version: 66.04
glider: 512
mission: 4
dive: 175
start: 10 19 113 3 58 15
data:
$ID,512
$MISSION,4
$DIVE,175
$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,-109958.98
$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,50
$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
$GPS1,034936,2241.055,-15808.175,35,1.1,35,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-84.1
$GPS2,035701,2241.070,-15808.176,13,1.5,13,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.213
$KALMAN_X,111043.6,-283.1,-297.0,-124330.0,1304.2
$KALMAN_Y,66566.4,-439.9,-480.2,-71205.3,1862.5
$MHEAD_RNG_PITCHd_Wd,130.8,3864,-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,-0.49,-126.5,0.0,0.0,0,94,0.00,0.00,-74.07,0.000,2,0.000,0.000,27,2531,3057
$GC,100,-0.49,-126.5,2.6,-2.7,9,127,9.38,1.58,-6.88,0.000,4,0.201,0.038,2535,1422,3407
$GC,372,-0.49,-126.5,71.9,-21.0,37,376,0.00,1.60,0.00,0.000,6,0.000,0.040,2529,2480,3409
$GC,644,-0.49,-126.5,126.9,-20.9,62,647,0.00,1.62,0.00,0.000,4,0.000,0.047,2522,3563,3409
$GC,697,-0.49,-126.5,138.2,-18.8,66,705,0.00,1.48,0.00,0.000,6,0.000,0.019,2521,2515,3410
$GC,964,-0.49,-126.5,185.0,-16.8,91,967,0.00,1.62,0.00,0.000,4,0.000,0.044,2514,3563,3410
$GC,991,-0.49,-126.5,190.0,-17.7,93,995,0.00,1.45,0.00,0.000,6,0.000,0.019,2514,2524,3410
$GC,1254,-0.49,-126.5,236.5,-18.0,103,1257,0.00,1.60,0.00,0.000,4,0.000,0.044,2507,3573,3410
$GC,1350,-0.49,-126.5,254.6,-15.9,105,1354,0.08,1.40,0.00,0.000,6,0.130,0.019,2535,2555,3410
$GC,1639,-0.49,-126.5,289.4,-11.9,112,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2546,3411
$GC,1884,-0.49,-126.5,316.0,-10.5,118,1887,0.00,1.58,0.00,0.000,4,0.000,0.045,2529,3566,3411
$GC,1987,-0.49,-126.5,325.3,-8.2,120,1991,0.00,1.33,0.00,0.000,6,0.000,0.019,2529,2617,3410
$GC,2271,-0.49,-126.5,352.1,-9.7,127,2275,0.00,1.48,0.00,0.000,4,0.000,0.045,2523,3561,3409
$GC,2301,-0.49,-126.5,355.9,-11.1,127,2305,0.00,1.30,0.00,0.000,6,0.000,0.021,2523,2626,3409
$GC,2566,-0.49,-126.5,385.7,-11.5,134,2570,0.00,1.60,0.00,0.000,4,0.000,0.021,2523,1469,3407
$GC,2720,-0.49,-126.5,401.7,-10.0,137,2723,0.00,1.73,0.00,0.000,6,0.000,0.042,2523,2612,3406
$GC,2998,-0.49,-126.5,429.9,-10.2,144,3001,0.00,1.60,0.00,0.000,4,0.000,0.021,2522,1470,3404
$GC,3033,-0.49,-126.5,434.1,-10.5,144,3037,0.00,1.70,0.00,0.000,6,0.000,0.041,2515,2600,3403
$GC,3294,-0.49,-126.5,461.2,-10.6,151,3298,0.00,1.48,0.00,0.000,4,0.000,0.049,2508,3563,3402
$GC,3319,-0.49,-126.5,464.3,-10.9,151,3323,0.08,1.38,0.00,0.000,6,0.113,0.021,2536,2580,3401
$GC,3590,-0.49,-126.5,488.1,-8.7,158,3593,0.00,1.55,0.00,0.000,4,0.000,0.022,2536,1468,3399
$GC,3620,-0.49,-126.5,491.1,-8.9,158,3623,0.00,1.70,0.00,0.000,6,0.000,0.044,2537,2590,3399
$GC,3887,-0.49,-126.5,513.0,-8.4,165,3890,0.00,1.60,0.00,0.000,4,0.000,0.023,2537,1453,3396
$GC,3918,-0.49,-126.5,516.1,-8.9,165,3922,0.00,1.73,0.00,0.000,6,0.000,0.045,2536,2589,3396
$GC,4185,-0.49,-126.5,537.5,-8.2,172,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2589,3394
$GC,4430,-0.49,-126.5,557.9,-8.3,178,4434,0.00,1.60,0.00,0.000,4,0.000,0.025,2536,1456,3392
$GC,4511,-0.49,-126.5,565.3,-8.3,179,4515,0.00,1.70,0.00,0.000,6,0.000,0.046,2536,2569,3392
$GC,4772,-0.49,-126.5,586.9,-8.5,186,4775,0.00,1.55,0.00,0.000,4,0.000,0.054,2530,3566,3390
$GC,4830,-0.49,-126.5,592.4,-8.6,187,4834,0.00,1.40,0.00,0.000,6,0.000,0.025,2530,2584,3389
