version: 66.04
glider: 512
mission: 4
dive: 260
start: 11 5 113 13 49 59
data:
$ID,512
$MISSION,4
$DIVE,260
$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,-111609.91
$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,62
$R_STBD_OVSHOOT,28
$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
$GPS1,133523,2254.760,-15756.438,24,1.2,42,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-81.4
$GPS2,134901,2254.696,-15756.513,14,1.3,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.155,-0.177
$KALMAN_X,49648.3,-131.6,-47.9,-43423.1,1025.7
$KALMAN_Y,47855.3,180.4,-200.0,-28188.7,169.2
$MHEAD_RNG_PITCHd_Wd,211.2,30888,-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,-68.55,0.000,2,0.000,0.000,10,2565,2938
$GC,95,-0.47,-126.5,2.4,-1.8,8,122,9.57,1.62,-10.12,0.000,4,0.196,0.036,2542,1422,3419
$GC,329,-0.47,-126.5,58.7,-19.2,33,333,0.00,1.65,0.00,0.000,6,0.000,0.039,2536,2512,3420
$GC,601,-0.47,-126.5,111.3,-18.8,58,604,0.00,1.60,0.00,0.000,4,0.000,0.044,2528,3563,3421
$GC,788,-0.47,-126.5,139.5,-12.2,74,792,0.00,1.50,0.00,0.000,6,0.000,0.018,2528,2501,3421
$GC,1059,-0.47,-126.5,179.2,-15.7,99,1063,0.00,1.42,0.00,0.000,4,0.000,0.019,2528,1455,3421
$GC,1109,-0.47,-126.5,186.4,-12.9,103,1113,0.00,1.60,0.00,0.000,6,0.000,0.038,2523,2505,3421
$GC,1374,-0.47,-126.5,225.9,-15.1,116,1377,0.00,1.60,0.00,0.000,4,0.000,0.044,2516,3583,3421
$GC,1424,-0.47,-126.5,232.8,-12.5,117,1427,0.00,1.52,0.00,0.000,6,0.000,0.018,2516,2508,3420
$GC,1719,-0.47,-126.5,269.6,-12.7,124,1722,0.00,1.60,0.00,0.000,4,0.000,0.041,2508,3566,3420
$GC,1804,-0.47,-126.5,282.0,-12.3,125,1813,0.08,1.42,0.00,0.000,6,0.117,0.018,2536,2534,3420
$GC,2059,-0.47,-126.5,308.4,-10.5,132,2063,0.00,1.60,0.00,0.000,4,0.000,0.044,2531,3567,3420
$GC,2110,-0.47,-126.5,313.7,-10.1,133,2114,0.00,1.38,0.00,0.000,6,0.000,0.019,2531,2591,3419
$GC,2404,-0.47,-126.5,345.0,-10.7,140,2408,0.00,1.55,0.00,0.000,4,0.000,0.021,2531,1468,3418
$GC,2490,-0.47,-126.5,354.5,-10.6,141,2499,0.00,1.67,0.00,0.000,6,0.000,0.038,2524,2569,3417
$GC,2745,-0.47,-126.5,380.6,-10.2,148,2749,0.00,1.55,0.00,0.000,4,0.000,0.021,2524,1474,3415
$GC,2788,-0.47,-126.5,385.3,-10.2,148,2796,0.00,1.65,0.00,0.000,6,0.000,0.041,2523,2550,3415
$GC,3042,-0.47,-126.5,409.6,-9.4,155,3046,0.00,1.55,0.00,0.000,4,0.000,0.049,2523,3556,3413
$GC,3072,-0.47,-126.5,412.7,-9.7,155,3076,0.00,1.42,0.00,0.000,6,0.000,0.022,2523,2560,3413
$GC,3339,-0.47,-126.5,435.6,-8.9,162,3342,0.00,1.50,0.00,0.000,4,0.000,0.022,2523,1477,3411
$GC,3363,-0.47,-126.5,438.2,-9.3,162,3367,0.00,1.65,0.00,0.000,6,0.000,0.042,2523,2549,3411
$GC,3635,-0.47,-126.5,464.9,-10.2,169,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2550,3408
$GC,3879,-0.47,-126.5,490.2,-10.4,175,3881,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2550,3432
