version: 66.04
glider: 512
mission: 4
dive: 256
start: 11 4 113 17 26 36
data:
$ID,512
$MISSION,4
$DIVE,256
$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,-111488.13
$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,57
$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
$GPS1,171035,2258.399,-15748.507,34,1.8,34,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-79.9
$GPS2,172539,2258.445,-15748.561,11,2.5,30,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,-0.028
$KALMAN_X,46410.8,-336.6,-444.7,-25996.0,2589.0
$KALMAN_Y,48290.9,248.4,28.1,-21969.2,-1750.1
$MHEAD_RNG_PITCHd_Wd,253.0,44640,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.47,-126.5,0.0,0.0,0,62,0.00,0.00,-42.45,0.000,2,0.000,0.000,10,2536,2251
$GC,68,-0.47,-126.5,2.1,-1.4,5,133,9.62,1.55,-44.70,0.000,4,0.200,0.051,2527,3558,3415
$GC,339,-0.47,-126.5,51.4,-23.4,38,342,0.00,1.55,0.00,0.000,6,0.000,0.018,2528,2483,3415
$GC,611,-0.47,-126.5,109.4,-16.8,63,615,0.00,1.42,0.00,0.000,4,0.000,0.020,2531,1443,3416
$GC,663,-0.47,-126.5,118.9,-16.0,67,671,0.00,1.58,0.00,0.000,6,0.000,0.038,2525,2477,3416
$GC,929,-0.47,-126.5,160.6,-15.9,92,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2477,3416
$GC,1225,-0.47,-126.5,208.1,-16.1,117,1228,0.00,1.65,0.00,0.000,4,0.000,0.044,2517,3562,3416
$GC,1278,-0.47,-126.5,217.3,-15.3,118,1282,0.00,1.52,0.00,0.000,6,0.000,0.018,2518,2484,3416
$GC,1566,-0.47,-126.5,258.9,-14.1,125,1570,0.00,1.65,0.00,0.000,4,0.000,0.041,2512,3560,3415
$GC,1763,-0.47,-126.5,289.0,-15.0,129,1766,0.00,1.42,0.00,0.000,6,0.000,0.019,2517,2539,3415
$GC,2047,-0.47,-126.5,324.8,-11.5,136,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2532,3414
$GC,2290,-0.47,-126.5,350.8,-11.0,142,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2532,3413
$GC,2534,-0.47,-126.5,379.8,-11.9,148,2537,0.00,1.48,0.00,0.000,4,0.000,0.021,2521,1469,3412
$GC,2630,-0.47,-126.5,390.8,-10.4,150,2634,0.00,1.67,0.00,0.000,6,0.000,0.038,2515,2567,3411
$GC,2920,-0.47,-126.5,422.3,-10.9,157,2923,0.00,1.52,0.00,0.000,4,0.000,0.048,2508,3563,3408
$GC,2944,-0.47,-126.5,425.5,-11.0,157,2948,0.08,1.40,0.00,0.000,6,0.111,0.021,2539,2566,3408
$GC,3215,-0.47,-126.5,448.3,-8.5,164,3217,0.00,0.00,-0.08,0.000,6,0.000,0.000,2539,2558,3430
$GC,3459,-0.47,-126.5,468.7,-8.5,170,3463,0.00,1.55,0.00,0.000,4,0.000,0.024,2539,1462,3428
$GC,3528,-0.47,-126.5,475.3,-8.7,171,3532,0.00,1.65,0.00,0.000,6,0.000,0.041,2537,2555,3427
$GC,3801,-0.47,-126.5,499.0,-8.6,178,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2556,3425
$GC,4045,-0.47,-126.5,517.7,-7.6,184,4048,0.00,1.55,0.00,0.000,4,0.000,0.023,2537,1471,3422
$GC,4114,-0.47,-126.5,522.7,-6.7,185,4118,0.00,1.67,0.00,0.000,6,0.000,0.044,2537,2549,3422
$GC,4385,-0.47,-126.5,541.4,-7.1,192,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2550,3420
$GC,4629,-0.47,-126.5,560.5,-7.9,198,4633,0.00,1.58,0.00,0.000,4,0.000,0.054,2534,3560,3418
$GC,4683,-0.47,-126.5,565.2,-8.5,199,4686,0.00,1.42,0.00,0.000,6,0.000,0.026,2533,2570,3418
$GC,4972,-0.47,-126.5,589.0,-8.3,206,4975,0.00,1.55,0.00,0.000,4,0.000,0.025,2533,1472,3416
$GC,5022,-0.47,-126.5,593.0,-7.5,207,5026,0.00,1.70,0.00,0.000,6,0.000,0.045,2526,2562,3415
$GC,5317,-0.47,-126.5,616.5,-8.1,214,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2562,3413
$GC,5562,-0.47,-126.5,636.6,-8.3,220,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2562,3412
$GC,5804,-0.47,-126.5,655.7,-7.6,226,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2562,3410
