version: 66.04
glider: 512
mission: 4
dive: 262
start: 11 6 113 0 12 28
data:
$ID,512
$MISSION,4
$DIVE,262
$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,-111645.19
$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,78
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2895
$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
$GPS1,235535,2253.172,-15758.799,38,1.2,44,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-81.7
$GPS2,001130,2253.129,-15758.964,12,1.2,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.138,-0.190
$KALMAN_X,51701.3,35.4,172.3,-50054.4,941.9
$KALMAN_Y,51145.9,519.6,-13.1,-34906.0,246.6
$MHEAD_RNG_PITCHd_Wd,206.0,26300,-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,-126.5,0.0,0.0,0,97,0.00,0.00,-77.12,0.000,2,0.000,0.000,10,2525,2981
$GC,103,-0.47,-126.5,2.4,-1.7,9,132,9.65,1.52,-8.80,0.000,4,0.199,0.038,2541,1448,3410
$GC,292,-0.47,-126.5,48.2,-19.4,30,296,0.00,1.60,0.00,0.000,6,0.000,0.038,2535,2509,3410
$GC,564,-0.47,-126.5,99.0,-17.6,55,568,0.00,1.60,0.00,0.000,4,0.000,0.044,2527,3577,3411
$GC,649,-0.47,-126.5,114.7,-18.4,62,653,0.00,1.55,0.00,0.000,6,0.000,0.019,2528,2490,3411
$GC,920,-0.47,-126.5,161.7,-16.8,87,924,0.00,1.65,0.00,0.000,4,0.000,0.041,2523,3572,3411
$GC,973,-0.47,-126.5,171.1,-16.6,91,981,0.00,1.52,0.00,0.000,6,0.000,0.018,2523,2492,3411
$GC,1236,-0.47,-126.5,213.5,-16.4,110,1239,0.00,1.42,0.00,0.000,4,0.000,0.020,2523,1456,3411
$GC,1321,-0.47,-126.5,227.1,-13.9,111,1330,0.00,1.58,0.00,0.000,6,0.000,0.035,2516,2503,3411
$GC,1577,-0.47,-126.5,262.9,-14.1,118,1580,0.00,1.60,0.00,0.000,4,0.000,0.044,2508,3577,3410
$GC,1773,-0.47,-126.5,291.0,-13.5,122,1777,0.08,1.45,0.00,0.000,6,0.119,0.019,2541,2537,3410
$GC,2055,-0.47,-126.5,316.9,-8.2,129,2059,0.00,1.45,0.00,0.000,4,0.000,0.019,2543,1470,3410
$GC,2120,-0.47,-126.5,322.1,-7.3,130,2123,0.00,1.60,0.00,0.000,6,0.000,0.037,2538,2547,3409
$GC,2397,-0.47,-126.5,346.3,-9.3,137,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2547,3407
$GC,2641,-0.47,-126.5,368.6,-9.3,143,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2547,3405
$GC,2885,-0.47,-126.5,391.2,-9.1,149,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2547,3403
$GC,3129,-0.47,-126.5,413.1,-9.0,155,3130,0.00,0.00,-0.08,0.000,6,0.000,0.000,2538,2546,3424
$GC,3372,-0.47,-126.5,433.9,-8.5,161,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2547,3423
$GC,3616,-0.47,-126.5,454.5,-8.4,167,3619,0.00,1.55,0.00,0.000,4,0.000,0.024,2543,1470,3420
$GC,3691,-0.47,-126.5,461.2,-8.1,168,3694,0.00,1.60,0.00,0.000,6,0.000,0.041,2537,2529,3420
$GC,3958,-0.47,-126.5,483.3,-8.3,175,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2529,3417
