version: 66.04
glider: 512
mission: 4
dive: 257
start: 11 4 113 22 31 49
data:
$ID,512
$MISSION,4
$DIVE,257
$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,-111548.58
$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,69
$R_STBD_OVSHOOT,58
$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
$GPS1,221607,2258.238,-15750.280,44,2.0,44,10.1
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-81.5
$GPS2,223052,2258.237,-15750.345,39,2.6,58,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.049
$KALMAN_X,47318.4,-185.9,90.6,-30640.2,1606.9
$KALMAN_Y,47769.7,522.8,483.8,-22573.2,-2686.9
$MHEAD_RNG_PITCHd_Wd,247.8,42365,-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,-68.62,0.000,2,0.000,0.000,9,2536,2928
$GC,95,-0.47,-126.5,2.3,-1.7,8,122,9.57,1.58,-10.45,0.000,4,0.200,0.038,2538,1427,3417
$GC,315,-0.47,-126.5,56.2,-20.3,32,325,0.00,1.60,0.00,0.000,6,0.000,0.038,2533,2470,3418
$GC,583,-0.47,-126.5,109.5,-17.6,57,586,0.00,1.67,0.00,0.000,4,0.000,0.045,2525,3562,3418
$GC,634,-0.47,-126.5,119.2,-18.3,61,637,0.00,1.50,0.00,0.000,6,0.000,0.018,2526,2499,3419
$GC,905,-0.47,-126.5,163.9,-15.7,86,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2492,3419
$GC,1181,-0.47,-126.5,207.1,-15.9,109,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2492,3418
$GC,1424,-0.47,-126.5,246.4,-16.0,115,1428,0.00,1.42,0.00,0.000,4,0.000,0.020,2530,1456,3419
$GC,1437,-0.47,-126.5,249.1,-15.4,115,1441,0.00,1.60,0.00,0.000,6,0.000,0.034,2524,2540,3419
$GC,1720,-0.47,-126.5,285.4,-12.6,122,1724,0.00,1.55,0.00,0.000,4,0.000,0.045,2516,3560,3418
$GC,1860,-0.47,-126.5,301.3,-10.7,125,1864,0.00,1.50,0.00,0.000,6,0.000,0.019,2518,2496,3418
$GC,2155,-0.47,-126.5,335.3,-11.5,132,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2489,3417
$GC,2398,-0.47,-126.5,362.8,-11.3,138,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2489,3415
$GC,2642,-0.47,-126.5,387.7,-10.0,144,2645,0.00,1.62,0.00,0.000,4,0.000,0.044,2512,3560,3414
$GC,2666,-0.47,-126.5,390.3,-9.4,144,2670,0.00,1.48,0.00,0.000,6,0.000,0.021,2516,2517,3413
$GC,2939,-0.47,-126.5,416.1,-10.1,151,2942,0.00,1.45,0.00,0.000,4,0.000,0.021,2521,1464,3411
$GC,3035,-0.47,-126.5,426.8,-10.0,153,3039,0.00,1.58,0.00,0.000,6,0.000,0.038,2516,2496,3411
$GC,3324,-0.47,-126.5,458.0,-10.8,160,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2496,3408
$GC,3568,-0.47,-126.5,481.4,-9.3,166,3572,0.00,1.65,-0.08,0.000,4,0.000,0.065,2507,3569,3431
$GC,3625,-0.47,-126.5,486.9,-9.0,167,3630,0.08,1.52,0.00,0.000,6,0.104,0.022,2539,2497,3431
$GC,3908,-0.47,-126.5,506.9,-7.1,174,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2490,3428
$GC,4152,-0.47,-126.5,525.3,-7.5,180,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2489,3426
$GC,4396,-0.47,-126.5,542.6,-7.1,186,4400,0.00,1.67,0.00,0.000,4,0.000,0.051,2534,3569,3424
$GC,4438,-0.47,-126.5,545.6,-6.5,186,4447,0.00,1.55,0.00,0.000,6,0.000,0.024,2534,2492,3423
$GC,4694,-0.47,-126.5,564.3,-7.5,193,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2492,3421
$GC,4937,-0.47,-126.5,584.7,-8.4,199,4941,0.00,1.67,0.00,0.000,4,0.000,0.051,2526,3567,3419
$GC,4973,-0.47,-126.5,588.3,-8.8,199,4977,0.00,1.52,0.00,0.000,6,0.000,0.024,2526,2516,3419
$GC,5234,-0.47,-126.5,611.2,-8.8,206,5237,0.00,1.50,0.00,0.000,4,0.000,0.025,2528,1450,3417
$GC,5270,-0.47,-126.5,614.4,-8.4,206,5274,0.00,1.62,0.00,0.000,6,0.000,0.044,2524,2517,3417
$GC,5531,-0.47,-126.5,634.4,-7.5,213,5535,0.00,1.65,0.00,0.000,4,0.000,0.056,2524,3563,3415
$GC,5572,-0.47,-126.5,638.0,-8.1,213,5581,0.00,1.52,0.00,0.000,6,0.000,0.025,2524,2513,3415
$GC,5828,-0.47,-126.5,656.5,-7.4,220,5832,0.00,1.50,0.00,0.000,4,0.000,0.025,2524,1452,3413
