version: 66.04
glider: 512
mission: 4
dive: 174
start: 10 18 113 23 27 8
data:
$ID,512
$MISSION,4
$DIVE,174
$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,-109944.73
$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,65
$R_STBD_OVSHOOT,60
$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,0.00069999998
$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
$GPS1,231424,2239.059,-15806.850,45,1.2,45,10.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-83.4
$GPS2,232554,2239.140,-15806.821,9,1.2,14,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.110,0.252
$KALMAN_X,111134.4,-217.1,-77.9,-122398.4,1713.9
$KALMAN_Y,66149.5,588.3,-91.7,-75805.9,1796.2
$MHEAD_RNG_PITCHd_Wd,326.3,2883,-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,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,-68.50,0.000,2,0.000,0.000,29,2546,2904
$GC,99,-0.49,-126.5,2.1,-1.8,8,128,9.32,1.52,-11.05,0.000,4,0.197,0.055,2525,3540,3407
$GC,146,-0.49,-126.5,16.7,-33.6,13,155,0.00,1.52,0.00,0.000,6,0.000,0.019,2530,2478,3407
$GC,426,-0.49,-126.5,96.5,-22.3,41,430,0.00,1.42,0.00,0.000,4,0.000,0.020,2532,1443,3408
$GC,535,-0.49,-126.5,116.1,-13.9,50,544,0.00,1.55,0.00,0.000,6,0.000,0.038,2525,2456,3408
$GC,800,-0.49,-126.5,161.0,-15.6,75,804,0.00,1.65,0.00,0.000,4,0.000,0.045,2517,3561,3409
$GC,861,-0.49,-126.5,171.4,-16.5,80,865,0.00,1.52,0.00,0.000,6,0.000,0.019,2517,2481,3409
$GC,1148,-0.49,-126.5,221.7,-17.4,98,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2472,3409
$GC,1392,-0.49,-126.5,260.0,-15.1,104,1395,0.00,1.67,0.00,0.000,4,0.000,0.042,2509,3564,3409
$GC,1442,-0.49,-126.5,266.5,-12.7,105,1445,0.00,1.52,0.00,0.000,6,0.000,0.019,2509,2481,3409
$GC,1737,-0.49,-126.5,307.8,-14.3,112,1741,0.10,1.62,0.00,0.000,4,0.140,0.043,2530,3561,3409
$GC,2000,-0.49,-126.5,338.1,-11.0,117,2003,0.00,1.45,0.00,0.000,6,0.000,0.020,2530,2526,3408
$GC,2261,-0.49,-126.5,367.4,-11.4,124,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2519,3407
$GC,2506,-0.49,-126.5,390.7,-9.0,130,2510,0.00,1.48,0.00,0.000,4,0.000,0.021,2530,1456,3405
$GC,2557,-0.49,-126.5,395.8,-9.2,131,2560,0.00,1.62,0.00,0.000,6,0.000,0.039,2523,2540,3405
$GC,2851,-0.49,-126.5,426.8,-10.5,138,2854,0.00,1.58,0.00,0.000,4,0.000,0.051,2523,3563,3403
$GC,2932,-0.49,-126.5,434.3,-8.5,139,2936,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2528,3402
$GC,3193,-0.49,-126.5,458.0,-9.4,146,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3400
$GC,3436,-0.49,-126.5,481.9,-9.8,152,3440,0.00,1.48,0.00,0.000,4,0.000,0.022,2523,1461,3398
$GC,3516,-0.49,-126.5,489.7,-8.9,153,3520,0.00,1.60,-0.08,0.000,6,0.000,0.041,2523,2521,3422
$GC,3777,-0.49,-126.5,512.8,-9.0,160,3781,0.00,1.60,0.00,0.000,4,0.000,0.051,2517,3578,3420
$GC,3917,-0.49,-126.5,526.5,-9.8,163,3921,0.00,1.50,0.00,0.000,6,0.000,0.024,2517,2539,3419
$GC,4212,-0.49,-126.5,554.2,-9.2,170,4216,0.00,1.52,0.00,0.000,4,0.000,0.024,2521,1454,3417
$GC,4287,-0.49,-126.5,561.0,-8.4,171,4290,0.00,1.62,0.00,0.000,6,0.000,0.043,2515,2526,3416
$GC,4553,-0.49,-126.5,586.8,-10.1,178,4557,0.00,1.60,0.00,0.000,4,0.000,0.052,2507,3578,3414
$GC,4611,-0.49,-126.5,593.5,-10.4,179,4616,0.08,1.50,0.00,0.000,6,0.114,0.025,2535,2533,3413
$GC,4894,-0.49,-126.5,617.0,-8.2,186,4898,0.00,1.50,0.00,0.000,4,0.000,0.025,2536,1462,3412
