version: 66.04
glider: 512
mission: 4
dive: 254
start: 11 4 113 7 18 59
data:
$ID,512
$MISSION,4
$DIVE,254
$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,-111438.97
$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,56
$R_STBD_OVSHOOT,22
$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
$GPS1,065905,2300.351,-15744.300,36,1.0,36,10.1
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.8
$GPS2,071801,2300.338,-15744.302,16,1.2,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,0.035
$KALMAN_X,44336.1,-108.0,-384.5,-16938.0,2942.0
$KALMAN_Y,51098.3,-125.1,293.7,-21165.3,-2395.0
$MHEAD_RNG_PITCHd_Wd,268.6,52200,-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,-126.5,0.0,0.0,0,106,0.00,0.00,-85.78,0.000,2,0.000,0.000,10,2516,2801
$GC,112,-0.47,-126.5,2.3,-1.7,10,142,9.62,1.67,-14.50,0.000,4,0.200,0.058,2526,3578,3416
$GC,369,-0.47,-126.5,65.9,-25.4,38,373,0.00,1.58,0.00,0.000,6,0.000,0.018,2530,2480,3417
$GC,642,-0.47,-126.5,122.6,-17.9,63,646,0.00,1.42,0.00,0.000,4,0.000,0.020,2532,1439,3417
$GC,670,-0.47,-126.5,127.4,-16.8,65,674,0.00,1.62,0.00,0.000,6,0.000,0.035,2526,2509,3417
$GC,942,-0.47,-126.5,173.0,-17.4,90,945,0.00,1.60,0.00,0.000,4,0.000,0.044,2518,3563,3417
$GC,980,-0.47,-126.5,179.7,-18.1,93,984,0.00,1.50,0.00,0.000,6,0.000,0.018,2519,2494,3417
$GC,1277,-0.47,-126.5,227.7,-15.9,109,1281,0.00,1.65,0.00,0.000,4,0.000,0.041,2513,3561,3417
$GC,1351,-0.47,-126.5,239.1,-12.8,110,1355,0.00,1.45,0.00,0.000,6,0.000,0.018,2518,2520,3417
$GC,1617,-0.47,-126.5,274.1,-13.3,117,1621,0.00,1.60,0.00,0.000,4,0.000,0.043,2512,3575,3417
$GC,1782,-0.47,-126.5,296.5,-11.8,120,1785,0.00,1.38,0.00,0.000,6,0.000,0.019,2518,2593,3416
$GC,2049,-0.47,-126.5,328.8,-12.4,127,2053,0.00,1.55,0.00,0.000,4,0.000,0.021,2517,1468,3415
$GC,2106,-0.47,-126.5,336.4,-11.4,128,2110,0.12,1.67,0.00,0.000,6,0.179,0.038,2546,2589,3415
$GC,2388,-0.47,-126.5,363.4,-9.4,135,2392,0.00,1.48,0.00,0.000,4,0.000,0.048,2540,3556,3413
$GC,2440,-0.47,-126.5,368.1,-9.2,136,2443,0.00,1.38,0.00,0.000,6,0.000,0.021,2540,2581,3413
$GC,2734,-0.47,-126.5,396.2,-9.7,143,2737,0.00,1.55,0.00,0.000,4,0.000,0.021,2540,1459,3410
$GC,2797,-0.47,-126.5,402.6,-8.9,144,2801,0.00,1.70,0.00,0.000,6,0.000,0.042,2537,2582,3410
$GC,3076,-0.47,-126.5,426.3,-8.4,151,3080,0.00,1.50,0.00,0.000,4,0.000,0.048,2529,3560,3407
$GC,3145,-0.47,-126.5,432.5,-8.0,152,3149,0.00,1.35,-0.05,0.000,6,0.000,0.021,2529,2606,3425
$GC,3417,-0.47,-126.5,455.0,-8.7,159,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2598,3424
$GC,3660,-0.47,-126.5,478.8,-9.8,165,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2598,3422
$GC,3905,-0.47,-126.5,500.5,-8.7,171,3908,0.00,1.58,0.00,0.000,4,0.000,0.022,2530,1477,3420
$GC,3935,-0.47,-126.5,503.6,-8.6,171,3939,0.00,1.73,0.00,0.000,6,0.000,0.042,2523,2593,3420
$GC,4202,-0.47,-126.5,526.9,-9.1,178,4205,0.00,1.60,0.00,0.000,4,0.000,0.023,2524,1457,3418
$GC,4265,-0.47,-126.5,533.0,-9.1,179,4268,0.00,1.75,0.00,0.000,6,0.000,0.044,2523,2583,3417
$GC,4542,-0.47,-126.5,557.5,-9.0,186,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2583,3415
$GC,4786,-0.47,-126.5,579.0,-8.7,192,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2583,3413
$GC,5029,-0.47,-126.5,599.4,-8.4,198,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2583,3412
$GC,5273,-0.47,-126.5,619.4,-8.3,204,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2583,3409
$GC,5517,-0.47,-126.5,639.0,-8.1,210,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2583,3408
