version: 66.04
glider: 512
mission: 4
dive: 264
start: 11 6 113 10 53 4
data:
$ID,512
$MISSION,4
$DIVE,264
$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,-111675.95
$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,64
$R_STBD_OVSHOOT,39
$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
$GPS1,103705,2250.099,-15801.530,40,1.2,46,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-80.2
$GPS2,105206,2250.158,-15801.560,11,1.4,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.084,-0.220
$KALMAN_X,52864.5,-204.6,264.7,-55499.7,355.9
$KALMAN_Y,54048.0,-520.1,280.7,-42556.8,1297.4
$MHEAD_RNG_PITCHd_Wd,190.7,19430,-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,13,begin dive
$GC,18,-0.47,-126.5,0.0,0.0,0,115,0.00,0.00,-94.43,0.000,2,0.000,0.000,11,2531,2772
$GC,121,-0.47,-126.5,2.2,-1.1,11,151,9.57,1.60,-15.18,0.000,4,0.198,0.038,2541,1423,3412
$GC,262,-0.47,-126.5,33.5,-19.4,30,272,0.00,1.65,0.00,0.000,6,0.000,0.039,2536,2491,3413
$GC,530,-0.47,-126.5,95.5,-19.7,55,533,0.00,1.65,0.00,0.000,4,0.000,0.044,2527,3566,3413
$GC,671,-0.47,-126.5,121.1,-16.6,67,675,0.00,1.52,0.00,0.000,6,0.000,0.018,2528,2496,3414
$GC,942,-0.47,-126.5,162.3,-15.4,92,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2488,3413
$GC,1238,-0.47,-126.5,206.6,-13.8,117,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2488,3413
$GC,1481,-0.47,-126.5,237.3,-12.6,123,1485,0.00,1.42,0.00,0.000,4,0.000,0.020,2528,1452,3413
$GC,1532,-0.47,-126.5,243.2,-12.0,124,1536,0.00,1.62,0.00,0.000,6,0.000,0.036,2523,2542,3413
$GC,1827,-0.47,-126.5,283.4,-13.6,131,1830,0.00,1.55,0.00,0.000,4,0.000,0.020,2523,1447,3411
$GC,1890,-0.47,-126.5,291.2,-10.3,132,1894,0.00,1.60,0.00,0.000,6,0.000,0.037,2516,2523,3411
$GC,2168,-0.47,-126.5,323.6,-11.7,139,2172,0.00,1.58,0.00,0.000,4,0.000,0.047,2508,3555,3410
$GC,2226,-0.47,-126.5,331.1,-11.8,140,2230,0.08,1.48,0.00,0.000,6,0.117,0.021,2539,2506,3410
$GC,2507,-0.47,-126.5,358.2,-9.6,147,2511,0.00,1.65,0.00,0.000,4,0.000,0.047,2533,3556,3408
$GC,2531,-0.47,-126.5,360.9,-10.0,147,2535,0.00,1.48,0.00,0.000,6,0.000,0.021,2533,2522,3408
$GC,2804,-0.47,-126.5,388.9,-10.7,154,2808,0.00,1.48,0.00,0.000,4,0.000,0.022,2533,1459,3406
$GC,2855,-0.47,-126.5,394.3,-10.2,155,2858,0.00,1.60,0.00,0.000,6,0.000,0.039,2526,2503,3405
$GC,3149,-0.47,-126.5,422.1,-9.0,162,3150,0.00,0.00,-0.08,0.000,6,0.000,0.000,2526,2503,3425
$GC,3393,-0.47,-126.5,443.9,-8.8,168,3396,0.00,1.62,0.00,0.000,4,0.000,0.053,2523,3559,3424
$GC,3463,-0.47,-126.5,450.6,-8.7,169,3467,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2536,3424
$GC,3735,-0.47,-126.5,475.4,-9.3,176,3738,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1452,3421
$GC,3776,-0.47,-126.5,479.4,-8.6,176,3784,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2530,3420