$GC,5863,-0.47,-126.5,659.8,-8.1,220,5867,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2527,3413
$GC,6124,-0.47,-126.5,681.0,-8.4,227,6128,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3570,3412
$GC,6188,-0.47,-126.5,686.7,-8.7,228,6191,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2530,3411
$GC,6466,-0.47,-126.5,711.1,-9.1,235,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2521,3410
$GC,6710,-0.47,-126.5,731.3,-8.0,241,6714,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3566,3409
$GC,6752,-0.47,-126.5,734.7,-7.9,241,6760,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2521,3409
$GC,7007,-0.47,-126.5,750.8,-6.3,248,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3408
$GC,7250,-0.47,-126.5,765.3,-6.0,254,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3407
$GC,7494,-0.47,-126.5,781.3,-6.8,260,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2521,3405
$GC,7738,-0.47,-126.5,798.3,-7.1,266,7742,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1459,3404
$GC,7788,-0.47,-126.5,802.1,-7.9,267,7792,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2534,3404
$GC,8084,-0.47,-126.5,823.4,-7.3,274,8088,0.00,1.62,0.00,0.000,4,0.000,0.059,2523,3570,3402
$GC,8142,-0.47,-126.5,828.2,-8.5,275,8146,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2538,3402
$GC,8425,-0.47,-126.5,847.6,-6.9,282,8428,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1448,3401
$GC,8523,-0.47,-126.5,854.1,-6.6,284,8527,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2541,3401
$GC,8812,-0.47,-126.5,870.9,-5.8,291,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3400
$GC,9056,-0.47,-126.5,886.8,-6.7,297,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2541,3400
$STATE,9253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9253,begin apogee
$GC,9264,-0.17,0.0,902.8,8.0,302,9378,0.35,0.00,110.93,1.264,6,0.094,0.000,2642,2218,2900
$STATE,9379,end apogee,CONTROL_FINISHED_OK
$STATE,9379,begin climb
$GC,9384,0.47,126.5,908.7,0.0,305,9524,0.55,1.62,123.43,1.200,4,0.030,0.028,2887,1174,2384
$GC,9566,0.47,126.5,899.4,14.7,309,9570,0.15,1.73,0.00,0.000,6,0.163,0.041,2852,2228,2380
$GC,9855,0.47,126.5,862.5,12.7,316,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2228,2375
$GC,10098,0.47,126.5,829.1,14.1,322,10102,0.00,1.67,0.00,0.000,4,0.000,0.051,2850,3281,2372
$GC,10167,0.47,126.5,817.6,16.0,323,10171,0.00,1.60,0.00,0.000,6,0.000,0.028,2856,2204,2371
$GC,10439,0.47,126.5,776.6,15.3,330,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2197,2370
$GC,10682,0.47,126.5,738.2,15.8,336,10686,0.00,1.73,0.00,0.000,4,0.000,0.049,2850,3291,2369
$GC,10713,0.47,126.5,732.9,16.7,336,10717,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2204,2369
$GC,10980,0.47,126.5,693.0,14.9,343,10984,0.00,1.73,0.00,0.000,4,0.000,0.049,2857,3290,2368
$GC,11066,0.47,126.5,679.2,16.0,344,11074,0.00,1.58,0.00,0.000,6,0.000,0.027,2864,2239,2368
$GC,11320,0.47,126.5,641.5,14.9,351,11324,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3280,2368
$GC,11350,0.47,126.5,636.4,16.2,351,11354,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2243,2367
$GC,11617,0.47,126.5,596.2,15.2,358,11621,0.00,1.58,0.00,0.000,4,0.000,0.028,2877,1159,2367
$GC,11635,0.47,126.5,592.8,15.0,358,11639,0.00,1.67,0.00,0.000,6,0.000,0.042,2877,2245,2367
$GC,11912,0.47,126.5,553.3,14.1,365,11916,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3296,2367
$GC,11981,0.47,126.5,543.1,13.4,366,11985,0.08,1.55,0.00,0.000,6,0.150,0.026,2849,2256,2367
$GC,12254,0.47,126.5,513.9,10.5,373,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2252,2366