$GC,5760,-0.47,-126.5,660.0,-8.7,216,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2583,3407
$GC,6004,-0.47,-126.5,680.9,-8.4,222,6008,0.00,1.60,0.00,0.000,4,0.000,0.025,2523,1456,3404
$GC,6056,-0.47,-126.5,685.0,-8.5,223,6059,0.00,1.75,0.00,0.000,6,0.000,0.046,2523,2588,3404
$GC,6350,-0.47,-126.5,706.0,-6.8,230,6354,0.00,1.52,0.00,0.000,4,0.000,0.056,2523,3554,3402
$GC,6392,-0.47,-126.5,708.9,-6.3,230,6400,0.00,1.38,0.00,0.000,6,0.000,0.028,2523,2606,3402
$GC,6646,-0.47,-126.5,724.3,-6.2,237,6650,0.00,1.60,0.00,0.000,4,0.000,0.025,2523,1465,3401
$GC,6711,-0.47,-126.5,728.7,-6.3,238,6715,0.00,1.73,0.00,0.000,6,0.000,0.045,2523,2586,3401
$GC,6989,-0.47,-126.5,746.5,-6.6,245,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2586,3400
$GC,7232,-0.47,-126.5,764.4,-7.5,251,7236,0.00,1.60,0.00,0.000,4,0.000,0.025,2523,1467,3399
$GC,7269,-0.47,-126.5,767.6,-8.5,251,7272,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2565,3399
$GC,7529,-0.47,-126.5,788.4,-8.1,258,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3397
$GC,7773,-0.47,-126.5,806.5,-7.2,264,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3396
$GC,8016,-0.47,-126.5,823.4,-6.8,270,8020,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1453,3395
$GC,8068,-0.47,-126.5,826.8,-6.6,271,8072,0.00,1.75,0.00,0.000,6,0.000,0.049,2523,2573,3395
$GC,8363,-0.47,-126.5,847.4,-7.0,278,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3394
$GC,8606,-0.47,-126.5,864.6,-7.0,284,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3393
$GC,8850,-0.47,-126.5,881.2,-6.8,290,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3393
$GC,9094,-0.47,-126.5,896.9,-6.4,296,9098,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3558,3391
$GC,9130,-0.47,-126.5,899.5,-6.4,296,9133,0.00,1.42,0.00,0.000,6,0.000,0.029,2523,2594,3391
$STATE,9141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9142,begin apogee
$GC,9153,-0.17,0.0,900.4,6.3,297,9265,0.35,0.00,108.30,1.259,6,0.095,0.000,2642,2243,2900
$STATE,9265,end apogee,CONTROL_FINISHED_OK
$STATE,9265,begin climb
$GC,9271,0.47,126.5,903.2,0.0,300,9422,0.57,0.00,127.68,1.160,6,0.029,0.000,2883,2242,2384
$GC,9671,0.47,126.5,848.8,18.8,309,9675,0.15,1.67,0.00,0.000,4,0.189,0.048,2848,3290,2373
$GC,9729,0.47,126.5,837.7,18.0,310,9733,0.00,1.58,0.00,0.000,6,0.000,0.026,2854,2254,2372
$GC,10012,0.47,126.5,792.5,16.3,317,10015,0.00,1.62,0.00,0.000,4,0.000,0.029,2862,1138,2370
$GC,10086,0.47,126.5,780.8,15.8,318,10090,0.00,1.73,0.00,0.000,6,0.000,0.043,2862,2245,2369
$GC,10353,0.47,126.5,738.3,16.5,325,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2245,2368
$GC,10596,0.47,126.5,700.0,15.7,331,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2245,2368
$GC,10840,0.47,126.5,662.5,15.5,337,10844,0.00,1.62,0.00,0.000,4,0.000,0.051,2862,3296,2367
$GC,10882,0.47,126.5,655.1,18.3,337,10889,0.00,1.60,0.00,0.000,6,0.000,0.025,2869,2227,2367
$GC,11136,0.47,126.5,613.5,16.3,344,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2220,2365
$GC,11379,0.47,126.5,575.8,15.2,350,11383,0.00,1.70,0.00,0.000,4,0.000,0.049,2864,3283,2365
$GC,11421,0.47,126.5,569.2,15.3,350,11429,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2231,2365
$GC,11675,0.47,126.5,532.4,14.5,357,11679,0.00,1.67,0.00,0.000,4,0.000,0.048,2864,3275,2365
$GC,11735,0.47,126.5,523.2,15.7,358,11739,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2232,2365
$GC,12018,0.47,126.5,482.5,14.6,365,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2226,2365
