version: 66.04
glider: 512
mission: 4
dive: 172
start: 10 18 113 14 25 18
data:
$ID,512
$MISSION,4
$DIVE,172
$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,-109915.16
$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,62
$R_STBD_OVSHOOT,52
$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
$GPS1,141106,2241.480,-15806.667,41,0.8,41,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-82.7
$GPS2,142401,2241.538,-15806.649,12,1.3,12,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.103,-0.255
$KALMAN_X,109783.5,-389.9,-229.7,-120426.5,2720.9
$KALMAN_Y,61623.1,34.9,-138.5,-66231.2,2085.6
$MHEAD_RNG_PITCHd_Wd,192.0,2220,-16.3,-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,-0.51,-126.5,0.0,0.0,0,88,0.00,0.00,-68.18,0.000,2,0.000,0.000,32,2538,2889
$GC,94,-0.51,-126.5,2.1,-1.8,8,122,9.27,1.52,-11.45,0.000,4,0.197,0.053,2518,3561,3406
$GC,302,-0.51,-126.5,61.9,-26.9,31,305,0.00,1.55,0.00,0.000,6,0.000,0.018,2518,2488,3407
$GC,573,-0.51,-126.5,123.6,-18.7,56,576,0.00,1.62,0.00,0.000,4,0.000,0.041,2511,3558,3408
$GC,681,-0.51,-126.5,144.3,-18.1,65,685,0.00,1.50,0.00,0.000,6,0.000,0.018,2511,2495,3408
$GC,953,-0.51,-126.5,194.9,-18.0,90,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2487,3408
$GC,1228,-0.51,-126.5,241.4,-16.5,99,1232,0.00,1.42,0.00,0.000,4,0.000,0.018,2514,1444,3408
$GC,1280,-0.51,-126.5,248.6,-13.6,100,1284,0.00,1.60,0.00,0.000,6,0.000,0.036,2510,2497,3409
$GC,1573,-0.51,-126.5,290.3,-13.7,107,1577,0.00,1.62,0.00,0.000,4,0.000,0.044,2502,3570,3408
$GC,1778,-0.51,-126.5,318.4,-13.1,111,1781,0.00,1.45,0.00,0.000,6,0.000,0.018,2503,2537,3407
$GC,2051,-0.51,-126.5,356.7,-13.9,118,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2529,3407
$GC,2295,-0.51,-126.5,384.5,-11.1,124,2299,0.00,1.48,0.00,0.000,4,0.000,0.020,2509,1463,3407
$GC,2390,-0.51,-126.5,394.0,-9.3,126,2393,0.00,1.65,0.00,0.000,6,0.000,0.036,2503,2551,3406
$GC,2685,-0.51,-126.5,426.5,-11.6,133,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2552,3404
$GC,2928,-0.51,-126.5,455.2,-11.6,139,2932,0.00,1.52,0.00,0.000,4,0.000,0.046,2495,3558,3402
$GC,2991,-0.51,-126.5,462.9,-11.5,140,2996,0.08,1.42,0.00,0.000,6,0.122,0.021,2530,2543,3402
$GC,3268,-0.51,-126.5,487.3,-8.9,147,3271,0.00,1.50,0.00,0.000,4,0.000,0.022,2530,1463,3399
$GC,3298,-0.51,-126.5,490.4,-9.5,147,3302,0.00,1.65,0.00,0.000,6,0.000,0.040,2525,2566,3399
$GC,3565,-0.51,-126.5,516.0,-9.8,154,3569,0.00,1.52,0.00,0.000,4,0.000,0.050,2523,3558,3397
$GC,3590,-0.51,-126.5,518.9,-10.0,154,3593,0.00,1.42,0.00,0.000,6,0.000,0.022,2523,2552,3397
$GC,3861,-0.51,-126.5,542.9,-8.9,161,3865,0.00,1.50,0.00,0.000,4,0.000,0.023,2523,1472,3394
$GC,3891,-0.51,-126.5,545.9,-9.7,161,3895,0.00,1.62,0.00,0.000,6,0.000,0.042,2523,2551,3394
$GC,4158,-0.51,-126.5,570.3,-9.6,168,4161,0.00,1.55,0.00,0.000,4,0.000,0.051,2523,3554,3391
$GC,4199,-0.51,-126.5,574.9,-9.9,168,4208,0.00,1.42,0.00,0.000,6,0.000,0.023,2524,2542,3391
$GC,4455,-0.51,-126.5,599.9,-9.9,175,4459,0.00,1.50,0.00,0.000,4,0.000,0.024,2523,1473,3389
$GC,4573,-0.51,-126.5,612.3,-10.2,177,4577,0.00,1.60,0.00,0.000,6,0.000,0.043,2523,2530,3388
$GC,4841,-0.51,-126.5,637.5,-9.5,184,4844,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3580,3387
