version: 66.04
glider: 512
mission: 4
dive: 178
start: 10 19 113 18 7 5
data:
$ID,512
$MISSION,4
$DIVE,178
$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,-110019.88
$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,61
$R_STBD_OVSHOOT,34
$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
$GPS1,175800,2238.157,-15805.968,40,1.4,40,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-82.5
$GPS2,180548,2238.122,-15806.052,13,1.3,24,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,0.275
$KALMAN_X,107764.3,-118.0,-237.7,-117654.9,63.0
$KALMAN_Y,72538.0,877.1,-262.2,-84189.3,2710.4
$MHEAD_RNG_PITCHd_Wd,350.6,4406,-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,-126.5,0.0,0.0,0,71,0.00,0.00,-51.28,0.000,2,0.000,0.000,12,2507,2494
$GC,77,-0.49,-126.5,2.1,-1.3,6,124,9.45,0.00,-30.33,0.000,6,0.199,0.000,2534,2507,3404
$GC,402,-0.49,-126.5,77.3,-21.7,43,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2507,3405
$GC,667,-0.49,-126.5,123.0,-16.2,68,671,0.00,1.60,0.00,0.000,4,0.000,0.041,2528,3553,3406
$GC,731,-0.49,-126.5,133.5,-16.3,73,734,0.00,1.52,0.00,0.000,6,0.000,0.019,2527,2477,3406
$GC,1002,-0.49,-126.5,176.3,-15.4,98,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2470,3407
$GC,1283,-0.49,-126.5,219.9,-15.5,116,1286,0.00,1.65,0.00,0.000,4,0.000,0.043,2520,3563,3407
$GC,1363,-0.49,-126.5,233.3,-16.0,117,1366,0.00,1.50,0.00,0.000,6,0.000,0.019,2519,2499,3406
$GC,1624,-0.49,-126.5,268.2,-13.1,124,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2491,3407
$GC,1869,-0.49,-126.5,300.4,-13.5,130,1872,0.00,1.62,0.00,0.000,4,0.000,0.044,2512,3566,3407
$GC,1904,-0.49,-126.5,305.9,-14.0,130,1908,0.00,1.50,0.00,0.000,6,0.000,0.019,2517,2498,3406
$GC,2164,-0.49,-126.5,335.8,-10.9,137,2167,0.00,1.65,0.00,0.000,4,0.000,0.044,2510,3561,3405
$GC,2199,-0.49,-126.5,339.9,-11.1,137,2202,0.00,1.45,0.00,0.000,6,0.000,0.019,2510,2526,3405
$GC,2459,-0.49,-126.5,366.4,-10.1,144,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2518,3404
$GC,2703,-0.49,-126.5,391.2,-10.2,150,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2519,3402
$GC,2946,-0.49,-126.5,418.9,-11.5,156,2950,0.00,1.48,0.00,0.000,4,0.000,0.022,2518,1462,3400
$GC,3027,-0.49,-126.5,429.0,-11.5,157,3031,0.00,1.60,0.00,0.000,6,0.000,0.038,2512,2533,3400
$GC,3287,-0.49,-126.5,459.9,-11.8,164,3291,0.00,1.58,0.00,0.000,4,0.000,0.049,2504,3559,3398
$GC,3419,-0.49,-126.5,475.3,-11.4,166,3426,0.08,1.42,-0.05,0.000,6,0.114,0.022,2538,2546,3416
$GC,3674,-0.49,-126.5,496.5,-8.1,173,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2543,3415
$GC,3917,-0.49,-126.5,514.5,-7.2,179,3921,0.00,1.50,0.00,0.000,4,0.000,0.023,2545,1471,3413
$GC,3958,-0.49,-126.5,517.5,-6.2,179,3966,0.00,1.67,0.00,0.000,6,0.000,0.042,2539,2557,3413
$GC,4213,-0.49,-126.5,532.8,-6.1,186,4217,0.00,1.55,0.00,0.000,4,0.000,0.053,2536,3557,3411
$GC,4254,-0.49,-126.5,535.5,-5.9,186,4263,0.00,1.40,0.00,0.000,6,0.000,0.025,2536,2565,3411
$GC,4512,-0.49,-126.5,552.5,-6.8,193,4515,0.00,1.55,0.00,0.000,4,0.000,0.024,2536,1461,3409
$GC,4631,-0.49,-126.5,561.3,-7.0,195,4634,0.00,1.65,0.00,0.000,6,0.000,0.044,2536,2545,3408
$GC,4898,-0.49,-126.5,582.0,-8.1,202,4901,0.00,1.58,0.00,0.000,4,0.000,0.054,2530,3559,3406
$GC,4950,-0.49,-126.5,586.6,-7.6,203,4954,0.00,1.42,0.00,0.000,6,0.000,0.025,2530,2568,3405
$GC,5239,-0.49,-126.5,609.8,-7.9,210,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2559,3403
$GC,5483,-0.49,-126.5,627.4,-7.0,216,5486,0.00,1.58,0.00,0.000,4,0.000,0.052,2524,3555,3402