$GC,4122,-0.47,-126.5,514.4,-10.0,181,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2550,3430
$GC,4366,-0.47,-126.5,537.5,-9.4,187,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2550,3428
$GC,4610,-0.47,-126.5,559.5,-8.9,193,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2550,3427
$GC,4854,-0.47,-126.5,579.0,-8.0,199,4858,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1476,3424
$GC,4912,-0.47,-126.5,583.9,-7.4,200,4916,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2534,3424
$GC,5194,-0.47,-126.5,605.8,-7.9,207,5198,0.00,1.60,0.00,0.000,4,0.000,0.051,2515,3560,3421
$GC,5230,-0.47,-126.5,609.0,-8.9,207,5233,0.00,1.45,0.00,0.000,6,0.000,0.025,2515,2566,3421
$GC,5492,-0.47,-126.5,630.4,-8.4,214,5496,0.00,1.52,0.00,0.000,4,0.000,0.025,2521,1479,3420
$GC,5578,-0.47,-126.5,638.0,-8.3,215,5586,0.00,1.62,0.00,0.000,6,0.000,0.043,2516,2525,3419
$GC,5833,-0.47,-126.5,660.1,-9.0,222,5837,0.00,1.60,0.00,0.000,4,0.000,0.053,2508,3566,3417
$GC,5885,-0.47,-126.5,664.9,-9.6,223,5889,0.08,1.48,0.00,0.000,6,0.110,0.025,2540,2554,3417
$GC,6179,-0.47,-126.5,686.4,-7.2,230,6182,0.00,1.60,0.00,0.000,4,0.000,0.054,2537,3565,3415
$GC,6211,-0.47,-126.5,688.9,-7.5,230,6214,0.00,1.45,0.00,0.000,6,0.000,0.026,2537,2564,3415
$GC,6477,-0.47,-126.5,707.7,-7.0,237,6481,0.00,1.52,0.00,0.000,4,0.000,0.025,2537,1481,3413
$GC,6512,-0.47,-126.5,710.5,-7.2,237,6516,0.00,1.65,0.00,0.000,6,0.000,0.046,2536,2557,3413
$GC,6774,-0.47,-126.5,728.3,-7.0,244,6778,0.00,1.58,0.00,0.000,4,0.000,0.056,2536,3553,3412
$GC,6810,-0.47,-126.5,731.4,-7.7,244,6814,0.00,1.45,0.00,0.000,6,0.000,0.028,2536,2556,3412
$GC,7071,-0.47,-126.5,749.2,-7.1,251,7074,0.00,1.52,0.00,0.000,4,0.000,0.025,2536,1480,3411
$GC,7121,-0.47,-126.5,752.7,-6.7,252,7125,0.00,1.67,0.00,0.000,6,0.000,0.047,2536,2542,3410
$GC,7417,-0.47,-126.5,771.4,-6.1,259,7420,0.00,1.60,0.00,0.000,4,0.000,0.058,2536,3567,3410
$GC,7467,-0.47,-126.5,774.6,-5.5,260,7471,0.00,1.45,0.00,0.000,6,0.000,0.027,2535,2575,3409
$GC,7761,-0.47,-126.5,790.6,-5.4,267,7765,0.00,1.55,0.00,0.000,4,0.000,0.025,2536,1484,3408
$GC,7837,-0.47,-126.5,795.1,-6.0,268,7840,0.00,1.65,0.00,0.000,6,0.000,0.047,2536,2552,3408
$GC,8103,-0.47,-126.5,809.8,-5.7,275,8107,0.00,1.60,0.00,0.000,4,0.000,0.058,2535,3557,3406
$GC,8133,-0.47,-126.5,812.0,-6.6,275,8136,0.00,1.45,0.00,0.000,6,0.000,0.026,2535,2563,3406
$GC,8399,-0.47,-126.5,829.2,-6.7,282,8402,0.00,1.55,0.00,0.000,4,0.000,0.025,2535,1474,3405
$GC,8429,-0.47,-126.5,831.4,-6.8,282,8433,0.00,1.67,0.00,0.000,6,0.000,0.046,2528,2540,3405
$GC,8696,-0.47,-126.5,849.5,-6.8,289,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2540,3404