$GC,6048,-0.47,-126.5,674.4,-7.8,232,6052,0.00,1.58,0.00,0.000,4,0.000,0.026,2526,1477,3409
$GC,6112,-0.47,-126.5,680.0,-8.2,233,6115,0.00,1.67,0.00,0.000,6,0.000,0.047,2524,2545,3408
$GC,6389,-0.47,-126.5,703.2,-8.6,240,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3407
$GC,6633,-0.47,-126.5,722.7,-7.8,246,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2544,3405
$GC,6877,-0.47,-126.5,739.5,-6.8,252,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2544,3404
$GC,7121,-0.47,-126.5,755.8,-6.5,258,7124,0.00,1.60,0.00,0.000,4,0.000,0.059,2524,3569,3403
$GC,7162,-0.47,-126.5,758.9,-7.4,258,7172,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2542,3402
$GC,7418,-0.47,-126.5,776.4,-7.0,265,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2542,3401
$GC,7662,-0.47,-126.5,794.1,-7.4,271,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2542,3400
$GC,7906,-0.47,-126.5,811.8,-7.2,277,7909,0.00,1.55,0.00,0.000,4,0.000,0.028,2524,1467,3400
$GC,7936,-0.47,-126.5,814.3,-7.4,277,7940,0.00,1.70,0.00,0.000,6,0.000,0.050,2524,2540,3400
$GC,8201,-0.47,-126.5,833.7,-7.5,284,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3398
$GC,8445,-0.47,-126.5,850.4,-6.8,290,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2540,3398
$GC,8689,-0.47,-126.5,865.3,-6.1,296,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2539,3397
$GC,8932,-0.47,-126.5,879.9,-6.1,302,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2540,3397
$GC,9176,-0.47,-126.5,895.5,-6.5,308,9180,0.00,1.62,0.00,0.000,4,0.000,0.060,2524,3557,3396
$GC,9234,-0.47,-126.5,899.4,-6.9,309,9237,0.00,1.50,0.00,0.000,6,0.000,0.029,2524,2542,3395
$STATE,9242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9242,begin apogee
$GC,9253,-0.17,0.0,900.2,6.3,309,9365,0.32,0.00,108.90,1.259,6,0.096,0.000,2640,2208,2900
$STATE,9366,end apogee,CONTROL_FINISHED_OK
$STATE,9366,begin climb
$GC,9371,0.47,126.5,902.7,0.0,312,9542,0.57,0.00,133.18,1.121,6,0.030,0.000,2878,2209,2384
$GC,9767,0.47,126.5,855.0,17.2,322,9771,0.00,1.77,0.00,0.000,4,0.000,0.051,2878,3290,2374
$GC,9852,0.47,126.5,838.5,18.3,323,9860,0.10,1.60,0.00,0.000,6,0.177,0.027,2855,2241,2373
$GC,10107,0.47,126.5,804.2,13.2,330,10110,0.00,1.60,0.00,0.000,4,0.000,0.030,2860,1167,2371
$GC,10142,0.47,126.5,799.4,13.3,330,10146,0.00,1.65,0.00,0.000,6,0.000,0.043,2860,2224,2370
$GC,10404,0.47,126.5,765.5,13.1,337,10407,0.00,1.65,0.00,0.000,4,0.000,0.051,2861,3286,2370
$GC,10489,0.47,126.5,752.7,14.9,338,10497,0.00,1.58,0.00,0.000,6,0.000,0.027,2868,2235,2369
$GC,10744,0.47,126.5,714.7,15.4,345,10747,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3296,2368
$GC,10814,0.47,126.5,702.2,17.4,346,10817,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2257,2368
$GC,11085,0.47,126.5,656.3,17.4,353,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2250,2367
$GC,11329,0.47,126.5,615.3,16.5,359,11332,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1161,2367
$GC,11358,0.47,126.5,610.2,15.8,359,11362,0.00,1.75,0.00,0.000,6,0.000,0.044,2877,2269,2366
$GC,11624,0.47,126.5,571.0,14.9,366,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2269,2366
$GC,11868,0.47,126.5,538.4,13.2,372,11871,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3282,2365
$GC,11977,0.47,126.5,522.2,15.0,374,11981,0.08,1.52,0.00,0.000,6,0.160,0.027,2848,2258,2365
$GC,12254,0.47,126.5,489.6,11.6,381,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2253,2364