$GC,4201,-0.47,-126.5,502.5,-7.8,181,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2529,3415
$GC,4445,-0.47,-126.5,521.6,-7.8,187,4449,0.00,1.60,0.00,0.000,4,0.000,0.052,2530,3575,3413
$GC,4496,-0.47,-126.5,525.9,-8.1,188,4499,0.00,1.50,0.00,0.000,6,0.000,0.024,2530,2544,3413
$GC,4790,-0.47,-126.5,551.9,-8.9,195,4793,0.00,1.55,0.00,0.000,4,0.000,0.025,2530,1443,3411
$GC,4848,-0.47,-126.5,557.5,-9.2,196,4852,0.00,1.65,0.00,0.000,6,0.000,0.043,2524,2527,3411
$GC,5131,-0.47,-126.5,583.3,-9.1,203,5135,0.00,1.60,0.00,0.000,4,0.000,0.055,2524,3564,3409
$GC,5167,-0.47,-126.5,586.7,-8.7,203,5171,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2518,3409
$GC,5428,-0.47,-126.5,609.0,-8.7,210,5431,0.00,1.65,0.00,0.000,4,0.000,0.054,2523,3562,3407
$GC,5463,-0.47,-126.5,612.3,-8.5,210,5467,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2533,3406
$GC,5725,-0.47,-126.5,633.8,-8.3,217,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3404
$GC,5968,-0.47,-126.5,653.9,-8.1,223,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3403
$GC,6212,-0.47,-126.5,671.8,-7.1,229,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3401
$GC,6456,-0.47,-126.5,687.8,-6.5,235,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2524,3400
$GC,6700,-0.47,-126.5,703.6,-6.4,241,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2524,3399
$GC,6943,-0.47,-126.5,720.0,-6.7,247,6947,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3568,3399
$GC,6993,-0.47,-126.5,723.4,-6.2,248,6997,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2536,3398
$GC,7288,-0.47,-126.5,742.1,-6.4,255,7291,0.00,1.62,0.00,0.000,4,0.000,0.054,2518,3559,3396
$GC,7318,-0.47,-126.5,744.4,-7.4,255,7321,0.00,1.50,0.00,0.000,6,0.000,0.026,2517,2539,3396
$GC,7585,-0.47,-126.5,762.8,-7.2,262,7589,0.00,1.55,0.00,0.000,4,0.000,0.025,2521,1449,3395
$GC,7627,-0.47,-126.5,766.2,-7.8,262,7635,0.00,1.70,0.00,0.000,6,0.000,0.046,2516,2530,3395
$GC,7882,-0.47,-126.5,785.5,-7.7,269,7886,0.00,1.62,0.00,0.000,4,0.000,0.057,2510,3552,3394
$GC,7934,-0.47,-126.5,789.8,-7.7,270,7938,0.08,1.50,0.00,0.000,6,0.107,0.027,2539,2534,3393
$GC,8223,-0.47,-126.5,806.0,-5.5,277,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2527,3392
$GC,8467,-0.47,-126.5,819.8,-5.8,283,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2527,3391
$GC,8711,-0.47,-126.5,834.7,-6.2,289,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2526,3390
$GC,8954,-0.47,-126.5,850.2,-6.5,295,8958,0.00,1.55,0.00,0.000,4,0.000,0.026,2544,1451,3390
$GC,8984,-0.47,-126.5,852.4,-7.0,295,8988,0.00,1.73,0.00,0.000,6,0.000,0.048,2538,2541,3390
$GC,9251,-0.47,-126.5,868.5,-6.1,302,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2541,3389
$GC,9494,-0.47,-126.5,883.0,-6.1,308,9498,0.00,1.62,0.00,0.000,4,0.000,0.058,2537,3554,3388