$GC,12261,0.47,126.5,450.0,12.9,371,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2226,2364
$GC,12505,0.47,126.5,421.4,11.7,377,12509,0.00,1.67,0.00,0.000,4,0.000,0.049,2870,3274,2364
$GC,12647,0.47,126.5,402.6,13.4,380,12650,0.00,1.55,0.00,0.000,6,0.000,0.025,2877,2231,2364
$GC,12941,0.47,126.5,367.4,11.6,387,12944,0.00,1.67,0.00,0.000,4,0.000,0.050,2877,3292,2364
$GC,13005,0.47,126.5,359.2,11.5,388,13009,0.15,1.58,0.00,0.000,6,0.173,0.026,2846,2229,2364
$GC,13282,0.47,126.5,332.7,9.3,395,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2223,2363
$GC,13525,0.47,126.5,309.6,9.2,401,13529,0.00,1.67,0.00,0.000,4,0.000,0.048,2845,3292,2363
$GC,13566,0.47,126.5,304.9,11.6,401,13575,0.00,1.58,0.00,0.000,6,0.000,0.025,2846,2232,2363
$GC,13821,0.48,157.7,285.1,7.5,408,13850,0.00,1.55,24.92,0.829,4,0.000,0.025,2854,1152,2256
$GC,13893,0.49,177.8,279.6,8.0,409,13916,0.00,1.60,18.42,0.798,6,0.000,0.038,2854,2192,2175
$GC,14199,0.49,177.8,251.5,9.4,417,14202,0.00,1.67,0.00,0.000,4,0.000,0.047,2854,3281,2170
$GC,14448,0.49,177.8,225.8,10.3,422,14452,0.00,1.52,0.00,0.000,6,0.000,0.025,2860,2262,2169
$GC,14720,0.49,177.8,199.9,9.8,429,14724,0.00,1.62,0.00,0.000,4,0.000,0.044,2860,3286,2168
$GC,14748,0.49,177.8,197.0,10.2,431,14752,0.00,1.52,0.00,0.000,6,0.000,0.023,2867,2253,2168
$GC,15019,0.49,177.8,167.9,11.5,456,15023,0.00,1.62,0.00,0.000,4,0.000,0.044,2863,3282,2169
$GC,15057,0.49,177.8,163.6,12.1,459,15061,0.00,1.48,0.00,0.000,6,0.000,0.023,2868,2272,2168
$GC,15334,0.49,177.8,136.2,9.9,484,15338,0.00,1.60,0.00,0.000,4,0.000,0.044,2863,3307,2169
$GC,15366,0.49,177.8,132.0,11.4,486,15375,0.00,1.50,0.00,0.000,6,0.000,0.022,2868,2275,2169
$GC,15633,0.49,177.8,106.1,9.9,511,15636,0.00,1.60,0.00,0.000,4,0.000,0.043,2863,3292,2169
$GC,15698,0.49,177.8,99.2,10.4,516,15707,0.00,1.45,0.00,0.000,6,0.000,0.021,2869,2282,2169
$GC,15965,0.51,215.3,78.7,7.2,541,16008,0.00,1.62,32.08,0.617,4,0.000,0.024,2872,1165,2021
$GC,16037,0.51,215.3,72.7,9.1,546,16041,0.00,1.75,0.00,0.000,6,0.000,0.035,2873,2318,2019
$GC,16310,0.54,303.6,55.3,4.8,571,16394,0.00,1.77,71.25,0.592,4,0.000,0.021,2872,1156,1659
$GC,16435,0.55,322.0,47.1,8.1,580,16455,0.00,1.80,15.55,0.557,6,0.000,0.033,2873,2328,1587
$GC,16721,0.59,419.3,32.2,4.3,605,16803,0.00,0.00,77.68,0.563,6,0.000,0.000,2873,2328,1189
$GC,17110,0.59,419.3,5.9,10.4,662,17119,0.00,1.70,0.00,0.000,4,0.000,0.021,2873,1168,1183
$STATE,17138,end climb,SURFACE_DEPTH_REACHED
$STATE,17138,begin surface coast
$FINISH,0.5,1.023098
$STATE,17171,end surface coast,CONTROL_FINISHED_OK
$STATE,17171,begin surface
$SM_CCo,17258,0.00,0.000,0,0,1182,421.42
$SM_GC,1.45,7.28,0.00,0.00,0.028,0.000,0.000,44,2508,1182,-8.21,0.20,421.42
$IRIDIUM_FIX,2253.38,-15744.96,290103,070701
$TT8_MAMPS,0.023777
$HUMID,2195
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.80
$XPDR_PINGS,8
$24V_AH,23.6,42.024
$10V_AH,10.7,49.354
$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,18.250,109.550,475.875,0.000,0.000,52.478,70.192,748.028,2.000,0.000,0.000,16.842,1378.935,11573.590,487.453,3417.396,1528.007,33.379,1557.024,0.000,3410.713,0.000,0.546,0.000
$DEVICE_MAMPS,200.187,59.059,1258.647,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,456.216,2210.573,2289.281,1590.392,1560.115,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57275,671
$CAP_FILE_SIZE,138022,0
$CFSIZE,260165632,241827840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,041113,120805,2259.919,-15745.970,38,1.0,44,10.1