$GC,4882,-0.51,-126.5,641.9,-9.1,184,4890,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2518,3386
$GC,5137,-0.51,-126.5,663.5,-8.4,191,5141,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1456,3384
$GC,5173,-0.51,-126.5,666.8,-8.1,191,5176,0.00,1.60,0.00,0.000,6,0.000,0.044,2523,2509,3385
$GC,5433,-0.51,-126.5,685.2,-7.1,198,5437,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3556,3381
$GC,5498,-0.51,-126.5,689.9,-6.7,199,5501,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2518,3381
$GC,5775,-0.51,-126.5,708.3,-6.7,206,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2509,3379
$GC,6019,-0.51,-126.5,726.1,-7.5,212,6022,0.00,1.62,0.00,0.000,4,0.000,0.054,2515,3562,3378
$GC,6043,-0.51,-126.5,728.4,-8.3,212,6047,0.00,1.50,0.00,0.000,6,0.000,0.025,2518,2521,3378
$GC,6315,-0.51,-126.5,751.3,-8.8,219,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2514,3377
$GC,6559,-0.51,-126.5,773.7,-9.3,225,6562,0.00,1.62,0.00,0.000,4,0.000,0.052,2512,3564,3375
$GC,6601,-0.51,-126.5,777.9,-9.6,225,6610,0.00,1.50,0.00,0.000,6,0.000,0.025,2516,2520,3375
$GC,6856,-0.51,-126.5,799.9,-8.5,232,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2520,3374
$GC,7100,-0.51,-126.5,819.2,-7.9,238,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2520,3373
$GC,7344,-0.51,-126.5,838.3,-7.9,244,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2520,3372
$GC,7588,-0.51,-126.5,857.4,-7.9,250,7591,0.00,1.52,0.00,0.000,4,0.000,0.027,2520,1458,3371
$GC,7631,-0.51,-126.5,860.9,-7.6,250,7639,0.00,1.67,0.00,0.000,6,0.000,0.047,2514,2533,3371
$GC,7885,-0.51,-126.5,880.8,-8.1,257,7889,0.00,1.62,0.00,0.000,4,0.000,0.056,2510,3564,3370
$GC,7921,-0.51,-126.5,884.2,-9.1,257,7925,0.00,1.50,0.00,0.000,6,0.000,0.027,2511,2536,3369
$STATE,8135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8136,begin apogee
$GC,8147,-0.17,0.0,902.0,8.2,263,8258,0.40,0.00,104.22,1.266,6,0.103,0.000,2646,2197,2890
$STATE,8259,end apogee,CONTROL_FINISHED_OK
$STATE,8259,begin climb
$GC,8264,0.51,126.5,905.0,0.0,266,8396,0.57,1.65,120.75,1.204,4,0.027,0.027,2897,1172,2373
$GC,8433,0.51,126.5,888.3,18.8,269,8436,0.00,1.70,0.00,0.000,6,0.000,0.038,2892,2232,2368
$GC,8693,0.51,126.5,834.5,21.3,276,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2232,2363
$GC,8937,0.51,126.5,784.5,20.5,282,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2232,2361
$GC,9180,0.51,126.5,736.0,19.8,288,9184,0.00,1.62,0.00,0.000,4,0.000,0.047,2891,3293,2360
$GC,9233,0.51,126.5,724.2,21.8,289,9237,0.15,1.60,0.00,0.000,6,0.189,0.025,2862,2204,2359
$GC,9522,0.51,126.5,677.7,15.8,296,9526,0.00,1.70,0.00,0.000,4,0.000,0.045,2862,3293,2358
$GC,9563,0.51,126.5,670.2,18.1,296,9571,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2224,2357
$GC,9817,0.51,126.5,630.3,15.6,303,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2219,2356
$GC,10061,0.51,126.5,595.2,14.2,309,10065,0.00,1.55,0.00,0.000,4,0.000,0.028,2876,1159,2356
$GC,10148,0.51,126.5,583.4,12.5,310,10155,0.00,1.70,0.00,0.000,6,0.000,0.041,2875,2250,2356
$GC,10402,0.51,126.5,545.9,15.0,317,10406,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3283,2355
$GC,10434,0.51,126.5,540.6,16.2,317,10437,0.00,1.55,0.00,0.000,6,0.000,0.026,2882,2238,2355
