version: 66.04
glider: 512
mission: 4
dive: 258
start: 11 5 113 3 35 6
data:
$ID,512
$MISSION,4
$DIVE,258
$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,-111568.03
$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,74
$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
$GPS1,032605,2256.749,-15752.677,42,0.9,42,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.0
$GPS2,033413,2256.761,-15752.755,18,1.2,18,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.207,-0.111
$KALMAN_X,47947.8,-22.6,-247.2,-35210.1,1559.0
$KALMAN_Y,47049.9,278.9,-278.9,-23575.1,-1212.8
$MHEAD_RNG_PITCHd_Wd,231.7,37673,-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,17,-0.47,-126.5,0.0,0.0,0,88,0.00,0.00,-68.78,0.000,2,0.000,0.000,10,2549,2845
$GC,94,-0.47,-126.5,2.1,-1.5,8,123,9.65,1.50,-13.12,0.000,4,0.200,0.057,2530,3549,3416
$GC,354,-0.47,-126.5,66.9,-18.9,35,357,0.00,1.52,0.00,0.000,6,0.000,0.019,2530,2491,3417
$GC,625,-0.47,-126.5,116.0,-17.9,60,629,0.00,1.45,0.00,0.000,4,0.000,0.019,2530,1437,3418
$GC,654,-0.47,-126.5,121.2,-18.2,62,657,0.00,1.60,0.00,0.000,6,0.000,0.035,2523,2509,3418
$GC,925,-0.47,-126.5,169.5,-16.4,87,929,0.00,1.60,0.00,0.000,4,0.000,0.044,2517,3561,3419
$GC,987,-0.47,-126.5,179.5,-15.6,92,990,0.00,1.50,0.00,0.000,6,0.000,0.018,2517,2503,3419
$GC,1282,-0.47,-126.5,227.3,-16.4,108,1286,0.00,1.42,0.00,0.000,4,0.000,0.020,2521,1457,3419
$GC,1301,-0.47,-126.5,230.8,-16.0,108,1304,0.00,1.62,0.00,0.000,6,0.000,0.035,2516,2554,3419
$GC,1579,-0.47,-126.5,270.6,-13.9,115,1583,0.00,1.55,0.00,0.000,4,0.000,0.019,2521,1451,3419
$GC,1629,-0.47,-126.5,277.2,-12.1,116,1633,0.00,1.62,0.00,0.000,6,0.000,0.036,2515,2540,3419
$GC,1923,-0.47,-126.5,314.7,-12.4,123,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2540,3419
$GC,2167,-0.47,-126.5,343.1,-11.4,129,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2540,3418
$GC,2411,-0.47,-126.5,371.1,-11.7,135,2414,0.00,1.55,0.00,0.000,4,0.000,0.047,2507,3556,3417
$GC,2506,-0.47,-126.5,382.4,-12.0,137,2510,0.08,1.50,0.00,0.000,6,0.107,0.021,2540,2498,3415
$GC,2800,-0.47,-126.5,410.7,-9.4,144,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2490,3414
$GC,3045,-0.47,-126.5,432.0,-8.6,150,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2489,3411
$GC,3288,-0.47,-126.5,451.4,-8.0,156,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2489,3410
$GC,3532,-0.47,-126.5,471.6,-8.4,162,3535,0.00,1.45,0.00,0.000,4,0.000,0.023,2539,1451,3408
$GC,3573,-0.47,-126.5,475.6,-8.5,162,3582,0.00,1.62,0.00,0.000,6,0.000,0.043,2537,2503,3407
$GC,3829,-0.47,-126.5,498.1,-9.0,169,3833,0.00,1.65,-0.08,0.000,4,0.000,0.067,2531,3565,3431
$GC,3898,-0.47,-126.5,504.8,-9.2,170,3902,0.00,1.48,0.00,0.000,6,0.000,0.023,2530,2541,3431
$GC,4170,-0.47,-126.5,528.1,-8.6,177,4174,0.00,1.52,0.00,0.000,4,0.000,0.022,2530,1447,3428
$GC,4235,-0.47,-126.5,534.2,-9.0,178,4239,0.00,1.65,0.00,0.000,6,0.000,0.042,2524,2533,3427
$GC,4512,-0.47,-126.5,560.4,-9.8,185,4516,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3555,3425
$GC,4576,-0.47,-126.5,566.6,-8.7,186,4579,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2522,3425
$GC,4855,-0.47,-126.5,589.8,-8.2,193,4858,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1451,3423
$GC,4885,-0.47,-126.5,592.6,-7.8,193,4889,0.00,1.67,0.00,0.000,6,0.000,0.045,2523,2525,3423
$GC,5151,-0.47,-126.5,612.3,-7.4,200,5155,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1450,3421
$GC,5187,-0.47,-126.5,615.3,-7.6,200,5190,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2525,3420