$GC,8939,-0.47,-126.5,864.3,-5.9,295,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2540,3403
$GC,9183,-0.47,-126.5,877.0,-5.1,301,9186,0.00,1.60,0.00,0.000,4,0.000,0.059,2524,3560,3402
$GC,9233,-0.47,-126.5,880.0,-5.5,302,9237,0.00,1.48,0.00,0.000,6,0.000,0.028,2524,2564,3402
$GC,9528,-0.47,-126.5,897.1,-6.0,309,9531,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1478,3401
$STATE,9564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9564,begin apogee
$GC,9576,-0.17,0.0,900.0,6.6,309,9690,0.32,0.00,111.28,1.259,6,0.097,0.000,2639,2233,2900
$STATE,9691,end apogee,CONTROL_FINISHED_OK
$STATE,9691,begin climb
$GC,9696,0.47,126.5,902.5,0.0,312,9851,0.55,1.62,128.40,1.161,4,0.033,0.025,2879,1222,2384
$GC,9953,0.47,126.5,879.3,16.5,317,9957,0.00,1.60,0.00,0.000,6,0.000,0.041,2878,2217,2376
$GC,10214,0.47,126.5,834.8,17.5,324,10217,0.00,1.67,0.00,0.000,4,0.000,0.050,2876,3282,2373
$GC,10309,0.47,126.5,817.1,18.8,326,10314,0.10,1.52,0.00,0.000,6,0.174,0.027,2853,2279,2371
$GC,10603,0.47,126.5,771.1,15.5,333,10607,0.00,1.58,0.00,0.000,4,0.000,0.028,2859,1209,2370
$GC,10644,0.47,126.5,764.6,14.8,333,10654,0.00,1.62,0.00,0.000,6,0.000,0.042,2859,2237,2369
$GC,10900,0.47,126.5,726.9,15.0,340,10904,0.00,1.62,0.00,0.000,4,0.000,0.051,2859,3284,2368
$GC,10980,0.47,126.5,713.2,15.5,341,10983,0.00,1.48,0.00,0.000,6,0.000,0.027,2866,2299,2368
$GC,11240,0.47,126.5,675.8,14.6,348,11244,0.00,1.60,0.00,0.000,4,0.000,0.050,2864,3287,2367
$GC,11301,0.47,126.5,666.7,14.8,349,11304,0.00,1.48,0.00,0.000,6,0.000,0.027,2868,2296,2367
$GC,11583,0.47,126.5,628.7,13.4,356,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2289,2366
$GC,11827,0.47,126.5,594.3,14.4,362,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2289,2366
$GC,12071,0.47,126.5,557.3,15.2,368,12075,0.00,1.60,0.00,0.000,4,0.000,0.030,2876,1201,2366
$GC,12134,0.47,126.5,547.1,15.0,369,12137,0.00,1.62,0.00,0.000,6,0.000,0.042,2876,2258,2365
$GC,12412,0.47,126.5,506.7,14.5,376,12415,0.00,1.60,0.00,0.000,4,0.000,0.049,2876,3279,2365
$GC,12486,0.47,126.5,495.2,14.9,377,12491,0.10,1.48,0.00,0.000,6,0.166,0.027,2852,2291,2365
$GC,12752,0.47,126.5,465.4,11.1,384,12756,0.00,1.60,0.00,0.000,4,0.000,0.048,2852,3286,2364
$GC,12804,0.47,126.5,459.4,12.5,385,12807,0.00,1.42,0.00,0.000,6,0.000,0.026,2857,2336,2364
$GC,13097,0.47,126.5,427.3,10.9,392,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2330,2364
$GC,13341,0.47,126.5,400.2,11.2,398,13345,0.00,1.65,0.00,0.000,4,0.000,0.029,2860,1210,2365
$GC,13437,0.47,126.5,390.4,10.0,400,13441,0.00,1.67,0.00,0.000,6,0.000,0.042,2860,2279,2364
$GC,13731,0.47,126.5,359.4,10.6,407,13735,0.00,1.60,0.00,0.000,4,0.000,0.028,2860,1204,2363
$GC,13744,0.47,126.5,357.7,10.5,407,13748,0.00,1.65,0.00,0.000,6,0.000,0.041,2860,2284,2364