$GC,10699,0.51,126.5,499.3,15.2,324,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2230,2355
$GC,10943,0.51,126.5,461.8,15.3,330,10946,0.00,1.62,0.00,0.000,4,0.000,0.044,2878,3288,2354
$GC,10972,0.51,126.5,456.5,16.4,330,10976,0.00,1.55,0.00,0.000,6,0.000,0.025,2884,2243,2354
$GC,11239,0.51,126.5,417.8,14.6,337,11243,0.00,1.58,0.00,0.000,4,0.000,0.027,2892,1150,2354
$GC,11319,0.51,126.5,406.0,14.2,338,11323,0.00,1.67,0.00,0.000,6,0.000,0.039,2891,2256,2353
$GC,11579,0.51,126.5,371.3,13.6,345,11583,0.00,1.58,0.00,0.000,4,0.000,0.047,2891,3277,2353
$GC,11840,0.51,126.5,334.0,15.1,350,11845,0.10,1.42,0.00,0.000,6,0.173,0.025,2867,2305,2353
$GC,12100,0.51,126.5,304.9,10.6,357,12104,0.00,1.52,0.00,0.000,4,0.000,0.044,2863,3278,2353
$GC,12176,0.51,126.5,296.6,10.2,358,12180,0.00,1.40,0.00,0.000,6,0.000,0.024,2869,2318,2353
$GC,12442,0.53,147.4,271.9,9.1,365,12462,0.00,1.67,15.70,0.815,4,0.000,0.026,2878,1139,2288
$GC,12537,0.55,164.8,262.6,9.3,367,12558,0.00,1.77,16.20,0.795,6,0.000,0.040,2877,2301,2218
$GC,12813,0.55,164.8,232.1,11.2,374,12817,0.00,1.52,0.00,0.000,4,0.000,0.044,2876,3288,2213
$GC,12944,0.55,164.8,216.6,11.7,376,12952,0.00,1.45,0.00,0.000,6,0.000,0.023,2882,2303,2213
$GC,13203,0.55,164.8,188.6,11.3,389,13206,0.00,1.62,0.00,0.000,4,0.000,0.025,2889,1155,2213
$GC,13331,0.55,164.8,174.7,11.1,400,13335,0.00,1.70,0.00,0.000,6,0.000,0.038,2889,2279,2212
$GC,13604,0.55,164.8,141.8,12.5,425,13608,0.00,1.52,0.00,0.000,4,0.000,0.041,2890,3284,2212
$GC,13702,0.55,164.8,127.5,14.7,433,13710,0.00,1.45,0.00,0.000,6,0.000,0.021,2897,2286,2212
$GC,13968,0.55,164.8,96.8,10.2,458,13972,0.00,1.62,0.00,0.000,4,0.000,0.025,2901,1139,2212
$GC,13987,0.55,164.8,94.4,10.2,459,13995,0.00,1.80,0.00,0.000,6,0.000,0.035,2901,2317,2212
$GC,14254,0.55,173.8,68.7,9.6,484,14269,0.00,1.67,8.50,0.570,4,0.000,0.021,2908,1123,2182
$GC,14381,0.55,173.8,57.5,10.2,494,14385,0.00,1.85,0.00,0.000,6,0.000,0.037,2905,2351,2182
$GC,14654,0.65,285.3,40.9,5.5,519,14751,0.00,1.77,89.88,0.593,4,0.000,0.022,2911,1154,1726
$GC,14799,0.65,285.3,28.6,10.6,530,14808,0.00,1.85,0.00,0.000,6,0.000,0.035,2911,2335,1723
$STATE,15004,end climb,SURFACE_DEPTH_REACHED
$STATE,15004,begin surface coast
$FINISH,0.2,1.015999
$STATE,15031,end surface coast,CONTROL_FINISHED_OK
$STATE,15031,begin surface
$SM_CCo,15057,45.03,0.545,0,0,1300,390.02
$SM_GC,1.52,0.00,0.00,45.03,0.000,0.000,0.545,33,2524,1300,-8.32,0.68,390.02
$IRIDIUM_FIX,2234.68,-15808.45,120103,141440
$TT8_MAMPS,0.023777
$HUMID,2200
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,5
$24V_AH,23.9,28.588
$10V_AH,10.7,31.825
$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,17.925,108.150,355.250,45.025,0.000,56.107,66.880,409.646,1.250,0.000,0.000,12.850,1244.038,10095.125,437.142,3005.576,1115.281,33.367,1403.096,0.000,3000.920,0.000,0.545,0.000
$DEVICE_MAMPS,197.119,55.991,1266.317,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,385.508,1863.708,1931.136,1285.853,1277.035,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47959,566
$CAP_FILE_SIZE,123058,0
$CFSIZE,260165632,247353344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181013,183830,2240.662,-15807.127,40,1.5,40,10.0