version: 66.04
glider: 512
mission: 4
dive: 252
start: 11 3 113 20 46 5
data:
$ID,512
$MISSION,4
$DIVE,252
$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,333
$T_MISSION,670
$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,23
$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,-111407.61
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2696
$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,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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
$GPS1,201653,2303.099,-15740.820,61,1.3,61,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.9
$GPS2,204507,2303.036,-15740.780,13,1.7,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,-0.045
$KALMAN_X,40337.7,30.2,182.5,-7637.2,1239.2
$KALMAN_Y,54322.0,353.7,237.2,-19816.6,-2372.0
$MHEAD_RNG_PITCHd_Wd,248.9,59994,-17.2,-9.009
$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,-0.47,-126.5,0.0,0.0,0,80,0.00,0.00,-60.08,0.000,2,0.000,0.000,10,2523,2609
$GC,86,-0.47,-126.5,2.0,-1.2,7,125,9.65,1.62,-23.27,0.000,4,0.202,0.058,2528,3561,3416
$GC,383,-0.47,-126.5,66.7,-23.7,40,386,0.00,1.55,0.00,0.000,6,0.000,0.019,2531,2486,3416
$GC,655,-0.47,-126.5,122.0,-18.0,65,659,0.00,1.42,0.00,0.000,4,0.000,0.019,2532,1441,3416
$GC,695,-0.47,-126.5,128.5,-15.1,68,698,0.00,1.58,0.00,0.000,6,0.000,0.036,2527,2480,3416
$GC,966,-0.47,-126.5,172.9,-16.1,93,970,0.00,1.62,0.00,0.000,4,0.000,0.044,2518,3570,3416
$GC,1017,-0.47,-126.5,181.7,-17.3,97,1021,0.00,1.55,0.00,0.000,6,0.000,0.018,2518,2483,3416
$GC,1291,-0.47,-126.5,227.0,-16.4,111,1295,0.00,1.65,0.00,0.000,4,0.000,0.041,2511,3573,3416
$GC,1388,-0.47,-126.5,243.3,-16.7,113,1391,0.00,1.52,0.00,0.000,6,0.000,0.018,2517,2502,3416
$GC,1682,-0.47,-126.5,285.7,-13.6,120,1685,0.00,1.45,0.00,0.000,4,0.000,0.020,2517,1446,3416
$GC,1712,-0.47,-126.5,290.0,-12.9,120,1716,0.08,1.65,0.00,0.000,6,0.120,0.037,2538,2529,3415
$GC,1978,-0.47,-126.5,316.9,-10.1,127,1981,0.00,1.58,0.00,0.000,4,0.000,0.047,2532,3560,3415
$GC,2142,-0.47,-126.5,333.5,-9.6,130,2145,0.00,1.45,0.00,0.000,6,0.000,0.020,2532,2533,3413
$GC,2408,-0.47,-126.5,359.7,-10.0,137,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2525,3411
$GC,2651,-0.47,-126.5,384.2,-10.1,143,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2525,3411
$GC,2895,-0.47,-126.5,407.1,-9.3,149,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2525,3408
$GC,3139,-0.47,-126.5,429.9,-9.4,155,3141,0.00,0.00,-0.08,0.000,6,0.000,0.000,2532,2525,3429
$GC,3383,-0.47,-126.5,452.1,-9.0,161,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2524,3427
$GC,3626,-0.47,-126.5,472.6,-8.3,167,3630,0.00,1.50,0.00,0.000,4,0.000,0.023,2532,1462,3425
$GC,3677,-0.47,-126.5,476.8,-8.1,168,3680,0.00,1.70,0.00,0.000,6,0.000,0.041,2525,2563,3425
$GC,3972,-0.47,-126.5,501.8,-8.6,175,3976,0.00,1.55,0.00,0.000,4,0.000,0.052,2523,3559,3421
$GC,4036,-0.47,-126.5,507.7,-8.6,176,4039,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2569,3421
$GC,4313,-0.47,-126.5,532.3,-9.0,183,4317,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1470,3419
$GC,4378,-0.47,-126.5,538.6,-8.4,184,4382,0.00,1.67,0.00,0.000,6,0.000,0.045,2523,2567,3418
$GC,4656,-0.47,-126.5,562.0,-8.4,191,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3416
$GC,4899,-0.47,-126.5,581.9,-8.2,197,4903,0.00,1.55,0.00,0.000,4,0.000,0.055,2523,3556,3414
$GC,4934,-0.47,-126.5,585.2,-9.0,197,4938,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2560,3413
$GC,5195,-0.47,-126.5,606.2,-8.3,204,5199,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1466,3412
$GC,5260,-0.47,-126.5,611.7,-7.9,205,5263,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2544,3412