$GC,4990,-0.49,-126.5,624.1,-6.8,188,4994,0.00,1.62,0.00,0.000,6,0.000,0.045,2536,2526,3411
$GC,5285,-0.49,-126.5,642.6,-6.1,195,5289,0.00,1.60,0.00,0.000,4,0.000,0.054,2529,3574,3410
$GC,5338,-0.49,-126.5,646.3,-6.5,196,5342,0.00,1.50,0.00,0.000,6,0.000,0.025,2529,2532,3409
$GC,5627,-0.49,-126.5,665.4,-6.9,203,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2524,3408
$GC,5870,-0.49,-126.5,683.7,-7.7,209,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2524,3406
$GC,6114,-0.49,-126.5,704.3,-8.5,215,6118,0.00,1.65,0.00,0.000,4,0.000,0.054,2523,3564,3404
$GC,6156,-0.49,-126.5,708.1,-9.2,215,6164,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2521,3403
$GC,6411,-0.49,-126.5,729.8,-8.5,222,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3403
$GC,6655,-0.49,-126.5,749.4,-7.8,228,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3401
$GC,6898,-0.49,-126.5,767.3,-7.3,234,6902,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3559,3400
$GC,6934,-0.49,-126.5,770.3,-7.7,234,6938,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2545,3400
$GC,7196,-0.49,-126.5,790.4,-7.9,241,7199,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3561,3399
$GC,7259,-0.49,-126.5,795.9,-8.4,242,7263,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2547,3399
$GC,7537,-0.49,-126.5,820.1,-9.0,249,7540,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1465,3398
$GC,7595,-0.49,-126.5,825.7,-9.1,250,7599,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2558,3398
$GC,7879,-0.49,-126.5,849.5,-8.4,257,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3397
$GC,8122,-0.49,-126.5,868.1,-7.5,263,8125,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1433,3395
$GC,8174,-0.49,-126.5,871.6,-6.3,264,8177,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2546,3395
$GC,8469,-0.49,-126.5,891.7,-6.8,271,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3394
$STATE,8586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8586,begin apogee
$GC,8597,-0.17,0.0,900.2,6.8,274,8709,0.35,0.00,109.62,1.270,6,0.097,0.000,2643,2232,2890
$STATE,8710,end apogee,CONTROL_FINISHED_OK
$STATE,8710,begin climb
$GC,8715,0.49,126.5,903.3,0.0,277,8889,0.55,1.70,131.88,1.119,4,0.031,0.028,2891,1173,2373
$GC,8919,0.49,126.5,885.6,17.4,281,8923,0.15,1.73,0.00,0.000,6,0.176,0.040,2855,2240,2369
$GC,9184,0.49,126.5,842.2,16.3,288,9188,0.00,1.62,0.00,0.000,4,0.000,0.029,2860,1152,2364
$GC,9220,0.49,126.5,836.2,15.3,288,9224,0.00,1.67,0.00,0.000,6,0.000,0.041,2860,2221,2363
$GC,9482,0.49,126.5,795.5,15.7,295,9485,0.00,1.65,0.00,0.000,4,0.000,0.051,2860,3284,2360
$GC,9531,0.49,126.5,786.9,17.5,296,9535,0.00,1.60,0.00,0.000,6,0.000,0.028,2868,2226,2360
$GC,9825,0.49,126.5,737.5,16.8,303,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2217,2360
$GC,10069,0.49,126.5,695.9,17.2,309,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2217,2358
$GC,10313,0.49,126.5,654.6,17.0,315,10316,0.00,1.67,0.00,0.000,4,0.000,0.050,2863,3290,2357
$GC,10388,0.49,126.5,640.9,17.3,316,10392,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2236,2357
$GC,10654,0.49,126.5,601.4,14.5,323,10658,0.00,1.58,0.00,0.000,4,0.000,0.030,2877,1156,2356
$GC,10719,0.49,126.5,592.4,12.9,324,10722,0.00,1.65,0.00,0.000,6,0.000,0.042,2877,2231,2356