$GC,4030,-0.47,-126.5,502.0,-9.2,183,4034,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3570,3418
$GC,4055,-0.47,-126.5,504.6,-9.0,183,4058,0.00,1.50,0.00,0.000,6,0.000,0.023,2524,2533,3418
$GC,4327,-0.47,-126.5,531.8,-10.4,190,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3416
$GC,4571,-0.47,-126.5,556.1,-9.7,196,4574,0.00,1.62,0.00,0.000,4,0.000,0.051,2516,3570,3414
$GC,4646,-0.47,-126.5,562.8,-8.4,197,4649,0.00,1.50,0.00,0.000,6,0.000,0.024,2518,2541,3413
$GC,4912,-0.47,-126.5,582.7,-7.6,204,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2534,3412
$GC,5155,-0.47,-126.5,602.5,-8.3,210,5159,0.00,1.55,0.00,0.000,4,0.000,0.026,2521,1447,3409
$GC,5207,-0.47,-126.5,606.5,-8.3,211,5210,0.00,1.70,0.00,0.000,6,0.000,0.044,2515,2554,3409
$GC,5501,-0.47,-126.5,631.3,-8.5,218,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2554,3408
$GC,5744,-0.47,-126.5,653.4,-9.2,224,5748,0.00,1.60,0.00,0.000,4,0.000,0.056,2510,3584,3406
$GC,5780,-0.47,-126.5,657.1,-9.3,224,5784,0.05,1.52,0.00,0.000,6,0.115,0.025,2545,2536,3405
$GC,6040,-0.47,-126.5,674.7,-6.6,231,6043,0.00,1.52,0.00,0.000,4,0.000,0.025,2547,1462,3403
$GC,6070,-0.47,-126.5,677.0,-6.6,231,6074,0.00,1.67,0.00,0.000,6,0.000,0.046,2541,2552,3403
$GC,6337,-0.47,-126.5,693.8,-6.4,238,6341,0.00,1.60,0.00,0.000,4,0.000,0.058,2536,3575,3401
$GC,6395,-0.47,-126.5,698.3,-7.3,239,6399,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2568,3401
$GC,6678,-0.47,-126.5,717.5,-6.9,246,6681,0.00,1.58,0.00,0.000,4,0.000,0.026,2537,1462,3400
$GC,6737,-0.47,-126.5,721.8,-7.0,247,6740,0.00,1.70,0.00,0.000,6,0.000,0.047,2536,2564,3400
$GC,7020,-0.47,-126.5,739.3,-6.2,254,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2564,3399
$GC,7264,-0.47,-126.5,753.7,-5.8,260,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2564,3397
$GC,7507,-0.47,-126.5,769.9,-6.8,266,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2564,3397
$GC,7751,-0.47,-126.5,788.3,-7.6,272,7754,0.00,1.60,0.00,0.000,4,0.000,0.027,2536,1449,3395
$GC,7787,-0.47,-126.5,791.5,-8.4,272,7790,0.00,1.73,0.00,0.000,6,0.000,0.048,2536,2559,3395
$GC,8048,-0.47,-126.5,811.9,-8.0,279,8052,0.00,1.60,0.00,0.000,4,0.000,0.059,2536,3556,3394
$GC,8089,-0.47,-126.5,815.6,-7.8,279,8099,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2546,3394
$GC,8345,-0.47,-126.5,834.4,-7.3,286,8349,0.00,1.55,0.00,0.000,4,0.000,0.027,2536,1469,3393
$GC,8387,-0.47,-126.5,837.7,-7.5,286,8395,0.00,1.73,0.00,0.000,6,0.000,0.049,2536,2557,3392
$GC,8642,-0.47,-126.5,854.1,-6.3,293,8646,0.00,1.60,0.00,0.000,4,0.000,0.059,2536,3554,3392
$GC,8672,-0.47,-126.5,856.4,-6.4,293,8675,0.00,1.45,0.00,0.000,6,0.000,0.029,2536,2572,3392
$GC,8938,-0.47,-126.5,870.8,-5.5,300,8942,0.00,1.58,0.00,0.000,4,0.000,0.027,2536,1472,3391
$GC,8974,-0.47,-126.5,873.1,-5.3,300,8977,0.00,1.70,0.00,0.000,6,0.000,0.049,2536,2566,3391
