version: 66.04
glider: 512
mission: 4
dive: 259
start: 11 5 113 8 38 51
data:
$ID,512
$MISSION,4
$DIVE,259
$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,-111594.41
$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,30
$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
$GPS1,082529,2256.049,-15754.353,41,1.0,46,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-82.7
$GPS2,083754,2256.140,-15754.405,16,1.1,21,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.205,-0.115
$KALMAN_X,48946.8,31.3,9.0,-39344.5,1226.5
$KALMAN_Y,47395.9,55.3,715.9,-25850.6,-1893.3
$MHEAD_RNG_PITCHd_Wd,230.6,35094,-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,-126.5,0.0,0.0,0,89,0.00,0.00,-68.65,0.000,2,0.000,0.000,8,2571,2925
$GC,95,-0.47,-126.5,2.1,-1.0,8,122,9.50,1.65,-10.48,0.000,4,0.196,0.038,2539,1425,3417
$GC,270,-0.47,-126.5,47.1,-21.4,28,274,0.00,1.62,0.00,0.000,6,0.000,0.038,2533,2500,3418
$GC,543,-0.47,-126.5,107.1,-19.9,53,547,0.00,1.62,0.00,0.000,4,0.000,0.043,2525,3567,3418
$GC,594,-0.47,-126.5,116.9,-18.8,57,598,0.00,1.52,0.00,0.000,6,0.000,0.019,2525,2490,3418
$GC,867,-0.47,-126.5,165.0,-16.5,82,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2482,3418
$GC,1131,-0.47,-126.5,208.0,-16.0,104,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2482,3419
$GC,1374,-0.47,-126.5,245.3,-14.6,110,1378,0.00,1.40,0.00,0.000,4,0.000,0.020,2528,1459,3418
$GC,1469,-0.47,-126.5,256.5,-10.9,112,1473,0.00,1.60,0.00,0.000,6,0.000,0.035,2522,2516,3418
$GC,1764,-0.47,-126.5,292.0,-12.4,119,1767,0.00,1.60,0.00,0.000,4,0.000,0.045,2514,3566,3417
$GC,1878,-0.47,-126.5,306.7,-12.7,121,1882,0.00,1.48,0.00,0.000,6,0.000,0.019,2520,2522,3417
$GC,2150,-0.47,-126.5,340.3,-12.5,128,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2514,3416
$GC,2393,-0.47,-126.5,369.1,-11.7,134,2397,0.00,1.62,0.00,0.000,4,0.000,0.044,2513,3565,3414
$GC,2450,-0.47,-126.5,376.4,-11.6,135,2454,0.00,1.50,0.00,0.000,6,0.000,0.021,2517,2506,3414
$GC,2734,-0.47,-126.5,408.8,-11.3,142,2738,0.00,1.45,0.00,0.000,4,0.000,0.021,2521,1457,3412
$GC,2784,-0.47,-126.5,414.0,-8.8,143,2788,0.00,1.60,0.00,0.000,6,0.000,0.038,2516,2503,3411
$GC,3079,-0.47,-126.5,442.5,-10.0,150,3082,0.00,1.60,0.00,0.000,4,0.000,0.048,2508,3564,3410
$GC,3174,-0.47,-126.5,452.9,-10.7,152,3178,0.08,1.50,0.00,0.000,6,0.108,0.022,2539,2512,3408
$GC,3469,-0.47,-126.5,478.3,-7.8,159,3473,0.00,1.48,-0.08,0.000,4,0.000,0.041,2539,1450,3431
$GC,3528,-0.47,-126.5,482.2,-6.7,160,3531,0.00,1.60,0.00,0.000,6,0.000,0.042,2537,2507,3431
$GC,3811,-0.47,-126.5,500.0,-6.4,167,3814,0.00,1.60,0.00,0.000,4,0.000,0.050,2529,3559,3428
$GC,3951,-0.47,-126.5,511.3,-8.4,170,3955,0.00,1.52,0.00,0.000,6,0.000,0.024,2529,2511,3427