$GC,5537,-0.47,-126.5,633.4,-8.0,212,5541,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3576,3410
$GC,5612,-0.47,-126.5,639.6,-8.1,213,5615,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2568,3410
$GC,5879,-0.47,-126.5,661.1,-8.5,220,5882,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1478,3408
$GC,5920,-0.47,-126.5,665.3,-8.5,220,5928,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2544,3408
$GC,6175,-0.47,-126.5,687.1,-8.6,227,6179,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3554,3405
$GC,6233,-0.47,-126.5,692.0,-8.2,228,6236,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2567,3405
$GC,6517,-0.47,-126.5,713.4,-7.3,235,6520,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1464,3404
$GC,6560,-0.47,-126.5,716.7,-6.7,235,6567,0.00,1.73,0.00,0.000,6,0.000,0.047,2523,2561,3403
$GC,6815,-0.47,-126.5,733.9,-6.9,242,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3402
$GC,7058,-0.47,-126.5,751.1,-7.1,248,7062,0.00,1.58,0.00,0.000,4,0.000,0.058,2524,3553,3401
$GC,7108,-0.47,-126.5,754.7,-6.8,249,7112,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2567,3401
$GC,7403,-0.47,-126.5,775.1,-6.9,256,7407,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1467,3399
$GC,7454,-0.47,-126.5,778.7,-7.0,257,7458,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2546,3400
$GC,7748,-0.47,-126.5,798.9,-6.9,264,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2547,3398
$GC,7992,-0.47,-126.5,815.4,-6.7,270,7996,0.00,1.60,0.00,0.000,4,0.000,0.058,2516,3571,3397
$GC,8046,-0.47,-126.5,819.4,-7.2,271,8049,0.00,1.50,0.00,0.000,6,0.000,0.026,2516,2555,3397
$GC,8334,-0.47,-126.5,839.1,-6.9,278,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2547,3396
$GC,8578,-0.47,-126.5,855.0,-6.4,284,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2547,3395
$GC,8822,-0.47,-126.5,870.5,-6.5,290,8825,0.00,1.55,0.00,0.000,4,0.000,0.028,2521,1478,3394
$GC,8852,-0.47,-126.5,872.7,-6.4,290,8856,0.00,1.67,0.00,0.000,6,0.000,0.047,2516,2537,3394
$GC,9118,-0.47,-126.5,890.5,-6.8,297,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2536,3393
$STATE,9276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9276,begin apogee
$GC,9288,-0.17,0.0,901.8,6.9,301,9400,0.38,0.00,108.43,1.265,6,0.101,0.000,2642,2227,2900
$STATE,9401,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9406,0.47,126.5,904.6,0.0,304,9552,0.55,1.70,124.72,1.180,4,0.031,0.028,2887,1187,2384
$GC,9594,0.47,126.5,889.5,17.1,308,9598,0.15,1.70,0.00,0.000,6,0.164,0.041,2852,2230,2379
$GC,9876,0.47,126.5,844.0,16.3,315,9880,0.00,1.67,0.00,0.000,4,0.000,0.050,2851,3277,2373
$GC,9900,0.47,126.5,839.3,16.9,315,9904,0.00,1.58,0.00,0.000,6,0.000,0.026,2858,2241,2372
$GC,10173,0.47,126.5,794.7,16.4,322,10176,0.00,1.70,0.00,0.000,4,0.000,0.048,2858,3286,2371
$GC,10202,0.47,126.5,788.8,18.5,322,10206,0.00,1.60,0.00,0.000,6,0.000,0.026,2866,2202,2370
$GC,10469,0.47,126.5,745.1,16.4,329,10472,0.00,1.73,0.00,0.000,4,0.000,0.050,2863,3285,2369
$GC,10500,0.47,126.5,739.3,17.9,329,10504,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2240,2369
$GC,10766,0.47,126.5,697.6,15.6,336,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2233,2368
$GC,11009,0.47,126.5,661.1,14.8,342,11013,0.00,1.65,0.00,0.000,4,0.000,0.048,2864,3284,2368
$GC,11045,0.47,126.5,655.3,16.0,342,11048,0.00,1.60,0.00,0.000,6,0.000,0.026,2869,2195,2368
$GC,11306,0.47,126.5,616.4,15.1,349,11309,0.00,1.73,0.00,0.000,4,0.000,0.049,2870,3285,2367
$GC,11391,0.47,126.5,602.0,16.4,350,11397,0.00,1.55,0.00,0.000,6,0.000,0.028,2877,2243,2367
$GC,11646,0.47,126.5,561.8,16.1,357,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2238,2366
