version: 66.04
glider: 512
mission: 4
dive: 177
start: 10 19 113 13 30 43
data:
$ID,512
$MISSION,4
$DIVE,177
$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,-109990.46
$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,66
$R_STBD_OVSHOOT,23
$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
$GPS1,131106,2239.111,-15806.142,32,1.1,32,10.0
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-83.7
$GPS2,132930,2239.173,-15806.117,11,1.2,16,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,-0.270
$KALMAN_X,108832.4,-618.8,61.7,-118630.8,29.9
$KALMAN_Y,70725.5,-250.2,-220.2,-79345.1,3270.9
$MHEAD_RNG_PITCHd_Wd,158.8,2466,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.49,-126.5,0.0,0.0,0,88,0.00,0.00,-68.18,0.000,2,0.000,0.000,11,2500,2893
$GC,94,-0.49,-126.5,2.1,-1.8,8,123,9.40,1.65,-11.48,0.000,4,0.198,0.055,2525,3577,3406
$GC,308,-0.49,-126.5,61.1,-25.0,31,317,0.00,1.58,0.00,0.000,6,0.000,0.020,2528,2488,3407
$GC,573,-0.49,-126.5,120.5,-19.4,56,577,0.00,1.67,0.00,0.000,4,0.000,0.041,2521,3567,3407
$GC,668,-0.49,-126.5,136.4,-15.9,64,672,0.00,1.52,0.00,0.000,6,0.000,0.018,2522,2488,3407
$GC,939,-0.49,-126.5,185.0,-17.8,89,943,0.00,1.42,0.00,0.000,4,0.000,0.019,2522,1445,3408
$GC,1012,-0.49,-126.5,196.7,-15.4,95,1015,0.00,1.58,0.00,0.000,6,0.000,0.036,2515,2490,3408
$GC,1283,-0.49,-126.5,241.3,-16.4,103,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2490,3408
$GC,1528,-0.49,-126.5,278.8,-15.7,109,1532,0.00,1.60,0.00,0.000,4,0.000,0.045,2507,3567,3407
$GC,1623,-0.49,-126.5,292.5,-14.2,111,1627,0.08,1.48,0.00,0.000,6,0.132,0.018,2534,2498,3407
$GC,1917,-0.49,-126.5,324.7,-10.3,118,1921,0.00,1.62,0.00,0.000,4,0.000,0.044,2528,3573,3406
$GC,1958,-0.49,-126.5,329.3,-10.0,118,1966,0.00,1.45,0.00,0.000,6,0.000,0.018,2528,2527,3406
$GC,2213,-0.49,-126.5,354.5,-10.3,125,2216,0.00,1.48,0.00,0.000,4,0.000,0.020,2529,1458,3406
$GC,2287,-0.49,-126.5,362.2,-9.4,126,2291,0.00,1.58,0.00,0.000,6,0.000,0.037,2524,2500,3405
$GC,2554,-0.49,-126.5,388.4,-10.1,133,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2501,3403
$GC,2799,-0.49,-126.5,414.2,-10.4,139,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3401
$GC,3043,-0.49,-126.5,438.6,-10.2,145,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3399
$GC,3286,-0.49,-126.5,464.1,-10.2,151,3290,0.00,1.45,-0.08,0.000,4,0.000,0.042,2524,1460,3421
$GC,3337,-0.49,-126.5,469.4,-9.5,152,3340,0.00,1.60,0.00,0.000,6,0.000,0.041,2523,2505,3421
$GC,3631,-0.49,-126.5,496.5,-9.0,159,3634,0.00,1.48,0.00,0.000,4,0.000,0.023,2524,1477,3418
$GC,3661,-0.49,-126.5,499.6,-9.0,159,3665,0.00,1.58,0.00,0.000,6,0.000,0.043,2523,2503,3418
$GC,3928,-0.49,-126.5,522.5,-8.9,166,3932,0.00,1.62,0.00,0.000,4,0.000,0.053,2523,3572,3415
$GC,4023,-0.49,-126.5,531.2,-9.3,168,4027,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2543,3414
$GC,4318,-0.49,-126.5,557.1,-8.7,175,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2536,3412
$GC,4563,-0.49,-126.5,575.2,-7.2,181,4566,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1460,3410
$GC,4587,-0.49,-126.5,577.4,-7.5,181,4591,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2533,3410
$GC,4859,-0.49,-126.5,595.5,-6.9,188,4863,0.00,1.55,0.00,0.000,4,0.000,0.024,2523,1456,3408
$GC,4883,-0.49,-126.5,597.7,-7.7,188,4887,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2525,3408
