version: 66.04
glider: 512
mission: 4
dive: 253
start: 11 4 113 2 11 43
data:
$ID,512
$MISSION,4
$DIVE,253
$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,-111421.5
$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,80
$R_STBD_OVSHOOT,35
$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
$GPS1,014206,2301.380,-15741.901,34,1.2,34,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-82.9
$GPS2,021049,2301.260,-15742.139,13,1.6,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,-0.022
$KALMAN_X,42818.4,-69.3,109.1,-12271.9,1993.3
$KALMAN_Y,52474.9,220.0,-170.0,-20711.7,-2087.7
$MHEAD_RNG_PITCHd_Wd,254.5,56043,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.47,-126.5,0.0,0.0,0,93,0.00,0.00,-68.62,0.000,2,0.000,0.000,9,2562,2758
$GC,98,-0.47,-126.5,2.0,-1.2,8,137,9.62,1.55,-16.62,0.000,4,0.202,0.054,2525,3570,3417
$GC,372,-0.47,-126.5,67.4,-22.8,38,381,0.00,1.52,0.00,0.000,6,0.000,0.020,2525,2518,3417
$GC,639,-0.47,-126.5,119.2,-18.1,63,643,0.00,1.50,0.00,0.000,4,0.000,0.019,2525,1424,3417
$GC,655,-0.47,-126.5,122.5,-18.0,64,659,0.00,1.62,0.00,0.000,6,0.000,0.035,2523,2500,3417
$GC,926,-0.47,-126.5,169.0,-16.4,89,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2500,3418
$GC,1200,-0.47,-126.5,213.8,-16.1,109,1203,0.00,1.60,0.00,0.000,4,0.000,0.044,2516,3580,3417
$GC,1294,-0.47,-126.5,229.2,-15.3,111,1298,0.00,1.52,0.00,0.000,6,0.000,0.019,2516,2501,3417
$GC,1588,-0.47,-126.5,271.2,-14.1,118,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2493,3417
$GC,1832,-0.47,-126.5,303.6,-13.0,124,1835,0.00,1.62,0.00,0.000,4,0.000,0.042,2508,3573,3416
$GC,1940,-0.47,-126.5,317.9,-12.2,126,1944,0.08,1.45,0.00,0.000,6,0.114,0.019,2539,2526,3415
$GC,2217,-0.47,-126.5,346.4,-10.3,133,2221,0.00,1.60,0.00,0.000,4,0.000,0.045,2533,3573,3413
$GC,2303,-0.47,-126.5,355.2,-9.5,134,2311,0.00,1.38,0.00,0.000,6,0.000,0.020,2533,2587,3412
$GC,2557,-0.47,-126.5,378.6,-9.3,141,2561,0.00,1.50,0.00,0.000,4,0.000,0.046,2526,3554,3411
$GC,2598,-0.47,-126.5,382.9,-9.6,141,2608,0.00,1.30,0.00,0.000,6,0.000,0.021,2526,2619,3411
$GC,2855,-0.47,-126.5,407.4,-9.8,148,2859,0.00,1.60,0.00,0.000,4,0.000,0.022,2526,1477,3408
$GC,2913,-0.47,-126.5,413.7,-10.1,149,2916,0.00,1.67,0.00,0.000,6,0.000,0.041,2523,2586,3408
$GC,3196,-0.47,-126.5,441.1,-10.0,156,3200,0.00,1.50,-0.08,0.000,4,0.000,0.069,2523,3563,3429
$GC,3247,-0.47,-126.5,446.0,-9.6,157,3250,0.00,1.35,0.00,0.000,6,0.000,0.022,2523,2612,3429
$GC,3541,-0.47,-126.5,475.7,-10.1,164,3544,0.00,1.60,0.00,0.000,4,0.000,0.023,2523,1477,3426
$GC,3637,-0.47,-126.5,484.9,-8.9,166,3640,0.00,1.67,0.00,0.000,6,0.000,0.043,2523,2578,3425
$GC,3930,-0.47,-126.5,512.9,-9.6,173,3934,0.00,1.52,0.00,0.000,4,0.000,0.053,2523,3557,3422
$GC,3981,-0.47,-126.5,517.8,-9.8,174,3984,0.00,1.38,0.00,0.000,6,0.000,0.024,2523,2600,3421
$GC,4276,-0.47,-126.5,546.9,-9.9,181,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2592,3419
$GC,4519,-0.47,-126.5,568.9,-8.9,187,4523,0.00,1.58,0.00,0.000,4,0.000,0.024,2523,1481,3417
$GC,4583,-0.47,-126.5,574.9,-8.5,188,4586,0.00,1.73,0.00,0.000,6,0.000,0.044,2523,2590,3417
$GC,4860,-0.47,-126.5,600.2,-9.5,195,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2590,3414
$GC,5103,-0.47,-126.5,623.6,-9.5,201,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2590,3412
$GC,5347,-0.47,-126.5,647.2,-9.6,207,5351,0.00,1.50,0.00,0.000,4,0.000,0.054,2516,3549,3411