$GC,5448,-0.47,-126.5,634.7,-7.6,207,5451,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3560,3418
$GC,5501,-0.47,-126.5,639.3,-8.0,208,5504,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2532,3418
$GC,5790,-0.47,-126.5,663.4,-8.7,215,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3417
$GC,6033,-0.47,-126.5,684.1,-8.3,221,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3415
$GC,6277,-0.47,-126.5,702.9,-7.7,227,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3414
$GC,6520,-0.47,-126.5,722.1,-8.0,233,6524,0.00,1.62,0.00,0.000,4,0.000,0.052,2516,3563,3413
$GC,6571,-0.47,-126.5,726.3,-8.8,234,6575,0.00,1.52,0.00,0.000,6,0.000,0.026,2516,2529,3412
$GC,6866,-0.47,-126.5,751.9,-8.8,241,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2521,3412
$GC,7109,-0.47,-126.5,773.1,-8.6,247,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2521,3410
$GC,7353,-0.47,-126.5,793.3,-8.2,253,7357,0.00,1.52,0.00,0.000,4,0.000,0.027,2518,1456,3409
$GC,7403,-0.47,-126.5,797.6,-8.2,254,7407,0.10,1.67,0.00,0.000,6,0.118,0.045,2542,2538,3409
$GC,7698,-0.47,-126.5,816.2,-6.1,261,7701,0.00,1.60,0.00,0.000,4,0.000,0.056,2537,3565,3408
$GC,7734,-0.47,-126.5,818.7,-6.3,261,7737,0.00,1.52,0.00,0.000,6,0.000,0.028,2537,2527,3408
$GC,7995,-0.47,-126.5,832.9,-5.4,268,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2518,3407
$GC,8239,-0.47,-126.5,844.8,-4.9,274,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2518,3406
$GC,8482,-0.47,-126.5,856.8,-5.1,280,8486,0.00,1.52,0.00,0.000,4,0.000,0.027,2537,1457,3405
$GC,8518,-0.47,-126.5,859.0,-5.4,280,8522,0.00,1.73,0.00,0.000,6,0.000,0.048,2537,2546,3405
$GC,8779,-0.47,-126.5,873.1,-5.6,287,8782,0.00,1.60,0.00,0.000,4,0.000,0.058,2536,3565,3404
$GC,8829,-0.47,-126.5,876.1,-6.3,288,8833,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2566,3403
$GC,9125,-0.47,-126.5,893.2,-5.7,295,9129,0.00,1.58,0.00,0.000,4,0.000,0.027,2536,1463,3402
$GC,9190,-0.47,-126.5,897.2,-5.7,296,9194,0.00,1.70,0.00,0.000,6,0.000,0.048,2536,2557,3402
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9271,-0.17,0.0,901.3,5.6,298,9385,0.32,0.00,111.05,1.260,6,0.089,0.000,2648,2216,2900
$STATE,9386,end apogee,CONTROL_FINISHED_OK
$STATE,9386,begin climb
$GC,9391,0.47,126.5,904.6,0.0,301,9546,0.52,1.67,127.57,1.161,4,0.037,0.028,2883,1175,2383
$GC,9641,0.47,126.5,881.1,17.4,306,9645,0.00,1.70,0.00,0.000,6,0.000,0.040,2877,2231,2376
$GC,9908,0.47,126.5,834.5,17.8,313,9911,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3280,2373
$GC,9937,0.47,126.5,828.1,19.5,313,9942,0.10,1.60,0.00,0.000,6,0.172,0.028,2853,2231,2371
$GC,10203,0.47,126.5,786.8,15.3,320,10207,0.00,1.73,0.00,0.000,4,0.000,0.049,2850,3289,2370
$GC,10272,0.47,126.5,774.7,16.1,321,10275,0.00,1.58,0.00,0.000,6,0.000,0.026,2856,2242,2370
$GC,10544,0.47,126.5,732.2,15.6,328,10548,0.00,1.58,0.00,0.000,4,0.000,0.028,2864,1165,2369
$GC,10574,0.47,126.5,727.1,14.8,328,10578,0.00,1.73,0.00,0.000,6,0.000,0.041,2864,2262,2368
$GC,10840,0.47,126.5,687.6,15.1,335,10843,0.00,1.60,0.00,0.000,4,0.000,0.049,2863,3276,2368
$GC,10890,0.47,126.5,679.9,16.1,336,10893,0.00,1.50,0.00,0.000,6,0.000,0.026,2868,2272,2367
$GC,11185,0.47,126.5,636.7,14.7,343,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2266,2367
$GC,11429,0.47,126.5,601.7,14.0,349,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2266,2367
$GC,11672,0.47,126.5,566.7,14.0,355,11675,0.00,1.62,0.00,0.000,4,0.000,0.030,2877,1141,2366