$GC,14027,0.47,126.5,330.6,9.5,414,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2283,2364
$GC,14271,0.47,133.4,308.6,8.7,420,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2283,2364
$GC,14514,0.49,183.8,290.7,6.6,426,14573,0.00,1.60,49.10,0.812,4,0.000,0.025,2867,1217,2149
$GC,14615,0.50,193.9,283.4,8.5,428,14629,0.00,1.65,10.00,0.744,6,0.000,0.040,2866,2272,2109
$GC,14896,0.50,193.9,251.7,11.5,435,14900,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3278,2104
$GC,15129,0.50,193.9,221.6,12.3,440,15133,0.00,1.35,0.00,0.000,6,0.000,0.024,2868,2364,2103
$GC,15395,0.50,193.9,191.5,10.5,450,15399,0.00,1.65,0.00,0.000,4,0.000,0.026,2873,1206,2103
$GC,15446,0.50,193.9,186.4,9.2,454,15450,0.00,1.75,0.00,0.000,6,0.000,0.038,2873,2346,2103
$GC,15718,0.50,193.9,154.3,13.6,479,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2346,2103
$GC,15984,0.50,194.7,125.2,9.0,504,15988,0.00,1.67,0.00,0.000,4,0.000,0.023,2881,1195,2103
$GC,16049,0.51,229.6,119.9,7.3,509,16098,0.00,1.80,32.35,0.627,6,0.000,0.037,2878,2365,1963
$GC,16354,0.51,229.6,89.7,10.3,537,16358,0.00,1.73,0.00,0.000,4,0.000,0.023,2885,1189,1961
$GC,16439,0.53,270.5,82.1,7.0,544,16480,0.00,1.75,34.38,0.614,6,0.000,0.035,2884,2321,1796
$GC,16737,0.55,334.3,60.7,5.9,571,16794,0.00,1.73,51.72,0.593,4,0.000,0.023,2885,1199,1536
$GC,16836,0.57,385.6,53.9,6.5,578,16882,0.00,1.73,42.28,0.580,6,0.000,0.033,2886,2325,1328
$GC,17144,0.58,410.4,31.4,7.8,605,17173,0.00,1.67,20.90,0.549,4,0.000,0.021,2885,1200,1224
$GC,17198,0.60,445.2,27.6,7.3,610,17234,0.00,1.67,28.85,0.548,6,0.000,0.031,2885,2292,1084
$GC,17540,0.61,486.5,9.4,7.0,662,17585,0.00,1.62,33.53,0.534,4,0.000,0.021,2885,1207,915
$STATE,17604,end climb,SURFACE_DEPTH_REACHED
$STATE,17604,begin surface coast
$FINISH,0.5,1.013199
$STATE,17637,end surface coast,CONTROL_FINISHED_OK
$STATE,17637,begin surface
$SM_CCo,17725,0.00,0.000,0,0,911,487.89
$SM_GC,1.41,7.30,0.00,0.00,0.021,0.000,0.000,41,2518,911,-8.22,0.51,487.89
$IRIDIUM_FIX,2251.04,-15752.35,300103,131331
$TT8_MAMPS,0.023777
$HUMID,2171
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.90
$XPDR_PINGS,6
$24V_AH,23.4,42.942
$10V_AH,10.6,50.713
$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,18.100,133.050,542.775,0.000,0.000,54.893,87.738,415.520,1.500,0.000,0.000,14.869,1429.721,11740.061,512.136,3581.596,1270.833,33.379,1708.073,0.000,3574.538,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,59.059,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.819,2221.775,2302.166,1564.132,1549.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57389,675
$CAP_FILE_SIZE,145643,0
$CFSIZE,260165632,241397760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,051113,184636,2254.177,-15757.755,29,1.5,29,10.1