$GC,5378,-0.47,-126.5,650.3,-9.8,207,5382,0.00,1.35,0.00,0.000,6,0.000,0.025,2516,2615,3410
$GC,5646,-0.47,-126.5,675.3,-9.2,214,5649,0.00,1.60,0.00,0.000,4,0.000,0.026,2519,1469,3409
$GC,5696,-0.47,-126.5,679.9,-8.6,215,5700,0.00,1.73,0.00,0.000,6,0.000,0.044,2513,2570,3409
$GC,5990,-0.47,-126.5,705.2,-8.5,222,5992,0.10,0.00,0.00,0.000,6,0.130,0.000,2541,2569,3407
$GC,6234,-0.47,-126.5,719.7,-5.8,228,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2570,3405
$GC,6477,-0.47,-126.5,736.1,-6.9,234,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2570,3404
$GC,6721,-0.47,-126.5,754.7,-7.7,240,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2570,3402
$GC,6965,-0.47,-126.5,774.2,-8.0,246,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2569,3401
$GC,7209,-0.47,-126.5,792.6,-7.5,252,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2570,3400
$GC,7453,-0.47,-126.5,808.4,-6.4,258,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2569,3400
$GC,7696,-0.47,-126.5,822.5,-5.8,264,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2570,3399
$GC,7940,-0.47,-126.5,835.7,-5.3,270,7943,0.00,1.60,0.00,0.000,4,0.000,0.028,2541,1461,3397
$GC,7981,-0.47,-126.5,838.4,-5.7,270,7989,0.00,1.75,0.00,0.000,6,0.000,0.048,2538,2566,3398
$GC,8238,-0.47,-126.5,853.3,-6.1,277,8241,0.00,1.58,0.00,0.000,4,0.000,0.060,2537,3549,3397
$GC,8273,-0.47,-126.5,856.0,-6.8,277,8277,0.00,1.40,0.00,0.000,6,0.000,0.030,2537,2598,3396
$GC,8534,-0.47,-126.5,873.3,-6.8,284,8538,0.00,1.60,0.00,0.000,4,0.000,0.029,2536,1462,3395
$GC,8587,-0.47,-126.5,877.4,-7.7,285,8590,0.00,1.75,0.00,0.000,6,0.000,0.050,2536,2564,3395
$GC,8876,-0.47,-126.5,898.2,-7.3,292,8880,0.00,1.58,0.00,0.000,4,0.000,0.061,2536,3547,3394
$STATE,8895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8895,begin apogee
$GC,8909,-0.17,0.0,900.4,7.3,292,9021,0.28,0.00,109.40,1.259,6,0.094,0.000,2636,2246,2900
$STATE,9022,end apogee,CONTROL_FINISHED_OK
$STATE,9022,begin climb
$GC,9027,0.47,126.5,904.9,0.0,295,9182,0.55,1.73,126.80,1.163,4,0.056,0.029,2874,1173,2383
$GC,9200,0.47,126.5,895.8,13.8,298,9208,0.00,1.75,0.00,0.000,6,0.000,0.041,2874,2217,2380
$GC,9454,0.47,126.5,852.8,17.4,305,9458,0.00,1.73,0.00,0.000,4,0.000,0.050,2874,3287,2375
$GC,9517,0.47,126.5,840.1,19.3,306,9521,0.12,1.60,0.00,0.000,6,0.176,0.028,2852,2219,2373
$GC,9795,0.47,126.5,795.9,15.8,313,9798,0.00,1.58,0.00,0.000,4,0.000,0.030,2859,1150,2371
$GC,9837,0.47,126.5,789.2,14.3,313,9845,0.00,1.73,0.00,0.000,6,0.000,0.043,2859,2237,2370
$GC,10092,0.47,126.5,749.2,15.9,320,10096,0.00,1.65,0.00,0.000,4,0.000,0.051,2859,3277,2370
$GC,10187,0.47,126.5,733.8,16.1,322,10191,0.00,1.55,0.00,0.000,6,0.000,0.028,2866,2245,2369
$GC,10481,0.47,126.5,691.1,14.1,329,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2238,2368
$GC,10725,0.47,126.5,656.9,13.9,335,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2237,2367
$GC,10968,0.47,126.5,622.7,14.2,341,10972,0.00,1.67,0.00,0.000,4,0.000,0.049,2863,3282,2367
$GC,10992,0.47,126.5,618.4,16.3,341,10996,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2243,2367
$GC,11264,0.47,126.5,579.3,14.3,348,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2236,2367
$GC,11507,0.47,126.5,546.0,13.7,354,11511,0.00,1.65,0.00,0.000,4,0.000,0.049,2864,3285,2366
$GC,11603,0.47,126.5,532.0,14.4,356,11607,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2232,2366
$GC,11897,0.47,126.5,490.7,13.9,363,11901,0.00,1.55,0.00,0.000,4,0.000,0.029,2877,1160,2365