$GC,5519,-0.49,-126.5,630.2,-7.1,216,5522,0.00,1.42,0.00,0.000,6,0.000,0.025,2524,2570,3402
$GC,5781,-0.49,-126.5,649.0,-7.3,223,5784,0.00,1.55,0.00,0.000,4,0.000,0.025,2524,1471,3400
$GC,5861,-0.49,-126.5,655.5,-7.8,224,5864,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2566,3400
$GC,6121,-0.49,-126.5,675.4,-7.8,231,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3399
$GC,6365,-0.49,-126.5,693.5,-7.3,237,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3398
$GC,6609,-0.49,-126.5,709.9,-6.5,243,6612,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1479,3396
$GC,6650,-0.49,-126.5,712.9,-6.1,243,6659,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2549,3396
$GC,6907,-0.49,-126.5,729.0,-6.4,250,6911,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3582,3394
$GC,6965,-0.49,-126.5,733.2,-6.8,251,6969,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2571,3395
$GC,7248,-0.49,-126.5,750.9,-6.7,258,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2562,3393
$GC,7492,-0.49,-126.5,768.8,-7.4,264,7495,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1481,3392
$GC,7543,-0.49,-126.5,772.9,-7.9,265,7547,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2579,3392
$GC,7837,-0.49,-126.5,797.4,-8.4,272,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2579,3391
$GC,8081,-0.49,-126.5,817.6,-8.2,278,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2579,3390
$GC,8324,-0.49,-126.5,836.4,-7.6,284,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2578,3390
$GC,8569,-0.49,-126.5,853.8,-7.1,290,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2578,3389
$GC,8812,-0.49,-126.5,871.1,-7.2,296,8815,0.00,1.55,0.00,0.000,4,0.000,0.059,2523,3559,3387
$GC,8869,-0.49,-126.5,875.4,-6.7,297,8873,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2570,3387
$GC,9153,-0.49,-126.5,895.5,-7.3,304,9157,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1466,3387
$GC,9184,-0.49,-126.5,898.2,-8.3,304,9187,0.00,1.73,0.00,0.000,6,0.000,0.050,2524,2559,3386
$STATE,9241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9241,begin apogee
$GC,9252,-0.17,0.0,902.3,7.0,306,9365,0.35,0.00,108.97,1.263,6,0.100,0.000,2641,2237,2890
$STATE,9366,end apogee,CONTROL_FINISHED_OK
$STATE,9366,begin climb
$GC,9371,0.49,126.5,905.5,0.0,309,9525,0.55,1.70,126.80,1.164,4,0.030,0.028,2888,1177,2373
$GC,9553,0.49,126.5,890.3,17.7,313,9557,0.15,1.73,0.00,0.000,6,0.170,0.041,2854,2234,2368
$GC,9846,0.49,126.5,840.1,16.8,320,9850,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3284,2363
$GC,9875,0.49,126.5,834.4,17.6,320,9879,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2216,2361
$GC,10141,0.49,126.5,790.0,16.9,327,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2209,2360
$GC,10385,0.49,126.5,748.8,17.1,333,10388,0.00,1.55,0.00,0.000,4,0.000,0.028,2864,1160,2359
$GC,10460,0.49,126.5,736.7,14.0,334,10464,0.00,1.65,0.00,0.000,6,0.000,0.042,2863,2225,2359
$GC,10726,0.49,126.5,694.0,16.2,341,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2225,2358
$GC,10969,0.49,126.5,657.5,14.7,347,10972,0.00,1.60,0.00,0.000,4,0.000,0.029,2869,1157,2357
$GC,11004,0.49,126.5,652.0,14.1,347,11008,0.00,1.62,0.00,0.000,6,0.000,0.042,2868,2212,2357
$GC,11265,0.49,126.5,615.5,13.9,354,11268,0.00,1.58,0.00,0.000,4,0.000,0.029,2873,1153,2356
$GC,11289,0.49,126.5,611.8,13.8,354,11293,0.00,1.65,0.00,0.000,6,0.000,0.042,2873,2204,2356