$GC,4246,-0.47,-126.5,540.4,-9.7,177,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2502,3424
$GC,4490,-0.47,-126.5,559.9,-7.8,183,4493,0.00,1.50,0.00,0.000,4,0.000,0.024,2529,1442,3422
$GC,4514,-0.47,-126.5,562.0,-7.3,183,4518,0.00,1.65,0.00,0.000,6,0.000,0.043,2523,2503,3422
$GC,4787,-0.47,-126.5,582.2,-7.7,190,4790,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3561,3420
$GC,4811,-0.47,-126.5,584.8,-8.6,190,4815,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2497,3420
$GC,5082,-0.47,-126.5,607.4,-8.6,197,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2490,3418
$GC,5326,-0.47,-126.5,626.3,-7.5,203,5330,0.00,1.70,0.00,0.000,4,0.000,0.054,2523,3555,3416
$GC,5395,-0.47,-126.5,631.4,-6.3,204,5399,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2511,3416
$GC,5668,-0.47,-126.5,649.5,-6.9,211,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2503,3414
$GC,5912,-0.47,-126.5,666.6,-7.0,217,5915,0.00,1.67,0.00,0.000,4,0.000,0.052,2516,3571,3413
$GC,5954,-0.47,-126.5,670.0,-7.2,217,5962,0.00,1.55,0.00,0.000,6,0.000,0.025,2519,2505,3412
$GC,6209,-0.47,-126.5,687.8,-7.0,224,6213,0.00,1.50,0.00,0.000,4,0.000,0.025,2519,1451,3411
$GC,6295,-0.47,-126.5,694.5,-7.6,225,6304,0.00,1.65,0.00,0.000,6,0.000,0.045,2514,2506,3411
$GC,6551,-0.47,-126.5,714.4,-8.1,232,6555,0.10,1.65,0.00,0.000,4,0.129,0.052,2535,3567,3409
$GC,6592,-0.47,-126.5,717.8,-6.4,232,6600,0.00,1.55,0.00,0.000,6,0.000,0.026,2535,2505,3409
$GC,6847,-0.47,-126.5,734.3,-6.6,239,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2504,3408
$GC,7090,-0.47,-126.5,751.0,-6.9,245,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2504,3407
$GC,7335,-0.47,-126.5,768.6,-7.2,251,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2504,3406
$GC,7578,-0.47,-126.5,786.0,-7.1,257,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2504,3404
$GC,7822,-0.47,-126.5,802.6,-6.8,263,7825,0.00,1.70,0.00,0.000,4,0.000,0.055,2527,3559,3403
$GC,7857,-0.47,-126.5,805.4,-7.2,263,7861,0.00,1.52,0.00,0.000,6,0.000,0.028,2527,2529,3403
$GC,8118,-0.47,-126.5,823.5,-7.0,270,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2522,3402
$GC,8362,-0.47,-126.5,840.2,-6.8,276,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2522,3401
$GC,8605,-0.47,-126.5,856.4,-6.6,282,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2522,3400
$GC,8849,-0.47,-126.5,872.2,-6.5,288,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2522,3400
$GC,9093,-0.47,-126.5,886.8,-5.9,294,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2522,3400
$GC,9336,-0.47,-126.5,899.8,-5.3,300,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2522,3399