$GC,11933,0.47,126.5,485.4,12.8,363,11937,0.00,1.65,0.00,0.000,6,0.000,0.043,2877,2231,2365
$GC,12195,0.47,126.5,452.1,12.5,370,12198,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3286,2364
$GC,12353,0.47,126.5,430.7,12.4,373,12357,0.08,1.52,0.00,0.000,6,0.158,0.026,2848,2262,2364
$GC,12625,0.47,126.5,402.1,10.2,380,12629,0.00,1.60,0.00,0.000,4,0.000,0.028,2854,1160,2364
$GC,12661,0.47,126.5,397.9,11.1,380,12664,0.00,1.73,0.00,0.000,6,0.000,0.044,2850,2279,2364
$GC,12921,0.47,126.5,369.0,11.1,387,12924,0.00,1.58,0.00,0.000,4,0.000,0.048,2850,3286,2364
$GC,13091,0.47,126.5,349.3,10.1,390,13095,0.00,1.45,0.00,0.000,6,0.000,0.024,2856,2297,2364
$GC,13353,0.47,131.8,326.7,8.8,397,13356,0.00,1.58,0.00,0.000,4,0.000,0.049,2856,3281,2363
$GC,13447,0.47,131.8,316.9,10.4,399,13451,0.00,1.40,0.00,0.000,6,0.000,0.026,2863,2335,2364
$GC,13742,0.47,131.8,288.5,9.1,406,13745,0.00,1.67,0.00,0.000,4,0.000,0.026,2871,1153,2364
$GC,13792,0.48,144.4,284.1,8.4,407,13811,0.00,1.83,13.80,0.799,6,0.000,0.040,2871,2324,2310
$GC,14084,0.48,144.4,257.1,9.1,414,14087,0.00,1.48,0.00,0.000,4,0.000,0.048,2871,3277,2308
$GC,14345,0.48,144.4,230.9,9.4,419,14348,0.00,1.33,0.00,0.000,6,0.000,0.024,2877,2368,2307
$GC,14605,0.48,160.7,209.2,8.2,426,14624,0.00,1.42,15.30,0.731,4,0.000,0.045,2877,3283,2245
$GC,14699,0.48,160.7,199.5,10.2,428,14703,0.08,1.35,0.00,0.000,6,0.146,0.023,2858,2365,2243
$GC,14975,0.48,160.8,175.7,9.0,453,14979,0.00,1.73,0.00,0.000,4,0.000,0.025,2865,1151,2242
$GC,15004,0.49,165.8,172.7,8.8,455,15018,0.00,1.88,5.70,0.585,6,0.000,0.037,2864,2377,2224
$GC,15281,0.49,165.8,143.6,11.3,480,15285,0.00,1.38,0.00,0.000,4,0.000,0.043,2863,3277,2223
$GC,15298,0.49,165.8,141.2,10.5,481,15302,0.00,1.33,0.00,0.000,6,0.000,0.022,2868,2356,2223
$GC,15570,0.49,165.8,112.4,9.9,506,15574,0.00,1.70,0.00,0.000,4,0.000,0.024,2873,1147,2223
$GC,15635,0.49,182.4,106.5,8.2,511,15658,0.00,1.88,16.15,0.628,6,0.000,0.037,2873,2367,2155
$GC,15919,0.51,215.6,82.8,7.4,537,15952,0.00,0.00,28.65,0.616,6,0.000,0.000,2873,2366,2020
$GC,16216,0.54,296.8,61.9,5.1,564,16287,0.00,1.85,66.18,0.598,4,0.000,0.022,2873,1159,1688
$GC,16328,0.58,400.7,56.0,4.0,572,16416,0.00,1.90,82.72,0.585,6,0.000,0.037,2872,2376,1265
$GC,16678,0.64,543.7,38.8,2.1,602,16803,0.00,1.90,112.38,0.562,4,0.000,0.021,2873,1147,681
$STATE,17043,end climb,SURFACE_DEPTH_REACHED
$STATE,17043,begin surface coast
$FINISH,0.6,1.023096
$STATE,17075,end surface coast,CONTROL_FINISHED_OK
$STATE,17075,begin surface
$SM_CCo,17162,0.00,0.000,0,0,677,545.29
$SM_GC,1.39,7.20,0.00,0.00,0.020,0.000,0.000,25,2516,677,-8.23,0.45,545.29
$IRIDIUM_FIX,2251.04,-15742.79,290103,020233
$TT8_MAMPS,0.023777
$HUMID,2205
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.50
$XPDR_PINGS,6
$24V_AH,23.6,41.851
$10V_AH,10.7,49.121
$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,18.100,115.325,577.075,0.000,0.000,77.962,116.201,1192.306,1.500,0.000,0.000,13.261,1363.433,11450.328,523.735,3461.537,2073.106,33.378,1685.177,0.000,3456.413,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,69.030,1258.647,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.982,2153.017,2224.107,1513.408,1465.390,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54296,654
$CAP_FILE_SIZE,146767,0
$CFSIZE,260165632,241889280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,041113,065905,2300.351,-15744.300,36,1.0,36,10.1