$GC,5155,-0.49,-126.5,619.4,-8.5,195,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3406
$GC,5398,-0.49,-126.5,642.0,-9.3,201,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3404
$GC,5642,-0.49,-126.5,664.3,-9.1,207,5646,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3566,3402
$GC,5694,-0.49,-126.5,668.7,-8.4,208,5697,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2532,3401
$GC,5988,-0.49,-126.5,692.4,-7.8,215,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3400
$GC,6231,-0.49,-126.5,710.0,-7.0,221,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3399
$GC,6475,-0.49,-126.5,726.7,-6.8,227,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3398
$GC,6719,-0.49,-126.5,743.5,-6.8,233,6722,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1456,3397
$GC,6749,-0.49,-126.5,745.8,-7.2,233,6752,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2548,3396
$GC,7015,-0.49,-126.5,763.9,-7.0,240,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2548,3394
$GC,7259,-0.49,-126.5,782.3,-7.6,246,7262,0.00,1.58,0.00,0.000,4,0.000,0.056,2517,3555,3394
$GC,7323,-0.49,-126.5,788.2,-8.8,247,7326,0.00,1.45,0.00,0.000,6,0.000,0.028,2517,2556,3393
$GC,7600,-0.49,-126.5,812.1,-8.9,254,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2547,3392
$GC,7844,-0.49,-126.5,833.8,-9.0,260,7847,0.00,1.55,0.00,0.000,4,0.000,0.027,2520,1469,3391
$GC,7913,-0.49,-126.5,839.9,-8.4,261,7916,0.00,1.67,0.00,0.000,6,0.000,0.048,2515,2560,3391
$GC,8186,-0.49,-126.5,862.9,-8.5,268,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2560,3390
$GC,8430,-0.49,-126.5,882.7,-8.0,274,8434,0.00,1.60,0.00,0.000,4,0.000,0.027,2518,1452,3389
$GC,8474,-0.49,-126.5,886.6,-8.2,274,8481,0.00,1.73,0.00,0.000,6,0.000,0.049,2512,2553,3388
$STATE,8642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8642,begin apogee
$GC,8653,-0.17,0.0,900.9,8.5,279,8765,0.38,0.00,109.15,1.260,6,0.104,0.000,2639,2232,2890
$STATE,8766,end apogee,CONTROL_FINISHED_OK
$STATE,8766,begin climb
$GC,8771,0.49,126.5,904.9,0.0,282,8910,0.57,1.67,122.88,1.186,4,0.031,0.028,2889,1158,2373
$GC,8985,0.49,126.5,884.1,17.2,286,8989,0.15,1.73,0.00,0.000,6,0.170,0.041,2854,2234,2367
$GC,9245,0.49,126.5,844.0,15.3,293,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2234,2362
$GC,9488,0.49,126.5,807.8,14.7,299,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2234,2360
$GC,9732,0.49,126.5,771.9,14.9,305,9735,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3285,2359
$GC,9789,0.49,126.5,762.5,16.2,306,9793,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2237,2358
$GC,10073,0.49,126.5,716.6,16.4,313,10076,0.00,1.58,0.00,0.000,4,0.000,0.029,2864,1159,2358
$GC,10108,0.49,126.5,710.1,16.5,313,10112,0.00,1.67,0.00,0.000,6,0.000,0.044,2864,2223,2357
$GC,10368,0.49,126.5,667.6,16.3,320,10372,0.00,1.65,0.00,0.000,4,0.000,0.050,2864,3277,2356
$GC,10472,0.49,126.5,649.2,17.1,322,10475,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2242,2355
$GC,10755,0.49,126.5,602.8,16.5,329,10758,0.00,1.58,0.00,0.000,4,0.000,0.030,2877,1153,2355
$GC,10806,0.49,126.5,595.3,14.2,330,10810,0.00,1.67,0.00,0.000,6,0.000,0.042,2877,2243,2355
$GC,11101,0.49,126.5,551.3,14.8,337,11104,0.00,1.62,0.00,0.000,4,0.000,0.051,2877,3299,2355
$GC,11164,0.49,126.5,540.9,16.2,338,11168,0.00,1.55,0.00,0.000,6,0.000,0.027,2884,2256,2354