$STATE,9373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9373,begin apogee
$GC,9384,-0.17,0.0,901.9,5.2,301,9498,0.35,0.00,111.10,1.262,6,0.093,0.000,2646,2213,2900
$STATE,9499,end apogee,CONTROL_FINISHED_OK
$STATE,9499,begin climb
$GC,9504,0.47,126.5,904.2,0.0,304,9659,0.52,1.67,127.88,1.163,4,0.030,0.028,2884,1178,2383
$GC,9734,0.47,126.5,882.3,17.5,309,9737,0.00,1.70,0.00,0.000,6,0.000,0.040,2878,2230,2377
$GC,10023,0.47,126.5,831.2,17.6,316,10026,0.00,1.65,0.00,0.000,4,0.000,0.050,2877,3281,2372
$GC,10109,0.47,126.5,814.8,18.3,317,10115,0.10,1.55,0.00,0.000,6,0.176,0.028,2854,2264,2371
$GC,10363,0.47,126.5,777.6,14.6,324,10367,0.00,1.62,0.00,0.000,4,0.000,0.048,2850,3285,2369
$GC,10393,0.47,126.5,772.8,14.7,324,10397,0.00,1.55,0.00,0.000,6,0.000,0.027,2856,2259,2369
$GC,10660,0.47,126.5,736.0,13.8,331,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2252,2368
$GC,10903,0.47,126.5,703.8,13.1,337,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2252,2368
$GC,11147,0.47,126.5,671.5,13.5,343,11150,0.00,1.60,0.00,0.000,4,0.000,0.029,2863,1165,2367
$GC,11210,0.47,126.5,662.7,13.6,344,11214,0.00,1.73,0.00,0.000,6,0.000,0.043,2864,2263,2367
$GC,11487,0.47,126.5,623.1,14.6,351,11491,0.00,1.60,0.00,0.000,4,0.000,0.051,2863,3277,2366
$GC,11557,0.47,126.5,612.1,14.4,352,11560,0.00,1.50,0.00,0.000,6,0.000,0.026,2869,2268,2366
$GC,11828,0.47,126.5,572.7,14.6,359,11832,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1169,2365
$GC,11886,0.47,126.5,564.5,12.8,360,11890,0.00,1.73,0.00,0.000,6,0.000,0.042,2877,2267,2365
$GC,12169,0.47,126.5,525.1,14.2,367,12172,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3279,2365
$GC,12187,0.47,126.5,522.1,13.5,367,12192,0.10,1.50,0.00,0.000,6,0.162,0.027,2851,2273,2365
$GC,12464,0.47,126.5,491.6,10.9,374,12468,0.00,1.62,0.00,0.000,4,0.000,0.050,2851,3279,2364
$GC,12550,0.47,126.5,481.1,12.1,375,12559,0.00,1.50,0.00,0.000,6,0.000,0.027,2857,2274,2364
$GC,12805,0.47,126.5,451.3,11.6,382,12809,0.00,1.62,0.00,0.000,4,0.000,0.031,2860,1149,2364
$GC,12918,0.47,126.5,439.9,9.7,384,12922,0.00,1.67,0.00,0.000,6,0.000,0.041,2860,2238,2363
$GC,13191,0.47,126.5,413.1,9.9,391,13194,0.00,1.62,0.00,0.000,4,0.000,0.049,2860,3293,2363
$GC,13241,0.47,126.5,407.5,10.2,392,13245,0.00,1.55,0.00,0.000,6,0.000,0.025,2867,2249,2363
$GC,13534,0.47,126.5,371.3,12.8,399,13538,0.00,1.58,0.00,0.000,4,0.000,0.028,2873,1168,2362
$GC,13599,0.47,126.5,363.7,10.5,400,13603,0.00,1.70,0.00,0.000,6,0.000,0.041,2873,2279,2363
$GC,13876,0.47,126.5,335.2,9.8,407,13880,0.00,1.58,0.00,0.000,4,0.000,0.048,2873,3285,2362
$GC,13962,0.47,126.5,325.7,10.0,408,13970,0.08,1.48,0.00,0.000,6,0.166,0.025,2856,2281,2362
$GC,14219,0.47,131.5,303.7,8.8,415,14223,0.00,1.60,0.00,0.000,4,0.000,0.046,2856,3291,2363