$GC,11890,0.47,126.5,523.9,15.5,363,11893,0.00,1.65,0.00,0.000,4,0.000,0.050,2877,3288,2366
$GC,11998,0.47,126.5,506.5,15.2,365,12003,0.15,1.58,0.00,0.000,6,0.172,0.027,2847,2235,2366
$GC,12276,0.47,126.5,475.0,10.9,372,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2229,2365
$GC,12520,0.47,126.5,448.8,10.6,378,12523,0.00,1.65,0.00,0.000,4,0.000,0.048,2847,3296,2365
$GC,12538,0.47,126.5,446.2,11.2,378,12542,0.00,1.60,0.00,0.000,6,0.000,0.027,2847,2231,2364
$GC,12815,0.47,126.5,416.7,10.6,385,12819,0.00,1.67,0.00,0.000,4,0.000,0.048,2847,3292,2364
$GC,12879,0.47,126.5,408.8,12.5,386,12883,0.00,1.55,0.00,0.000,6,0.000,0.026,2853,2249,2364
$GC,13156,0.47,126.5,381.8,9.2,393,13157,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2243,2364
$GC,13399,0.47,126.5,359.7,9.1,399,13403,0.00,1.65,0.00,0.000,4,0.000,0.050,2854,3296,2365
$GC,13595,0.47,126.5,340.0,9.8,403,13598,0.00,1.55,0.00,0.000,6,0.000,0.025,2861,2245,2364
$GC,13883,0.47,126.5,312.7,9.5,410,13886,0.00,1.67,0.00,0.000,4,0.000,0.048,2862,3289,2364
$GC,13940,0.47,126.5,306.0,10.6,411,13944,0.00,1.52,0.00,0.000,6,0.000,0.025,2868,2255,2364
$GC,14224,0.47,126.5,279.9,9.4,418,14228,0.00,1.58,0.00,0.000,4,0.000,0.028,2873,1170,2364
$GC,14274,0.47,126.9,275.4,9.0,419,14278,0.00,1.67,0.00,0.000,6,0.000,0.040,2873,2264,2363
$GC,14568,0.48,139.6,251.2,8.4,426,14582,0.00,1.60,9.55,0.749,4,0.000,0.048,2873,3292,2330
$GC,14843,0.48,139.6,221.4,12.3,432,14847,0.00,1.48,0.00,0.000,6,0.000,0.025,2880,2292,2329
$GC,15109,0.48,158.6,198.6,8.1,439,15135,0.00,1.58,17.65,0.736,4,0.000,0.044,2876,3280,2254
$GC,15298,0.48,158.6,180.9,9.1,455,15302,0.00,1.45,0.00,0.000,6,0.000,0.023,2881,2293,2252
$GC,15569,0.48,158.6,155.1,10.5,480,15573,0.00,1.62,0.00,0.000,4,0.000,0.025,2889,1160,2251
$GC,15622,0.48,158.6,149.5,9.8,484,15631,0.10,1.75,0.00,0.000,6,0.130,0.038,2857,2289,2251
$GC,15896,0.49,173.7,127.8,8.3,509,15914,0.00,1.70,14.55,0.647,4,0.000,0.024,2860,1153,2190
$GC,15956,0.49,188.0,122.4,8.3,513,15974,0.00,1.70,13.45,0.630,6,0.000,0.037,2860,2247,2133
$GC,16234,0.49,188.0,97.7,9.1,538,16238,0.00,1.60,0.00,0.000,4,0.000,0.044,2860,3305,2129
$GC,16343,0.50,202.9,87.6,8.3,547,16361,0.00,1.52,14.10,0.605,6,0.000,0.021,2860,2260,2071
$GC,16623,0.53,265.9,70.5,6.0,572,16680,0.00,1.65,52.00,0.608,4,0.000,0.024,2860,1160,1814
$GC,16745,0.55,334.2,63.6,5.7,581,16805,0.00,1.67,55.00,0.595,6,0.000,0.035,2860,2257,1537
$GC,17073,0.59,433.2,50.1,4.3,610,17157,0.00,1.65,78.97,0.580,4,0.000,0.044,2860,3276,1132
$GC,17323,0.59,433.2,28.7,12.1,630,17332,0.00,1.50,0.00,0.000,6,0.000,0.020,2860,2242,1130
$STATE,17566,end climb,SURFACE_DEPTH_REACHED
$STATE,17566,begin surface coast
$FINISH,0.5,1.010191
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17599,begin surface
$SM_CCo,17684,0.00,0.000,0,0,1127,434.91
$SM_GC,1.51,7.22,0.00,0.00,0.026,0.000,0.000,39,2565,1127,-8.23,1.84,434.91
$IRIDIUM_FIX,2251.04,-15742.79,280103,202021
$TT8_MAMPS,0.023777
$HUMID,2221
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,3
$24V_AH,23.6,41.631
$10V_AH,10.7,48.886
$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,18.275,121.925,488.425,0.000,0.000,138.119,184.164,913.208,0.750,0.000,0.000,13.634,1437.069,11937.685,460.817,3579.412,1955.274,33.377,1606.974,0.000,3577.188,0.000,0.546,0.000
$DEVICE_MAMPS,202.488,57.525,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.321,2215.360,2292.435,1543.968,1516.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57384,673
$CAP_FILE_SIZE,153103,0
$CFSIZE,260165632,241950720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,041113,014206,2301.380,-15741.901,34,1.2,34,10.1