$GC,11441,0.49,126.5,500.9,14.6,345,11445,0.12,1.58,0.00,0.000,4,0.196,0.028,2861,1155,2354
$GC,11491,0.49,126.5,494.3,12.5,346,11495,0.00,1.73,0.00,0.000,6,0.000,0.042,2861,2278,2354
$GC,11785,0.49,126.5,457.3,12.6,353,11789,0.00,1.65,0.00,0.000,4,0.000,0.028,2869,1164,2353
$GC,11820,0.49,126.5,452.3,13.2,353,11824,0.00,1.67,0.00,0.000,6,0.000,0.042,2864,2260,2353
$GC,12080,0.49,126.5,418.0,13.5,360,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2260,2353
$GC,12324,0.49,126.5,385.8,13.1,366,12327,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3276,2353
$GC,12438,0.49,126.5,369.4,14.3,368,12442,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2225,2352
$GC,12710,0.49,126.5,336.3,11.9,375,12713,0.00,1.55,0.00,0.000,4,0.000,0.029,2877,1152,2352
$GC,12774,0.49,126.5,329.2,10.7,376,12778,0.00,1.65,0.00,0.000,6,0.000,0.041,2877,2238,2353
$GC,13051,0.49,126.5,298.4,11.3,383,13055,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3284,2353
$GC,13162,0.49,126.5,284.3,12.6,385,13165,0.00,1.58,0.00,0.000,6,0.000,0.025,2882,2214,2352
$GC,13439,0.49,126.5,251.7,12.0,392,13442,0.00,1.50,0.00,0.000,4,0.000,0.027,2890,1165,2352
$GC,13571,0.52,171.8,238.4,8.2,394,13612,0.00,1.65,35.72,0.800,6,0.000,0.040,2890,2233,2189
$GC,13869,0.52,171.8,206.3,11.0,402,13872,0.00,1.60,0.00,0.000,4,0.000,0.044,2890,3286,2183
$GC,14022,0.52,171.8,186.7,12.7,409,14029,0.10,1.55,0.00,0.000,6,0.148,0.023,2866,2234,2182
$GC,14293,0.52,171.8,160.0,10.8,434,14296,0.00,1.62,0.00,0.000,4,0.000,0.042,2863,3292,2182
$GC,14365,0.52,171.8,151.5,10.3,440,14368,0.00,1.52,0.00,0.000,6,0.000,0.022,2869,2251,2182
$GC,14638,0.52,179.4,123.5,9.7,465,14651,0.00,1.52,7.18,0.592,4,0.000,0.025,2873,1161,2158
$GC,14716,0.56,236.1,116.9,7.7,471,14770,0.00,1.70,48.00,0.662,6,0.000,0.038,2873,2282,1926
$GC,15027,0.56,236.1,84.1,11.8,499,15031,0.00,1.52,0.00,0.000,4,0.000,0.041,2873,3276,1922
$GC,15092,0.56,236.1,75.5,12.7,504,15101,0.00,1.52,0.00,0.000,6,0.000,0.021,2879,2234,1921
$GC,15358,0.56,236.1,49.2,10.3,529,15362,0.00,1.52,0.00,0.000,4,0.000,0.024,2886,1168,1921
$GC,15415,0.61,296.6,44.2,7.5,533,15468,0.00,1.62,48.70,0.592,6,0.000,0.035,2885,2232,1679
$GC,15757,0.61,296.6,12.8,10.3,574,15767,0.00,1.60,0.00,0.000,4,0.000,0.039,2885,3281,1675
$GC,15797,0.61,296.6,8.1,12.1,579,15806,0.00,1.52,0.00,0.000,6,0.000,0.021,2893,2238,1674
$STATE,15844,end climb,SURFACE_DEPTH_REACHED
$STATE,15844,begin surface coast
$FINISH,0.3,0.999875
$STATE,15883,end surface coast,CONTROL_FINISHED_OK
$STATE,15883,begin surface
$SM_CCo,15908,38.90,0.542,0,0,1299,390.02
$SM_GC,1.52,0.00,0.00,38.90,0.000,0.000,0.542,38,2511,1299,-8.31,0.28,390.02
$IRIDIUM_FIX,2230.01,-15806.28,130103,131355
$TT8_MAMPS,0.023777
$HUMID,2209
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,3
$24V_AH,23.9,29.312
$10V_AH,10.7,32.814
$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,18.075,108.550,371.625,38.900,0.000,119.311,149.925,434.700,0.750,0.000,0.000,16.572,1302.539,10901.691,431.768,3091.135,1338.343,33.366,1418.639,0.000,3093.836,0.000,0.544,0.000
$DEVICE_MAMPS,197.886,55.991,1260.181,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,403.648,1948.466,2012.927,909.768,1286.254,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51059,592
$CAP_FILE_SIZE,131910,0
$CFSIZE,260165632,247021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,191013,175800,2238.157,-15805.968,40,1.4,40,10.0