$GC,5114,-0.49,-126.5,616.2,-8.4,194,5117,0.00,1.58,0.00,0.000,4,0.000,0.025,2530,1469,3387
$GC,5155,-0.49,-126.5,619.8,-7.5,194,5163,0.00,1.70,0.00,0.000,6,0.000,0.045,2524,2562,3387
$GC,5410,-0.49,-126.5,640.7,-8.3,201,5413,0.00,1.58,0.00,0.000,4,0.000,0.025,2524,1474,3385
$GC,5446,-0.49,-126.5,644.2,-8.9,201,5449,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2553,3385
$GC,5708,-0.49,-126.5,666.0,-8.5,208,5711,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1487,3383
$GC,5743,-0.49,-126.5,669.6,-9.0,208,5747,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2544,3383
$GC,6004,-0.49,-126.5,691.5,-8.6,215,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2544,3381
$GC,6247,-0.49,-126.5,711.8,-8.2,221,6251,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1476,3379
$GC,6272,-0.49,-126.5,714.0,-8.1,221,6276,0.00,1.65,0.00,0.000,6,0.000,0.049,2523,2550,3379
$GC,6544,-0.49,-126.5,734.6,-7.6,228,6547,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3566,3378
$GC,6595,-0.49,-126.5,738.5,-7.7,229,6599,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2566,3378
$GC,6890,-0.49,-126.5,759.6,-7.1,236,6894,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1479,3377
$GC,6953,-0.49,-126.5,764.1,-6.8,237,6957,0.00,1.62,0.00,0.000,6,0.000,0.048,2523,2538,3377
$GC,7232,-0.49,-126.5,781.7,-6.3,244,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2538,3375
$GC,7477,-0.49,-126.5,797.8,-6.8,250,7480,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3569,3374
$GC,7527,-0.49,-126.5,801.7,-7.4,251,7530,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2572,3374
$GC,7821,-0.49,-126.5,822.7,-7.1,258,7825,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1467,3373
$GC,7846,-0.49,-126.5,824.8,-7.4,258,7850,0.00,1.70,0.00,0.000,6,0.000,0.050,2523,2545,3373
$GC,8119,-0.49,-126.5,844.3,-7.4,265,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3371
$GC,8364,-0.49,-126.5,861.9,-7.2,271,8367,0.00,1.60,0.00,0.000,4,0.000,0.060,2523,3572,3371
$GC,8414,-0.49,-126.5,865.5,-6.8,272,8417,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2577,3370
$GC,8708,-0.49,-126.5,884.5,-6.3,279,8712,0.00,1.58,0.00,0.000,4,0.000,0.028,2524,1480,3370
$GC,8779,-0.49,-126.5,889.2,-6.8,280,8782,0.00,1.67,0.00,0.000,6,0.000,0.051,2523,2563,3370
$STATE,8964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8975,-0.17,0.0,900.0,5.8,285,9086,0.35,0.00,104.93,1.263,6,0.100,0.000,2640,2243,2890
$STATE,9086,end apogee,CONTROL_FINISHED_OK
$STATE,9086,begin climb
$GC,9092,0.49,126.5,900.9,0.0,288,9246,0.55,1.73,126.43,1.160,4,0.031,0.029,2890,1163,2373
$GC,9320,0.49,126.5,872.3,19.2,293,9325,0.15,1.73,0.00,0.000,6,0.170,0.043,2855,2235,2367
$GC,9609,0.49,126.5,819.1,18.3,300,9613,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3294,2363
$GC,9645,0.49,126.5,811.7,19.8,300,9648,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2222,2360
$GC,9906,0.49,126.5,767.6,16.7,307,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2215,2360
$GC,10151,0.49,126.5,728.2,16.0,313,10154,0.00,1.58,0.00,0.000,4,0.000,0.029,2864,1150,2359
$GC,10175,0.49,126.5,723.5,15.8,313,10178,0.00,1.70,0.00,0.000,6,0.000,0.043,2865,2249,2360
$GC,10446,0.49,126.5,680.9,16.1,320,10450,0.00,1.62,0.00,0.000,4,0.000,0.050,2864,3286,2358
$GC,10560,0.49,126.5,661.6,15.9,322,10564,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2249,2357
