.49,-126.5,346.7,-11.9,127,2144,0.08,1.45,0.00,0.000,6,0.123,0.019,2535,2519,3407
$GC,2427,-0.49,-126.5,374.9,-10.3,134,2431,0.00,1.45,0.00,0.000,4,0.000,0.019,2535,1459,3407
$GC,2536,-0.49,-126.5,386.0,-9.0,136,2540,0.00,1.60,0.00,0.000,6,0.000,0.040,2535,2526,3406
$GC,2814,-0.49,-126.5,410.3,-8.6,143,2818,0.00,1.58,0.00,0.000,4,0.000,0.048,2529,3560,3403
$GC,2877,-0.49,-126.5,416.0,-8.4,144,2881,0.00,1.45,0.00,0.000,6,0.000,0.021,2529,2537,3403
$GC,3156,-0.49,-126.5,441.9,-9.8,151,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2529,3401
$GC,3399,-0.49,-126.5,466.5,-10.1,157,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2529,3399
$GC,3643,-0.49,-126.5,489.1,-9.1,163,3647,0.00,1.48,-0.08,0.000,4,0.000,0.041,2529,1459,3422
$GC,3728,-0.49,-126.5,496.9,-8.6,164,3736,0.00,1.65,0.00,0.000,6,0.000,0.041,2524,2531,3422
$GC,3983,-0.49,-126.5,520.2,-9.5,171,3986,0.00,1.60,0.00,0.000,4,0.000,0.051,2522,3586,3420
$GC,4007,-0.49,-126.5,523.1,-10.3,171,4011,0.00,1.50,0.00,0.000,6,0.000,0.022,2523,2539,3419
$GC,4280,-0.49,-126.5,552.5,-11.1,178,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3418
$GC,4523,-0.49,-126.5,577.3,-10.0,184,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2531,3416
$GC,4767,-0.49,-126.5,598.2,-8.4,190,4771,0.00,1.52,0.00,0.000,4,0.000,0.023,2522,1452,3414
$GC,4836,-0.49,-126.5,604.2,-8.2,191,4840,0.00,1.70,0.00,0.000,6,0.000,0.042,2515,2554,3414
$GC,5108,-0.49,-126.5,628.0,-9.1,198,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2554,3411
$GC,5352,-0.49,-126.5,650.2,-9.0,204,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2554,3410
$GC,5596,-0.49,-126.5,671.9,-8.9,210,5599,0.00,1.58,0.00,0.000,4,0.000,0.052,2509,3566,3409
$GC,5647,-0.49,-126.5,676.4,-8.5,211,5651,0.00,1.50,0.00,0.000,6,0.000,0.024,2509,2535,3409
$GC,5941,-0.49,-126.5,702.0,-8.5,218,5945,0.00,1.52,0.00,0.000,4,0.000,0.025,2509,1457,3407
$GC,5972,-0.49,-126.5,704.9,-9.2,218,5976,0.08,1.70,0.00,0.000,6,0.127,0.044,2530,2551,3407
$GC,6238,-0.49,-126.5,721.8,-6.2,225,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2551,3405
$GC,6481,-0.49,-126.5,736.4,-6.0,231,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2551,3403
$GC,6725,-0.49,-126.5,751.9,-6.4,237,6729,0.00,1.58,0.00,0.000,4,0.000,0.054,2524,3561,3402
$GC,6757,-0.49,-126.5,754.2,-7.0,237,6760,0.00,1.50,0.00,0.000,6,0.000,0.026,2524,2532,3402
$GC,7024,-0.49,-126.5,772.1,-7.0,244,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2523,3401
$GC,7268,-0.49,-126.5,789.6,-7.2,250,7271,0.00,1.62,0.00,0.000,4,0.000,0.055,2524,3564,3400
$GC,7298,-0.49,-126.5,792.0,-7.2,250,7302,0.00,1.48,0.00,0.000,6,0.000,0.026,2524,2550,3400
$GC,7564,-0.49,-126.5,811.9,-7.7,257,7568,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1459,3399
$GC,7600,-0.49,-126.5,815.1,-7.9,257,7604,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2567,3399
$GC,7861,-0.49,-126.5,837.1,-8.8,264,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3398
$GC,8104,-0.49,-126.5,858.2,-8.6,270,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3397
$GC,8349,-0.49,-126.5,877.6,-7.8,276,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3396
$GC,8592,-0.49,-126.5,894.9,-6.9,282,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2567,3396
$STATE,8668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8668,begin apogee
$GC,8679,-0.17,0.0,900.4,6.8,284,8793,0.35,0.00,110.43,1.265,6,0.096,0.000,2642,2230,2890
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8798,0.49,126.5,902.9,0.0,287,8936,0.57,1.65,121.70,1.194,4,0.031,0.027,2891,1163,2374
$GC,8965,0.49,126.5,888.3,18.8,290,8972,0.10,1.75,0.00,0.000,6,0.160,0.040,2862,2225,2368
$GC,9220,0.49,126.5,841.6,18.0,297,9223,0.00,1.67,0.00,0.000,4,0.000,0.048,2861,3296,2364
$GC,9244,0.49,126.5,836.6,18.2,297,9248,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2220,2362