$GC,9535,-0.47,-126.5,885.7,-6.4,308,9544,0.00,1.50,0.00,0.000,6,0.000,0.028,2537,2531,3387
$STATE,9785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9785,begin apogee
$GC,9797,-0.17,0.0,900.4,5.8,315,9908,0.30,0.00,108.53,1.267,6,0.091,0.000,2641,2218,2895
$STATE,9909,end apogee,CONTROL_FINISHED_OK
$STATE,9909,begin climb
$GC,9914,0.47,126.5,903.5,0.0,318,10068,0.55,1.67,126.70,1.177,4,0.031,0.028,2883,1178,2378
$GC,10096,0.47,126.5,891.4,15.7,322,10100,0.00,1.73,0.00,0.000,6,0.000,0.041,2878,2230,2374
$GC,10390,0.47,126.5,840.1,17.8,329,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2230,2368
$GC,10634,0.47,126.5,799.1,16.6,335,10638,0.00,1.65,0.00,0.000,4,0.000,0.050,2876,3285,2366
$GC,10684,0.47,126.5,790.2,17.1,336,10688,0.10,1.62,0.00,0.000,6,0.170,0.027,2853,2219,2365
$GC,10979,0.47,126.5,749.7,13.4,343,10982,0.00,1.55,0.00,0.000,4,0.000,0.028,2859,1159,2364
$GC,10997,0.47,126.5,746.6,13.1,343,11001,0.00,1.65,0.00,0.000,6,0.000,0.041,2859,2207,2363
$GC,11273,0.47,126.5,710.6,13.3,350,11277,0.00,1.70,0.00,0.000,4,0.000,0.050,2859,3282,2362
$GC,11342,0.47,126.5,700.3,15.2,351,11346,0.00,1.60,0.00,0.000,6,0.000,0.028,2866,2197,2362
$GC,11615,0.47,126.5,661.3,14.6,358,11618,0.00,1.73,0.00,0.000,4,0.000,0.048,2864,3289,2361
$GC,11678,0.47,126.5,652.1,13.8,359,11682,0.00,1.60,0.00,0.000,6,0.000,0.026,2869,2217,2361
$GC,11955,0.47,126.5,614.5,13.9,366,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2215,2361
$GC,12199,0.47,126.5,580.2,14.1,372,12202,0.00,1.67,0.00,0.000,4,0.000,0.047,2864,3283,2361
$GC,12294,0.47,126.5,565.3,14.8,374,12298,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2247,2360
$GC,12588,0.47,126.5,522.4,14.2,381,12592,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1165,2361
$GC,12618,0.47,126.5,517.6,14.5,381,12622,0.00,1.67,0.00,0.000,6,0.000,0.042,2876,2233,2360
$GC,12885,0.47,126.5,480.6,13.9,388,12889,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3285,2360
$GC,12948,0.47,126.5,470.5,14.3,389,12952,0.10,1.55,0.00,0.000,6,0.164,0.025,2851,2245,2360
$GC,13224,0.47,126.5,439.7,10.9,396,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2239,2359
$GC,13469,0.47,126.5,413.6,10.9,402,13472,0.00,1.58,0.00,0.000,4,0.000,0.028,2857,1153,2360
$GC,13544,0.47,126.5,406.0,9.5,403,13547,0.00,1.67,0.00,0.000,6,0.000,0.040,2857,2250,2359
$GC,13810,0.47,126.5,381.1,9.6,410,13813,0.00,1.60,0.00,0.000,4,0.000,0.048,2857,3272,2359
$GC,13834,0.47,126.5,378.1,10.3,410,13838,0.00,1.52,0.00,0.000,6,0.000,0.025,2860,2250,2359
$GC,14105,0.47,126.5,349.4,10.7,417,14108,0.00,1.62,0.00,0.000,4,0.000,0.047,2860,3284,2359
$GC,14202,0.47,126.5,337.8,10.9,419,14206,0.00,1.50,0.00,0.000,6,0.000,0.025,2867,2263,2359