$GC,12497,0.47,126.5,463.8,10.4,387,12501,0.00,1.60,0.00,0.000,4,0.000,0.031,2848,1172,2364
$GC,12584,0.47,131.2,454.6,8.8,388,12592,0.00,1.67,0.00,0.000,6,0.000,0.041,2848,2243,2364
$GC,12839,0.47,131.2,427.8,10.7,395,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2243,2363
$GC,13082,0.47,131.2,398.6,11.8,401,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2243,2364
$GC,13326,0.47,131.2,372.2,10.8,407,13329,0.00,1.60,0.00,0.000,4,0.000,0.051,2848,3285,2364
$GC,13440,0.47,131.2,358.5,11.7,409,13444,0.00,1.58,0.00,0.000,6,0.000,0.026,2855,2221,2364
$GC,13712,0.47,131.2,332.9,9.3,416,13715,0.00,1.67,0.00,0.000,4,0.000,0.049,2854,3287,2364
$GC,13776,0.47,131.2,325.7,10.4,417,13780,0.00,1.52,0.00,0.000,6,0.000,0.025,2862,2251,2364
$GC,14054,0.47,131.2,298.4,10.0,424,14058,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3289,2364
$GC,14152,0.47,131.2,289.5,9.3,426,14156,0.00,1.50,0.00,0.000,6,0.000,0.025,2868,2266,2363
$GC,14442,0.49,179.2,268.0,6.7,433,14494,0.00,0.00,44.97,0.791,6,0.000,0.000,2869,2260,2169
$GC,14731,0.49,179.2,237.3,11.2,440,14735,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3277,2162
$GC,14885,0.49,179.2,218.8,10.8,443,14889,0.00,1.52,0.00,0.000,6,0.000,0.023,2869,2244,2162
$GC,15146,0.49,179.2,192.1,10.8,454,15150,0.00,1.65,0.00,0.000,4,0.000,0.044,2863,3282,2162
$GC,15209,0.49,179.2,184.3,12.4,459,15218,0.00,1.50,0.00,0.000,6,0.000,0.022,2869,2260,2162
$GC,15475,0.49,179.2,155.4,10.4,484,15478,0.00,1.55,0.00,0.000,4,0.000,0.024,2876,1173,2162
$GC,15525,0.49,179.2,150.0,9.9,488,15529,0.00,1.65,0.00,0.000,6,0.000,0.037,2876,2264,2161
$GC,15798,0.49,179.2,122.0,11.5,513,15802,0.00,1.58,0.00,0.000,4,0.000,0.045,2875,3285,2161
$GC,15859,0.49,179.2,114.9,11.1,518,15863,0.00,1.48,0.00,0.000,6,0.000,0.021,2881,2268,2162
$GC,16136,0.50,195.8,85.9,8.2,543,16159,0.00,1.58,15.07,0.608,4,0.000,0.023,2886,1173,2100
$GC,16233,0.53,269.6,78.9,5.5,551,16302,0.00,1.65,60.38,0.618,6,0.000,0.036,2886,2267,1801
$GC,16560,0.54,290.7,54.5,8.0,580,16588,0.00,1.58,18.40,0.575,4,0.000,0.044,2886,3274,1712
$GC,16620,0.54,303.5,48.7,8.4,584,16644,0.00,1.48,11.95,0.548,6,0.000,0.021,2886,2271,1661
$GC,16911,0.54,303.5,24.4,9.3,614,16921,0.00,1.60,0.00,0.000,4,0.000,0.025,2886,1168,1658
$GC,16976,0.55,338.8,19.3,7.3,623,17013,0.00,1.67,28.77,0.551,6,0.000,0.035,2886,2260,1517
$STATE,17178,end climb,SURFACE_DEPTH_REACHED
$STATE,17178,begin surface coast
$FINISH,0.5,0.998766
$STATE,17229,end surface coast,CONTROL_FINISHED_OK
$STATE,17229,begin surface
$SM_CCo,17255,22.35,0.525,0,0,1308,390.02
$SM_GC,1.55,0.00,0.00,22.35,0.000,0.000,0.525,41,2540,1308,-8.30,1.10,390.02
$IRIDIUM_FIX,2244.02,-15751.06,290103,171724
$TT8_MAMPS,0.023777
$HUMID,2204
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.40
$XPDR_PINGS,6
$24V_AH,23.7,42.337
$10V_AH,10.6,49.807
$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,18.100,99.025,421.625,22.350,0.000,49.233,75.386,499.011,1.500,0.000,0.000,31.835,1362.830,11659.029,505.794,3366.583,1284.196,33.377,1542.273,0.000,3345.198,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,59.826,1259.414,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,449.980,2176.997,2253.008,1520.350,1494.953,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54033,661
$CAP_FILE_SIZE,133253,0
$CFSIZE,260165632,241692672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,041113,221607,2258.238,-15750.280,44,2.0,44,10.1