$GC,9517,0.49,126.5,788.1,17.8,304,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2214,2361
$GC,9760,0.49,126.5,745.1,17.6,310,9763,0.00,1.67,0.00,0.000,4,0.000,0.047,2863,3286,2360
$GC,9823,0.49,126.5,732.5,19.3,311,9827,0.00,1.60,0.00,0.000,6,0.000,0.025,2870,2218,2360
$GC,10100,0.49,126.5,683.6,17.8,318,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2211,2358
$GC,10344,0.49,126.5,642.9,16.5,324,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,2358
$GC,10587,0.49,126.5,607.0,14.5,330,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,2357
$GC,10831,0.49,126.5,569.9,15.3,336,10834,0.00,1.55,0.00,0.000,4,0.000,0.028,2877,1152,2356
$GC,10895,0.49,126.5,559.0,16.6,337,10899,0.00,1.65,0.00,0.000,6,0.000,0.041,2877,2234,2356
$GC,11172,0.49,126.5,512.7,17.1,344,11176,0.00,1.62,0.00,0.000,4,0.000,0.046,2876,3302,2356
$GC,11237,0.49,126.5,501.6,16.5,345,11240,0.00,1.60,0.00,0.000,6,0.000,0.026,2882,2199,2355
$GC,11515,0.49,126.5,459.3,15.3,352,11518,0.00,1.50,0.00,0.000,4,0.000,0.029,2890,1166,2355
$GC,11609,0.49,126.5,445.2,14.3,354,11614,0.10,1.65,0.00,0.000,6,0.156,0.041,2859,2225,2355
$GC,11905,0.51,140.6,413.0,9.5,361,11919,0.00,1.62,10.43,0.900,4,0.000,0.048,2859,3287,2316
$GC,12073,0.51,140.6,391.9,12.2,364,12077,0.00,1.55,0.00,0.000,6,0.000,0.025,2865,2243,2315
$GC,12333,0.51,140.6,361.9,11.5,371,12337,0.00,1.55,0.00,0.000,4,0.000,0.028,2873,1164,2313
$GC,12384,0.51,140.6,356.5,10.4,372,12387,0.00,1.62,0.00,0.000,6,0.000,0.039,2873,2227,2313
$GC,12679,0.51,140.6,321.3,12.0,379,12682,0.00,1.60,0.00,0.000,4,0.000,0.048,2873,3284,2313
$GC,12736,0.51,140.6,313.4,12.8,380,12740,0.00,1.52,0.00,0.000,6,0.000,0.025,2880,2252,2313
$GC,13018,0.51,140.6,281.7,10.9,387,13022,0.00,1.58,0.00,0.000,4,0.000,0.028,2886,1165,2312
$GC,13094,0.51,140.6,273.4,10.9,388,13097,0.00,1.62,0.00,0.000,6,0.000,0.040,2886,2234,2312
$GC,13360,0.51,140.6,245.8,10.0,395,13363,0.00,1.60,0.00,0.000,4,0.000,0.044,2886,3300,2312
$GC,13604,0.51,140.6,215.8,10.4,400,13608,0.08,1.50,0.00,0.000,6,0.160,0.023,2860,2269,2312
$GC,13861,0.57,210.6,195.3,7.4,408,13926,0.00,1.60,58.85,0.756,4,0.000,0.024,2866,1156,2031
$GC,13944,0.57,210.6,187.3,10.8,414,13953,0.00,1.77,0.00,0.000,6,0.000,0.036,2866,2280,2028
$GC,14211,0.57,210.6,153.6,12.7,439,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2280,2025
$GC,14477,0.57,210.6,122.8,11.6,464,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2280,2025
$GC,14744,0.57,210.6,89.9,12.1,489,14747,0.00,1.52,0.00,0.000,4,0.000,0.040,2864,3288,2025
$GC,14783,0.57,210.6,85.1,10.7,492,14787,0.00,1.50,0.00,0.000,6,0.000,0.020,2869,2258,2025
$GC,15059,0.62,260.9,58.4,8.1,517,15102,0.00,0.00,40.85,0.615,6,0.000,0.000,2869,2252,1825
$GC,15363,0.70,357.7,34.6,6.4,544,15450,0.15,1.62,76.25,0.586,4,0.054,0.022,2971,1164,1430
$GC,15462,0.70,357.7,19.0,20.7,553,15471,0.15,1.73,0.00,0.000,6,0.142,0.031,2927,2277,1428
$STATE,15539,end climb,SURFACE_DEPTH_REACHED
$STATE,15539,begin surface coast
$FINISH,0.4,1.023020
$STATE,15560,end surface coast,CONTROL_FINISHED_OK
$STATE,15560,begin surface
$SM_CCo,15585,14.75,0.527,0,0,1298,390.02
$SM_GC,1.43,0.00,0.00,14.75,0.000,0.000,0.527,42,2550,1298,-8.30,1.41,390.02
$IRIDIUM_FIX,2239.35,-15800.20,120103,000022
$TT8_MAMPS,0.023777
$HUMID,2249
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,23.9,28.295
$10V_AH,10.7,31.434
$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,18.475,92.750,418.500,14.750,0.000,23.157,34.074,307.939,0.750,0.000,0.000,18.736,1220.540,10628.606,438.724,2921.220,954.278,33.366,1384.633,0.000,2914.105,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,55.224,1264.783,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,386.569,1866.421,1933.941,1226.494,1212.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47841,568
$CAP_FILE_SIZE,117520,0
$CFSIZE,260165632,247488512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,181013,093236,2242.676,-15805.316,33,1.8,33,10.0