version: 66.04
glider: 512
mission: 4
dive: 255
start: 11 4 113 12 24 41
data:
$ID,512
$MISSION,4
$DIVE,255
$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,-111455.66
$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,63
$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,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
$GPS1,120805,2259.919,-15745.970,38,1.0,44,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-80.6
$GPS2,122343,2259.829,-15746.065,15,1.2,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.223,-0.075
$KALMAN_X,45535.4,-218.8,146.1,-21568.6,1624.0
$KALMAN_Y,49761.1,-104.7,-31.3,-20465.8,-1478.1
$MHEAD_RNG_PITCHd_Wd,241.3,49416,-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,-126.5,0.0,0.0,0,89,0.00,0.00,-68.38,0.000,2,0.000,0.000,8,2520,2817
$GC,95,-0.47,-126.5,2.3,-1.6,8,124,9.57,1.58,-13.70,0.000,4,0.199,0.054,2525,3575,3415
$GC,387,-0.47,-126.5,75.0,-20.0,39,390,0.00,1.58,0.00,0.000,6,0.000,0.019,2525,2489,3415
$GC,658,-0.47,-126.5,129.2,-19.3,64,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2481,3416
$GC,924,-0.47,-126.5,176.0,-17.6,89,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2482,3417
$GC,1196,-0.47,-126.5,222.9,-17.3,106,1200,0.00,1.67,0.00,0.000,4,0.000,0.041,2517,3577,3417
$GC,1247,-0.47,-126.5,232.1,-16.1,107,1251,0.00,1.52,0.00,0.000,6,0.000,0.020,2516,2502,3416
$GC,1536,-0.47,-126.5,273.6,-13.7,114,1539,0.00,1.62,0.00,0.000,4,0.000,0.042,2509,3575,3416
$GC,1623,-0.47,-126.5,286.1,-13.7,115,1629,0.08,1.45,0.00,0.000,6,0.110,0.020,2539,2538,3416
$GC,1877,-0.47,-126.5,312.4,-10.1,122,1881,0.00,1.48,0.00,0.000,4,0.000,0.019,2539,1459,3416
$GC,1946,-0.47,-126.5,319.3,-9.1,123,1949,0.00,1.65,0.00,0.000,6,0.000,0.038,2537,2564,3415
$GC,2219,-0.47,-126.5,345.8,-9.9,130,2222,0.00,1.52,0.00,0.000,4,0.000,0.046,2529,3567,3414
$GC,2276,-0.47,-126.5,352.5,-11.0,131,2280,0.00,1.45,0.00,0.000,6,0.000,0.020,2529,2545,3413
$GC,2558,-0.47,-126.5,380.6,-9.8,138,2561,0.00,1.50,0.00,0.000,4,0.000,0.021,2529,1456,3411
$GC,2684,-0.47,-126.5,392.7,-9.2,140,2688,0.00,1.62,0.00,0.000,6,0.000,0.038,2524,2519,3411
$GC,2944,-0.47,-126.5,419.7,-10.8,147,2947,0.00,1.60,0.00,0.000,4,0.000,0.048,2517,3580,3408
$GC,3025,-0.47,-126.5,429.0,-10.7,148,3029,0.00,1.52,0.00,0.000,6,0.000,0.022,2517,2515,3407
$GC,3286,-0.47,-126.5,454.8,-9.8,155,3288,0.00,0.00,-0.08,0.000,6,0.000,0.000,2517,2507,3430
$GC,3529,-0.47,-126.5,478.1,-9.6,161,3533,0.00,1.48,0.00,0.000,4,0.000,0.022,2521,1459,3427
$GC,3565,-0.47,-126.5,481.9,-9.5,161,3569,0.00,1.60,0.00,0.000,6,0.000,0.038,2515,2525,3427
$GC,3825,-0.47,-126.5,509.1,-10.8,168,3829,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3580,3426
$GC,3878,-0.47,-126.5,515.2,-10.4,169,3883,0.08,1.50,0.00,0.000,6,0.108,0.023,2548,2525,3424
$GC,4167,-0.47,-126.5,537.3,-7.6,176,4171,0.00,1.50,0.00,0.000,4,0.000,0.023,2548,1458,3422
$GC,4197,-0.47,-126.5,540.1,-8.4,176,4201,0.00,1.67,0.00,0.000,6,0.000,0.042,2542,2538,3422
$GC,4464,-0.47,-126.5,561.8,-8.2,183,4468,0.00,1.60,0.00,0.000,4,0.000,0.053,2535,3583,3419
$GC,4523,-0.47,-126.5,567.2,-8.2,184,4526,0.00,1.48,0.00,0.000,6,0.000,0.025,2536,2563,3419
$GC,4806,-0.47,-126.5,590.7,-8.4,191,4810,0.00,1.55,0.00,0.000,4,0.000,0.023,2536,1461,3417
$GC,4848,-0.47,-126.5,594.5,-8.2,191,4855,0.00,1.70,0.00,0.000,6,0.000,0.043,2528,2555,3416
$GC,5103,-0.47,-126.5,614.8,-8.0,198,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2555,3414
$GC,5346,-0.47,-126.5,633.5,-7.5,204,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2555,3413
$GC,5590,-0.47,-126.5,651.4,-7.5,210,5593,0.00,1.58,0.00,0.000,4,0.000,0.025,2528,1469,3411