$GC,10997,0.49,126.5,552.6,14.7,331,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2231,2356
$GC,11241,0.49,126.5,517.8,14.5,337,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2231,2355
$GC,11484,0.49,126.5,480.9,15.3,343,11487,0.00,1.62,0.00,0.000,4,0.000,0.049,2877,3298,2355
$GC,11597,0.49,126.5,461.2,16.6,345,11601,0.00,1.60,0.00,0.000,6,0.000,0.027,2884,2203,2355
$GC,11869,0.49,126.5,422.6,14.0,352,11873,0.00,1.70,0.00,0.000,4,0.000,0.052,2884,3284,2355
$GC,11940,0.49,126.5,411.7,14.0,353,11944,0.15,1.60,0.00,0.000,6,0.189,0.028,2856,2186,2354
$GC,12211,0.49,126.5,375.7,13.2,360,12214,0.00,1.73,0.00,0.000,4,0.000,0.049,2851,3292,2354
$GC,12314,0.49,126.5,361.8,12.7,362,12317,0.00,1.58,0.00,0.000,6,0.000,0.026,2857,2235,2354
$GC,12597,0.49,135.7,331.9,9.6,369,12607,0.00,1.55,5.85,0.738,4,0.000,0.029,2860,1151,2336
$GC,12705,0.49,135.7,319.5,10.8,371,12708,0.00,1.62,0.00,0.000,6,0.000,0.041,2860,2218,2335
$GC,12976,0.49,135.7,291.5,10.0,378,12980,0.00,1.58,0.00,0.000,4,0.000,0.029,2860,1159,2335
$GC,13072,0.54,209.3,284.3,7.0,380,13140,0.00,1.60,63.42,0.840,6,0.000,0.041,2860,2185,2036
$GC,13408,0.54,209.3,246.1,12.8,388,13411,0.00,1.70,0.00,0.000,4,0.000,0.046,2860,3293,2029
$GC,13532,0.54,209.3,229.8,11.9,390,13535,0.00,1.60,0.00,0.000,6,0.000,0.025,2867,2205,2028
$GC,13793,0.54,209.3,198.5,12.2,397,13797,0.00,1.52,0.00,0.000,4,0.000,0.028,2873,1161,2028
$GC,13868,0.54,209.3,189.7,10.6,403,13876,0.00,1.62,0.00,0.000,6,0.000,0.040,2873,2199,2027
$GC,14134,0.54,209.3,155.5,13.7,428,14137,0.00,1.65,0.00,0.000,4,0.000,0.045,2873,3290,2027
$GC,14219,0.54,209.3,144.5,12.7,435,14223,0.00,1.58,0.00,0.000,6,0.000,0.022,2881,2216,2027
$GC,14491,0.54,209.3,112.1,12.6,460,14494,0.00,1.52,0.00,0.000,4,0.000,0.025,2888,1152,2027
$GC,14600,0.54,209.3,100.8,11.2,469,14603,0.00,1.62,0.00,0.000,6,0.000,0.035,2888,2233,2027
$GC,14876,0.60,288.7,73.4,6.8,494,14946,0.00,1.60,63.42,0.623,4,0.000,0.040,2888,3285,1712
$GC,15075,0.60,288.7,55.2,10.0,509,15079,0.00,1.52,0.00,0.000,6,0.000,0.021,2895,2249,1710
$GC,15353,0.60,288.7,25.6,11.3,536,15360,0.00,1.55,0.00,0.000,4,0.000,0.025,2899,1174,1708
$GC,15432,0.60,290.3,17.1,9.9,547,15441,0.00,1.65,0.00,0.000,6,0.000,0.035,2899,2251,1707
$STATE,15561,end climb,SURFACE_DEPTH_REACHED
$STATE,15561,begin surface coast
$FINISH,0.3,1.022972
$STATE,15598,end surface coast,CONTROL_FINISHED_OK
$STATE,15598,begin surface
$SM_CCo,15623,41.17,0.543,0,0,1298,390.02
$SM_GC,1.51,0.00,0.00,41.17,0.000,0.000,0.543,32,2537,1298,-8.33,0.99,390.02
$IRIDIUM_FIX,2230.01,-15808.45,120103,232308
$TT8_MAMPS,0.023777
$HUMID,2195
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,5
$24V_AH,23.9,28.889
$10V_AH,10.7,32.215
$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,17.925,108.725,374.200,41.175,0.000,55.928,81.330,307.485,1.250,0.000,0.000,14.944,1290.408,10454.878,462.737,3110.785,1052.451,33.367,1456.889,0.000,3115.934,0.000,0.544,0.000
$DEVICE_MAMPS,197.119,56.758,1270.152,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,391.109,1885.907,1962.661,605.624,1260.630,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47880,573
$CAP_FILE_SIZE,127102,0
$CFSIZE,260165632,247226368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,191013,034936,2241.055,-15808.175,35,1.1,35,10.0