$GC,14368,0.47,131.5,288.2,10.3,418,14372,0.00,1.40,0.00,0.000,6,0.000,0.025,2860,2345,2363
$GC,14651,0.48,141.8,263.3,8.5,425,14675,0.00,1.52,13.32,0.679,4,0.000,0.045,2860,3287,2321
$GC,14791,0.48,141.8,249.2,9.8,428,14794,0.00,1.35,0.00,0.000,6,0.000,0.024,2866,2364,2320
$GC,15080,0.49,175.6,226.1,7.4,435,15114,0.00,1.75,30.10,0.772,4,0.000,0.026,2873,1160,2183
$GC,15197,0.49,183.3,216.4,8.6,437,15215,0.00,1.83,7.97,0.670,6,0.000,0.040,2872,2333,2151
$GC,15465,0.49,183.3,185.6,11.5,450,15469,0.00,1.48,0.00,0.000,4,0.000,0.047,2872,3278,2149
$GC,15518,0.49,183.3,178.6,12.9,454,15526,0.00,1.38,0.00,0.000,6,0.000,0.022,2879,2341,2149
$GC,15785,0.49,183.3,147.0,13.1,479,15789,0.00,1.67,0.00,0.000,4,0.000,0.025,2887,1159,2149
$GC,15872,0.49,183.3,136.4,10.5,486,15881,0.08,1.85,0.00,0.000,6,0.127,0.038,2863,2347,2148
$GC,16144,0.49,183.3,111.8,9.0,511,16148,0.00,1.42,0.00,0.000,4,0.000,0.043,2862,3279,2148
$GC,16185,0.49,183.3,107.2,9.2,514,16194,0.00,1.35,0.00,0.000,6,0.000,0.021,2868,2336,2148
$GC,16452,0.51,225.2,85.9,7.0,539,16494,0.00,1.50,35.28,0.626,4,0.000,0.042,2868,3283,1985
$GC,16550,0.51,225.2,76.3,11.3,547,16559,0.00,1.35,0.00,0.000,6,0.000,0.021,2870,2360,1983
$GC,16817,0.53,270.7,57.9,6.8,572,16860,0.00,1.50,38.62,0.594,4,0.000,0.041,2870,3285,1795
$GC,16926,0.55,316.9,49.6,6.8,580,16968,0.00,1.33,38.03,0.581,6,0.000,0.020,2870,2374,1608
$GC,17225,0.55,332.7,37.2,8.3,607,17243,0.00,1.75,13.70,0.543,4,0.000,0.023,2869,1161,1542
$GC,17304,0.56,357.1,31.4,7.8,613,17332,0.00,1.85,20.65,0.550,6,0.000,0.034,2869,2377,1444
$STATE,17615,end climb,SURFACE_DEPTH_REACHED
$STATE,17615,begin surface coast
$FINISH,0.5,0.998664
$STATE,17660,end surface coast,CONTROL_FINISHED_OK
$STATE,17660,begin surface
$SM_CCo,17685,14.70,0.510,0,0,1309,390.02
$SM_GC,1.70,0.00,0.00,14.70,0.000,0.000,0.510,35,2570,1309,-8.31,1.98,390.02
$IRIDIUM_FIX,2255.72,-15754.52,300103,080826
$TT8_MAMPS,0.023777
$HUMID,2202
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.60
$XPDR_PINGS,7
$24V_AH,23.4,42.776
$10V_AH,10.6,50.481
$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,18.100,117.325,436.650,14.700,0.000,61.448,78.954,339.320,1.750,0.000,0.000,25.750,1420.034,11848.488,477.920,3531.593,1164.761,33.381,1605.227,0.000,3516.646,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,55.224,1261.715,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,454.419,2192.047,2269.782,1531.228,1508.849,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54145,667
$CAP_FILE_SIZE,141731,0
$CFSIZE,260165632,241475584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,051113,133523,2254.760,-15756.438,24,1.2,42,10.1