$GC,11562,0.49,126.5,576.5,13.1,361,11565,0.00,1.65,0.00,0.000,4,0.000,0.049,2873,3281,2355
$GC,11656,0.49,126.5,562.5,15.1,363,11660,0.00,1.60,0.00,0.000,6,0.000,0.026,2881,2211,2355
$GC,11951,0.49,126.5,520.8,14.4,370,11954,0.00,1.52,0.00,0.000,4,0.000,0.029,2886,1163,2355
$GC,12064,0.49,126.5,504.2,13.7,372,12068,0.12,1.60,0.00,0.000,6,0.175,0.042,2857,2208,2354
$GC,12336,0.49,126.5,466.3,14.3,379,12339,0.00,1.65,0.00,0.000,4,0.000,0.049,2850,3287,2354
$GC,12500,0.49,126.5,444.6,12.2,382,12504,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2192,2354
$GC,12765,0.49,126.5,415.7,10.7,389,12769,0.00,1.73,0.00,0.000,4,0.000,0.047,2856,3277,2354
$GC,12806,0.49,126.5,410.3,12.9,389,12815,0.00,1.58,0.00,0.000,6,0.000,0.027,2864,2219,2353
$GC,13061,0.49,126.5,379.0,12.4,396,13065,0.00,1.52,0.00,0.000,4,0.000,0.028,2871,1162,2354
$GC,13125,0.49,126.5,370.9,11.6,397,13129,0.00,1.62,0.00,0.000,6,0.000,0.041,2871,2223,2353
$GC,13402,0.49,126.5,337.9,11.7,404,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2222,2353
$GC,13646,0.50,152.5,314.6,8.9,410,13679,0.00,1.70,22.23,0.810,4,0.000,0.048,2871,3293,2267
$GC,13737,0.50,152.5,303.8,12.9,412,13741,0.00,1.55,0.00,0.000,6,0.000,0.025,2878,2255,2266
$GC,14031,0.50,152.5,268.0,11.9,419,14032,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2250,2264
$GC,14274,0.50,152.5,240.9,11.4,425,14278,0.00,1.60,0.00,0.000,4,0.000,0.045,2878,3285,2263
$GC,14471,0.50,152.5,218.0,11.2,429,14475,0.00,1.52,0.00,0.000,6,0.000,0.024,2884,2250,2263
$GC,14736,0.50,152.5,188.2,11.4,440,14740,0.00,1.62,0.00,0.000,4,0.000,0.046,2884,3279,2263
$GC,14820,0.50,152.5,178.8,11.3,447,14824,0.08,1.48,0.00,0.000,6,0.167,0.024,2868,2277,2263
$GC,15097,0.52,177.4,156.3,9.0,472,15123,0.00,1.62,21.85,0.707,4,0.000,0.043,2863,3287,2165
$GC,15154,0.52,177.4,149.8,11.0,476,15161,0.00,1.45,0.00,0.000,6,0.000,0.021,2868,2294,2164
$GC,15421,0.52,177.4,119.0,11.9,501,15424,0.00,1.55,0.00,0.000,4,0.000,0.042,2864,3281,2163
$GC,15451,0.52,177.4,114.6,12.1,503,15458,0.00,1.40,0.00,0.000,6,0.000,0.022,2869,2316,2163
$GC,15716,0.52,177.4,86.2,10.0,528,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2311,2163
$GC,15984,0.56,231.5,64.7,7.8,553,16033,0.00,0.00,45.08,0.617,6,0.000,0.000,2869,2311,1945
$GC,16295,0.65,356.1,43.7,4.9,582,16407,0.10,1.75,98.75,0.590,4,0.066,0.025,2933,1155,1435
$GC,16477,0.65,356.1,23.0,13.0,599,16486,0.00,1.85,0.00,0.000,6,0.000,0.035,2933,2333,1432
$STATE,16598,end climb,SURFACE_DEPTH_REACHED
$STATE,16598,begin surface coast
$FINISH,0.2,1.010346
$STATE,16623,end surface coast,CONTROL_FINISHED_OK
$STATE,16623,begin surface
$SM_CCo,16648,14.73,0.522,0,0,1299,390.02
$SM_GC,1.34,0.00,0.00,14.73,0.000,0.000,0.522,42,2555,1299,-8.30,1.55,390.02
$IRIDIUM_FIX,2232.34,-15806.28,130103,131323
$TT8_MAMPS,0.02301
$HUMID,2235
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.10
$XPDR_PINGS,4
$24V_AH,23.8,29.444
$10V_AH,10.6,33.017
$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,18.300,105.225,423.675,14.725,0.000,30.669,38.180,208.738,1.000,0.000,0.000,28.778,1327.478,11240.283,463.162,3212.332,907.048,33.360,1503.341,0.000,3208.779,0.000,0.544,0.000
$DEVICE_MAMPS,199.420,59.059,1263.249,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,422.948,2043.963,2119.540,542.399,1353.484,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53983,621
$CAP_FILE_SIZE,125504,0
$CFSIZE,260165632,246960128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,191013,224624,2240.578,-15806.168,47,1.5,47,10.0