$GC,11696,0.47,126.5,562.7,14.0,355,11700,0.00,1.80,0.00,0.000,6,0.000,0.043,2877,2303,2365
$GC,11968,0.47,126.5,523.2,14.5,362,11971,0.00,1.52,0.00,0.000,4,0.000,0.048,2877,3275,2365
$GC,12099,0.47,126.5,503.5,14.6,364,12107,0.10,1.40,0.00,0.000,6,0.166,0.026,2853,2330,2365
$GC,12353,0.47,126.5,474.4,10.9,371,12354,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2329,2364
$GC,12597,0.47,126.5,450.5,9.8,377,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2329,2364
$GC,12841,0.47,126.5,422.3,12.1,383,12844,0.00,1.52,0.00,0.000,4,0.000,0.047,2853,3285,2364
$GC,12915,0.47,126.5,412.5,12.7,384,12919,0.00,1.40,0.00,0.000,6,0.000,0.026,2858,2340,2364
$GC,13182,0.47,126.5,382.5,11.1,391,13185,0.00,1.70,0.00,0.000,4,0.000,0.028,2867,1146,2364
$GC,13256,0.47,137.6,375.2,8.5,392,13275,0.00,1.85,7.80,0.813,6,0.000,0.041,2865,2352,2338
$GC,13521,0.47,137.6,349.0,9.9,399,13524,0.00,1.45,0.00,0.000,4,0.000,0.048,2863,3285,2337
$GC,13662,0.47,137.6,334.5,10.1,402,13665,0.00,1.30,0.00,0.000,6,0.000,0.025,2868,2398,2336
$GC,13957,0.47,137.6,304.1,10.9,409,13960,0.00,1.77,0.00,0.000,4,0.000,0.027,2877,1149,2336
$GC,14116,0.48,162.4,289.1,7.8,412,14143,0.00,1.92,23.15,0.825,6,0.000,0.041,2876,2406,2237
$GC,14426,0.48,162.4,252.3,12.0,420,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2406,2233
$GC,14670,0.49,173.0,230.6,8.5,426,14684,0.00,1.83,10.25,0.723,4,0.000,0.025,2884,1170,2193
$GC,14727,0.49,173.0,225.1,9.3,427,14731,0.12,1.88,0.00,0.000,6,0.140,0.041,2851,2372,2192
$GC,15009,0.49,173.0,198.3,9.9,434,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2372,2190
$GC,15276,0.49,186.2,174.1,8.4,459,15294,0.00,1.80,12.60,0.680,4,0.000,0.025,2856,1164,2140
$GC,15384,0.51,218.6,165.0,7.5,468,15423,0.00,1.85,28.88,0.694,6,0.000,0.038,2857,2349,2007
$GC,15681,0.51,218.6,134.1,10.7,495,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2348,2003
$GC,15946,0.51,218.6,107.9,9.6,520,15955,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2348,2003
$GC,16213,0.51,218.6,81.3,10.3,545,16217,0.00,1.42,0.00,0.000,4,0.000,0.041,2856,3285,2003
$GC,16256,0.51,218.6,76.1,11.5,548,16265,0.00,1.38,0.00,0.000,6,0.000,0.021,2860,2336,2003
$GC,16523,0.53,278.8,54.1,6.1,573,16579,0.00,1.73,49.10,0.595,4,0.000,0.022,2860,1152,1764
$GC,16656,0.58,391.8,48.5,3.6,583,16754,0.00,1.80,90.45,0.583,6,0.000,0.034,2860,2335,1301
$GC,17022,0.58,391.8,19.5,10.3,621,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2335,1296
$STATE,17211,end climb,SURFACE_DEPTH_REACHED
$STATE,17211,begin surface coast
$FINISH,0.5,1.022146
$STATE,17248,end surface coast,CONTROL_FINISHED_OK
$STATE,17248,begin surface
$SM_CCo,17333,0.00,0.000,0,0,1294,393.95
$SM_GC,1.54,7.18,0.00,0.00,0.024,0.000,0.000,46,2565,1294,-8.21,1.84,393.95
$IRIDIUM_FIX,2258.07,-15746.24,290103,222208
$TT8_MAMPS,0.023777
$HUMID,2227
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,8
$24V_AH,23.4,42.631
$10V_AH,10.6,50.253
$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,18.175,109.450,460.850,0.000,0.000,29.649,42.858,218.243,2.000,0.000,0.000,18.818,1370.146,11638.142,461.424,3406.400,932.776,33.383,1544.903,0.000,3396.772,0.000,0.544,0.000
$DEVICE_MAMPS,200.187,67.496,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,446.767,2160.801,2230.252,1533.450,1460.711,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54121,656
$CAP_FILE_SIZE,131335,0
$CFSIZE,260165632,241553408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,051113,082529,2256.049,-15754.353,41,1.0,46,10.1