$GC,14491,0.47,126.5,306.2,11.1,426,14494,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3299,2358
$GC,14542,0.47,126.5,300.3,12.6,427,14545,0.00,1.52,0.00,0.000,6,0.000,0.024,2868,2265,2359
$GC,14836,0.48,150.8,274.5,7.8,434,14860,0.00,1.62,19.15,0.834,4,0.000,0.046,2863,3277,2279
$GC,14965,0.48,156.5,263.0,8.7,436,14977,0.00,1.45,6.45,0.690,6,0.000,0.025,2869,2288,2256
$GC,15267,0.49,167.1,238.2,8.5,444,15279,0.00,0.00,10.60,0.729,6,0.000,0.000,2869,2287,2213
$GC,15510,0.49,167.1,214.5,9.9,450,15514,0.00,1.58,0.00,0.000,4,0.000,0.044,2863,3278,2211
$GC,15574,0.49,167.1,207.5,10.5,451,15578,0.00,1.40,0.00,0.000,6,0.000,0.023,2868,2328,2211
$GC,15838,0.49,170.8,181.7,8.8,468,15853,0.00,1.67,4.65,0.547,4,0.000,0.025,2877,1171,2197
$GC,15960,0.49,170.8,170.5,9.9,478,15963,0.00,1.75,0.00,0.000,6,0.000,0.037,2877,2322,2197
$GC,16232,0.49,170.8,141.6,10.8,503,16235,0.00,1.48,0.00,0.000,4,0.000,0.044,2876,3282,2197
$GC,16262,0.49,170.8,137.8,11.6,505,16270,0.00,1.42,0.00,0.000,6,0.000,0.022,2881,2300,2197
$GC,16528,0.50,202.0,112.8,7.5,530,16560,0.00,1.67,27.92,0.645,4,0.000,0.024,2886,1161,2071
$GC,16580,0.50,210.4,108.4,8.6,533,16593,0.00,1.80,8.45,0.570,6,0.000,0.037,2886,2318,2037
$GC,16858,0.50,210.4,79.2,9.1,558,16862,0.00,1.48,0.00,0.000,4,0.000,0.044,2886,3275,2033
$GC,16902,0.50,210.4,74.1,9.0,561,16910,0.08,1.38,0.00,0.000,6,0.120,0.021,2865,2317,2033
$GC,17175,0.54,310.2,63.6,4.2,586,17259,0.00,0.00,80.70,0.597,6,0.000,0.000,2866,2316,1630
$GC,17515,0.56,362.9,44.2,6.5,616,17562,0.00,1.67,42.22,0.568,4,0.000,0.022,2869,1161,1414
$GC,17591,0.60,447.9,39.8,4.9,621,17664,0.00,1.80,68.00,0.562,6,0.000,0.033,2869,2338,1068
$STATE,17935,end climb,SURFACE_DEPTH_REACHED
$STATE,17935,begin surface coast
$FINISH,0.5,0.999489
$STATE,17962,end surface coast,CONTROL_FINISHED_OK
$STATE,17962,begin surface
$SM_CCo,18047,0.00,0.000,0,0,1062,449.63
$SM_GC,1.30,7.28,0.00,0.00,0.025,0.000,0.000,42,2554,1062,-8.22,1.53,449.63
$IRIDIUM_FIX,2225.34,-15757.62,310103,000036
$TT8_MAMPS,0.023777
$HUMID,2193
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.60
$XPDR_PINGS,7
$24V_AH,23.4,43.262
$10V_AH,10.6,51.170
$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,18.200,114.950,503.375,0.000,0.000,86.603,110.271,424.507,1.750,0.000,0.000,17.487,1405.025,12319.695,484.866,3476.088,1308.411,33.380,1593.652,0.000,3462.771,0.000,0.546,0.000
$DEVICE_MAMPS,199.420,58.292,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,456.462,2205.411,2285.767,1574.943,1519.864,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57304,670
$CAP_FILE_SIZE,143739,0
$CFSIZE,260165632,241258496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,061113,051435,2251.373,-15800.301,36,0.9,36,10.1