$GC,10832,0.49,126.5,618.3,16.2,329,10836,0.00,1.60,0.00,0.000,4,0.000,0.031,2877,1156,2357
$GC,10918,0.49,126.5,604.4,15.0,330,10926,0.00,1.73,0.00,0.000,6,0.000,0.044,2877,2256,2356
$GC,11173,0.49,126.5,564.0,15.9,337,11177,0.00,1.60,0.00,0.000,4,0.000,0.049,2877,3282,2356
$GC,11223,0.49,126.5,556.1,15.4,338,11226,0.00,1.50,0.00,0.000,6,0.000,0.028,2883,2279,2356
$GC,11517,0.49,126.5,511.3,14.8,345,11520,0.00,1.62,0.00,0.000,4,0.000,0.030,2891,1146,2356
$GC,11642,0.49,126.5,492.6,13.9,347,11647,0.15,1.73,0.00,0.000,6,0.172,0.043,2853,2271,2355
$GC,11903,0.49,126.5,460.1,12.5,354,11907,0.00,1.58,0.00,0.000,4,0.000,0.051,2852,3279,2354
$GC,11967,0.49,126.5,451.3,13.0,355,11970,0.00,1.45,0.00,0.000,6,0.000,0.028,2858,2299,2354
$GC,12244,0.49,126.5,415.0,13.5,362,12248,0.00,1.58,0.00,0.000,4,0.000,0.050,2859,3284,2354
$GC,12342,0.49,126.5,400.6,13.5,364,12346,0.00,1.40,0.00,0.000,6,0.000,0.027,2866,2338,2354
$GC,12630,0.49,126.5,364.4,12.1,371,12633,0.00,1.70,0.00,0.000,4,0.000,0.030,2873,1150,2354
$GC,12863,0.49,126.5,338.8,10.4,376,12867,0.00,1.80,0.00,0.000,6,0.000,0.042,2873,2309,2354
$GC,13151,0.49,126.5,307.6,10.6,383,13155,0.00,1.52,0.00,0.000,4,0.000,0.049,2873,3290,2354
$GC,13277,0.49,126.5,291.1,13.0,385,13280,0.00,1.38,0.00,0.000,6,0.000,0.025,2880,2349,2354
$GC,13537,0.49,137.1,264.8,9.6,392,13549,0.00,1.75,7.00,0.729,4,0.000,0.028,2886,1159,2331
$GC,13648,0.51,155.0,253.4,9.3,394,13672,0.00,1.77,17.42,0.800,6,0.000,0.043,2886,2319,2256
$GC,13917,0.51,155.0,221.5,12.5,401,13921,0.00,1.50,0.00,0.000,4,0.000,0.048,2886,3288,2253
$GC,14184,0.51,155.0,184.4,13.4,412,14188,0.08,1.38,0.00,0.000,6,0.156,0.025,2869,2358,2252
$GC,14461,0.51,165.5,157.2,9.6,437,14475,0.00,1.50,9.77,0.675,4,0.000,0.043,2863,3298,2214
$GC,14633,0.51,165.5,137.9,11.7,451,14636,0.00,1.35,0.00,0.000,6,0.000,0.022,2868,2372,2213
$GC,14905,0.52,167.2,109.3,9.9,476,14913,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2365,2213
$GC,15172,0.56,230.0,86.1,7.4,501,15234,0.00,0.00,54.00,0.643,6,0.000,0.000,2868,2365,1951
$GC,15497,0.60,289.7,57.4,7.6,530,15553,0.00,1.80,48.22,0.606,4,0.000,0.025,2870,1162,1708
$GC,15642,0.66,372.1,46.1,6.6,541,15716,0.12,1.95,66.25,0.588,6,0.051,0.037,2957,2431,1371
$STATE,15865,end climb,SURFACE_DEPTH_REACHED
$STATE,15865,begin surface coast
$FINISH,0.2,1.001064
$STATE,15879,end surface coast,CONTROL_FINISHED_OK
$STATE,15880,begin surface
$SM_CCo,15905,9.05,0.503,0,0,1300,390.02
$SM_GC,1.36,0.00,0.00,9.05,0.000,0.000,0.503,27,2554,1300,-8.35,1.53,390.02
$IRIDIUM_FIX,2232.34,-15808.45,120103,232353
$TT8_MAMPS,0.023777
$HUMID,2266
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.40
$XPDR_PINGS,3
$24V_AH,23.9,29.021
$10V_AH,10.7,32.406
$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,18.475,120.950,434.025,9.050,0.000,24.385,33.802,204.585,0.750,0.000,0.000,13.620,1309.734,10539.873,448.668,3194.081,883.255,33.366,1535.714,0.000,3192.878,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,69.030,1263.249,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,388.467,1877.185,1945.438,604.386,1196.802,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47855,570
$CAP_FILE_SIZE,130015,0
$CFSIZE,260165632,247164928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,191013,082500,2240.484,-15807.120,42,1.6,42,10.0