$GC,12497,0.47,126.5,487.2,11.1,379,12501,0.00,1.60,0.00,0.000,4,0.000,0.030,2856,1165,2365
$GC,12527,0.47,126.5,483.6,10.9,379,12531,0.00,1.73,0.00,0.000,6,0.000,0.042,2856,2263,2366
$GC,12793,0.47,126.5,452.3,12.4,386,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2263,2366
$GC,13036,0.47,126.5,423.2,11.8,392,13040,0.00,1.65,0.00,0.000,4,0.000,0.029,2860,1161,2365
$GC,13146,0.47,126.5,409.9,11.7,394,13149,0.00,1.70,0.00,0.000,6,0.000,0.043,2860,2262,2364
$GC,13423,0.47,126.5,378.2,11.4,401,13424,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2263,2364
$GC,13666,0.47,126.5,353.1,9.7,407,13670,0.00,1.60,0.00,0.000,4,0.000,0.049,2860,3282,2364
$GC,13775,0.47,126.5,340.4,11.1,409,13779,0.00,1.50,0.00,0.000,6,0.000,0.026,2867,2268,2364
$GC,14052,0.47,126.5,313.3,9.9,416,14056,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3281,2364
$GC,14102,0.47,126.5,308.5,9.7,417,14105,0.00,1.45,0.00,0.000,6,0.000,0.025,2868,2301,2364
$GC,14397,0.47,126.5,279.0,9.9,424,14400,0.00,1.62,0.00,0.000,4,0.000,0.028,2873,1163,2364
$GC,14432,0.47,126.5,275.2,9.4,424,14436,0.00,1.80,0.00,0.000,6,0.000,0.041,2873,2316,2364
$GC,14692,0.47,126.5,251.1,9.2,431,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2316,2364
$GC,14936,0.50,198.7,236.2,5.5,437,15005,0.00,0.00,61.17,0.769,6,0.000,0.000,2873,2316,2089
$GC,15267,0.50,198.7,199.7,12.6,445,15271,0.00,1.52,0.00,0.000,4,0.000,0.047,2873,3285,2084
$GC,15327,0.50,198.7,192.0,12.5,450,15331,0.00,1.50,0.00,0.000,6,0.000,0.024,2880,2278,2083
$GC,15600,0.50,198.7,158.3,12.9,475,15603,0.00,1.60,0.00,0.000,4,0.000,0.025,2888,1149,2083
$GC,15639,0.50,198.7,153.7,11.9,478,15643,0.08,1.77,0.00,0.000,6,0.131,0.038,2863,2283,2082
$GC,15917,0.50,198.7,125.3,10.5,503,15921,0.00,1.55,0.00,0.000,4,0.000,0.043,2864,3289,2082
$GC,15968,0.50,198.7,119.0,11.2,507,15971,0.00,1.48,0.00,0.000,6,0.000,0.022,2868,2277,2081
$GC,16239,0.50,198.7,88.7,10.2,532,16243,0.00,1.60,0.00,0.000,4,0.000,0.041,2864,3291,2081
$GC,16259,0.50,198.7,86.4,9.7,533,16266,0.00,1.42,0.00,0.000,6,0.000,0.021,2869,2304,2081
$GC,16526,0.52,239.9,67.0,7.0,558,16567,0.00,1.65,34.25,0.610,4,0.000,0.023,2872,1165,1920
$GC,16656,0.55,322.2,59.5,5.1,568,16729,0.00,1.70,66.57,0.601,6,0.000,0.035,2872,2286,1585
$GC,16997,0.57,374.3,40.5,6.5,598,17044,0.00,1.55,42.03,0.575,4,0.000,0.041,2872,3296,1372
$GC,17061,0.58,410.7,36.2,7.3,602,17103,0.00,1.52,30.30,0.559,6,0.000,0.020,2872,2259,1224
$GC,17394,0.58,410.7,10.4,10.8,646,17402,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2258,1220
$STATE,17458,end climb,SURFACE_DEPTH_REACHED
$STATE,17458,begin surface coast
$FINISH,0.5,1.009608
$STATE,17484,end surface coast,CONTROL_FINISHED_OK
$STATE,17485,begin surface
$SM_CCo,17570,0.00,0.000,0,0,1216,412.83
$SM_GC,1.51,7.28,0.00,0.00,0.026,0.000,0.000,41,2553,1216,-8.23,1.53,412.83
$IRIDIUM_FIX,2232.34,-15748.50,290103,222200
$TT8_MAMPS,0.023777
$HUMID,2210
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.50
$XPDR_PINGS,7
$24V_AH,23.4,42.493
$10V_AH,10.6,50.033
$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,18.125,112.425,468.675,0.000,0.000,58.380,71.151,444.177,1.750,0.000,0.000,59.818,1371.374,11958.474,463.779,3398.302,1255.070,33.377,1530.197,0.000,3352.125,0.000,0.546,0.000
$DEVICE_MAMPS,200.187,65.195,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,449.806,2171.196,2243.118,1548.229,1488.844,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54109,660
$CAP_FILE_SIZE,136749,0
$CFSIZE,260165632,241618944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,051113,032605,2256.749,-15752.677,42,0.9,42,10.1