$GC,5649,-0.47,-126.5,656.5,-7.7,211,5653,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2561,3411
$GC,5933,-0.47,-126.5,680.8,-8.9,218,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2561,3409
$GC,6176,-0.47,-126.5,701.4,-8.3,224,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2561,3408
$GC,6420,-0.47,-126.5,720.4,-7.7,230,6423,0.00,1.58,0.00,0.000,4,0.000,0.057,2524,3556,3406
$GC,6456,-0.47,-126.5,723.6,-8.0,230,6460,0.00,1.45,0.00,0.000,6,0.000,0.028,2524,2571,3406
$GC,6717,-0.47,-126.5,742.9,-7.6,237,6720,0.00,1.58,0.00,0.000,4,0.000,0.027,2524,1468,3404
$GC,6768,-0.47,-126.5,747.1,-8.2,238,6772,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2550,3404
$GC,7063,-0.47,-126.5,770.9,-8.2,245,7066,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3403
$GC,7113,-0.47,-126.5,775.2,-8.4,246,7117,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2574,3402
$GC,7408,-0.47,-126.5,800.6,-8.7,253,7411,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1474,3401
$GC,7494,-0.47,-126.5,808.4,-8.6,254,7502,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2550,3401
$GC,7749,-0.47,-126.5,828.6,-8.0,261,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2550,3400
$GC,7992,-0.47,-126.5,846.8,-7.3,267,7995,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3569,3399
$GC,8043,-0.47,-126.5,850.2,-6.7,268,8047,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2571,3399
$GC,8338,-0.47,-126.5,869.9,-6.8,275,8342,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1471,3398
$GC,8418,-0.47,-126.5,875.6,-6.8,276,8422,0.00,1.67,0.00,0.000,6,0.000,0.048,2524,2549,3398
$GC,8680,-0.47,-126.5,893.3,-7.0,283,8683,0.00,1.60,0.00,0.000,4,0.000,0.060,2523,3566,3397
$GC,8712,-0.47,-126.5,895.8,-7.3,283,8715,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2556,3397
$STATE,8769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8769,begin apogee
$GC,8781,-0.17,0.0,900.1,7.1,285,8893,0.35,0.00,109.43,1.262,6,0.094,0.000,2642,2237,2900
$STATE,8894,end apogee,CONTROL_FINISHED_OK
$STATE,8894,begin climb
$GC,8899,0.47,126.5,904.1,0.0,288,9076,0.57,1.70,133.43,1.119,4,0.028,0.028,2891,1177,2383
$GC,9094,0.47,126.5,891.8,14.9,292,9098,0.17,1.73,0.00,0.000,6,0.159,0.040,2848,2232,2380
$GC,9359,0.47,126.5,854.2,13.8,299,9363,0.00,1.67,0.00,0.000,4,0.000,0.049,2848,3278,2373
$GC,9422,0.47,126.5,843.9,16.4,300,9426,0.00,1.58,0.00,0.000,6,0.000,0.026,2854,2239,2372
$GC,9700,0.47,126.5,803.2,14.5,307,9704,0.00,1.65,0.00,0.000,4,0.000,0.047,2850,3295,2370
$GC,9724,0.47,126.5,798.7,15.9,307,9728,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2232,2370
$GC,9996,0.47,126.5,759.3,14.7,314,10000,0.00,1.70,0.00,0.000,4,0.000,0.049,2857,3279,2369
$GC,10031,0.47,126.5,753.3,15.9,314,10035,0.00,1.55,0.00,0.000,6,0.000,0.028,2864,2248,2369
$GC,10292,0.47,126.5,714.5,15.0,321,10295,0.00,1.65,0.00,0.000,4,0.000,0.049,2864,3286,2368
$GC,10361,0.47,126.5,702.5,16.5,322,10365,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2269,2368
$GC,10633,0.47,126.5,659.9,15.9,329,10636,0.00,1.62,0.00,0.000,4,0.000,0.030,2877,1140,2367
$GC,10729,0.47,126.5,645.4,15.2,331,10732,0.00,1.77,0.00,0.000,6,0.000,0.044,2877,2281,2366
$GC,11023,0.47,126.5,602.5,14.2,338,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2281,2365
$GC,11266,0.47,126.5,567.0,14.7,344,11270,0.00,1.58,0.00,0.000,4,0.000,0.049,2876,3284,2365
$GC,11362,0.47,126.5,552.2,16.3,346,11366,0.08,1.52,0.00,0.000,6,0.176,0.028,2849,2269,2365
$GC,11655,0.47,126.5,512.8,12.7,353,11659,0.00,1.62,0.00,0.000,4,0.000,0.029,2855,1136,2365
$GC,11707,0.47,126.5,506.2,12.3,354,11711,0.00,1.80,0.00,0.000,6,0.000,0.042,2855,2280,2364
$GC,11996,0.47,126.5,474.6,11.1,361,12000,0.00,1.65,0.00,0.000,4,0.000,0.028,2860,1159,2364
$GC,12046,0.47,126.5,469.2,10.0,362,12050,0.00,1.75,0.00,0.000,6,0.000,0.043,2860,2269,2364
$GC,12340,0.47,126.5,438.5,10.4,369,12344,0.00,1.60,0.00,0.000,4,0.000,0.051,2860,3285,2364
$GC,12466,0.47,126.5,423.6,11.7,371,12469,0.00,1.48,0.00,0.000,6,0.000,0.026,2867,2287,2364
$GC,12726,0.47,126.5,395.0,11.0,378,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2281,2364
$GC,12969,0.47,126.5,366.8,11.6,384,12973,0.00,1.62,0.00,0.000,4,0.000,0.028,2873,1151,2364
$GC,13089,0.47,126.5,353.6,10.2,386,13093,0.00,1.70,0.00,0.000,6,0.000,0.041,2873,2261,2364
$GC,13356,0.47,126.5,324.9,10.9,393,13359,0.00,1.60,0.00,0.000,4,0.000,0.048,2873,3285,2364
$GC,13380,0.47,126.5,321.6,12.2,393,13384,0.10,1.52,0.00,0.000,6,0.160,0.025,2850,2255,2364
$GC,13651,0.47,126.5,296.4,9.3,400,13655,0.00,1.62,0.00,0.000,4,0.000,0.048,2850,3291,2363
$GC,13820,0.48,147.3,281.2,8.0,403,13842,0.00,1.48,16.17,0.811,6,0.000,0.025,2856,2279,2298
$GC,14131,0.50,190.0,258.3,7.0,411,14175,0.00,1.58,37.33,0.802,4,0.000,0.044,2856,3288,2124
$GC,14309,0.50,190.0,240.6,12.4,414,14318,0.00,1.42,0.00,0.000,6,0.000,0.025,2860,2339,2121
$GC,14564,0.50,190.0,211.7,11.1,421,14568,0.00,1.70,0.00,0.000,4,0.000,0.026,2868,1154,2119
$GC,14627,0.50,190.0,204.6,10.5,422,14631,0.00,1.80,0.00,0.000,6,0.000,0.038,2865,2300,2118
$GC,14894,0.50,190.0,177.2,10.7,442,14897,0.00,1.52,0.00,0.000,4,0.000,0.045,2865,3284,2118
$GC,14943,0.50,190.0,171.2,12.1,446,14947,0.00,1.45,0.00,0.000,6,0.000,0.022,2870,2294,2117
$GC,15215,0.50,190.0,142.8,10.2,471,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2288,2117
$GC,15481,0.50,190.0,114.3,10.1,496,15485,0.00,1.62,0.00,0.000,4,0.000,0.025,2873,1147,2117
$GC,15522,0.50,190.0,110.4,9.5,499,15525,0.00,1.75,0.00,0.000,6,0.000,0.036,2873,2300,2118
$GC,15793,0.50,190.0,81.8,10.2,524,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2300,2117
$GC,16061,0.52,249.5,64.5,6.2,549,16115,0.00,1.73,49.00,0.607,4,0.000,0.023,2873,1156,1882
$GC,16133,0.56,346.8,61.1,4.3,555,16217,0.00,1.75,77.93,0.596,6,0.000,0.035,2873,2296,1485
$GC,16474,0.58,408.4,40.3,6.0,585,16533,0.00,0.00,49.72,0.571,6,0.000,0.000,2873,2296,1232
$GC,16815,0.58,408.4,18.7,10.0,627,16825,0.00,1.67,0.00,0.000,4,0.000,0.023,2873,1175,1228
$GC,16899,0.58,408.4,9.8,10.1,639,16908,0.00,1.70,0.00,0.000,6,0.000,0.031,2872,2294,1228
$STATE,16958,end climb,SURFACE_DEPTH_REACHED
$STATE,16958,begin surface coast
$FINISH,0.7,0.999567
$STATE,16990,end surface coast,CONTROL_FINISHED_OK
$STATE,16991,begin surface
$SM_CCo,17076,0.00,0.000,0,0,1224,410.87
$SM_GC,1.33,7.22,0.00,0.00,0.025,0.000,0.000,41,2539,1224,-8.23,1.10,410.87
$IRIDIUM_FIX,2300.41,-15743.18,290103,121200
$TT8_MAMPS,0.023777
$HUMID,2210
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.50
$XPDR_PINGS,9
$24V_AH,23.6,42.185
$10V_AH,10.6,49.582
$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,18.225,125.475,473.000,0.000,0.000,60.739,81.061,530.990,2.250,0.000,0.000,16.066,1392.299,11255.682,488.621,3510.948,1358.757,33.380,1643.918,0.000,3510.458,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,59.826,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.730,2148.528,2225.947,1553.192,1499.867,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54071,653
$CAP_FILE_SIZE,140806,0
$CFSIZE,260165632,241754112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,041113,171035,2258.399,-15748.507,34,1.8,34,10.1