$GC,9235,-0.47,-126.5,887.2,-5.5,307,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2566,3390
$STATE,9474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9474,begin apogee
$GC,9486,-0.17,0.0,902.0,6.2,313,9598,0.32,0.00,109.35,1.263,6,0.093,0.000,2647,2233,2895
$STATE,9598,end apogee,CONTROL_FINISHED_OK
$STATE,9598,begin climb
$GC,9604,0.47,126.5,906.5,0.0,316,9758,0.52,1.67,127.97,1.162,4,0.054,0.028,2883,1168,2378
$GC,9848,0.47,126.5,886.0,15.3,321,9852,0.00,1.73,0.00,0.000,6,0.000,0.040,2878,2239,2371
$GC,10120,0.47,126.5,842.0,16.3,328,10124,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3289,2367
$GC,10195,0.47,126.5,828.6,16.8,329,10199,0.12,1.60,0.00,0.000,6,0.179,0.027,2853,2220,2365
$GC,10460,0.47,126.5,791.4,13.9,336,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2214,2364
$GC,10703,0.47,126.5,757.7,13.9,342,10707,0.00,1.70,0.00,0.000,4,0.000,0.048,2850,3289,2363
$GC,10722,0.47,126.5,754.6,14.3,342,10726,0.00,1.58,0.00,0.000,6,0.000,0.026,2856,2241,2363
$GC,11000,0.47,126.5,713.7,15.0,349,11004,0.00,1.65,0.00,0.000,4,0.000,0.049,2857,3278,2362
$GC,11050,0.47,126.5,705.7,15.8,350,11054,0.00,1.52,0.00,0.000,6,0.000,0.027,2863,2262,2362
$GC,11343,0.47,126.5,661.0,14.8,357,11347,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3282,2362
$GC,11385,0.47,126.5,654.1,16.3,357,11394,0.00,1.52,0.00,0.000,6,0.000,0.028,2869,2258,2361
$GC,11640,0.47,126.5,617.6,14.3,364,11644,0.00,1.60,0.00,0.000,4,0.000,0.030,2873,1178,2361
$GC,11709,0.47,126.5,607.6,12.4,365,11713,0.00,1.67,0.00,0.000,6,0.000,0.041,2873,2267,2360
$GC,11981,0.47,126.5,570.9,13.8,372,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2268,2360
$GC,12224,0.47,126.5,535.5,14.4,378,12228,0.00,1.60,0.00,0.000,4,0.000,0.051,2873,3278,2359
$GC,12355,0.47,126.5,514.6,16.0,380,12364,0.10,1.48,0.00,0.000,6,0.160,0.028,2849,2294,2359
$GC,12610,0.47,126.5,484.0,11.8,387,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2294,2359
$GC,12854,0.47,126.5,457.9,10.6,393,12857,0.00,1.62,0.00,0.000,4,0.000,0.030,2856,1160,2358
$GC,12968,0.47,126.5,446.1,9.1,395,12971,0.00,1.75,0.00,0.000,6,0.000,0.042,2853,2296,2358
$GC,13239,0.47,126.5,418.4,10.5,402,13243,0.00,1.55,0.00,0.000,4,0.000,0.050,2850,3279,2358
$GC,13344,0.47,126.5,406.5,11.0,404,13347,0.00,1.45,0.00,0.000,6,0.000,0.027,2855,2306,2358
$GC,13626,0.47,126.5,378.2,9.9,411,13630,0.00,1.62,0.00,0.000,4,0.000,0.028,2860,1173,2358
$GC,13767,0.47,126.5,365.3,9.7,414,13771,0.00,1.70,0.00,0.000,6,0.000,0.041,2860,2282,2358
$GC,14062,0.47,126.5,335.6,9.9,421,14066,0.00,1.55,0.00,0.000,4,0.000,0.048,2860,3274,2357
$GC,14202,0.47,126.5,320.8,10.7,424,14205,0.00,1.45,0.00,0.000,6,0.000,0.025,2867,2294,2358
$GC,14497,0.48,140.3,292.7,8.3,431,14511,0.00,1.60,9.90,0.782,4,0.000,0.028,2873,1178,2323
$GC,14591,0.49,187.5,286.1,6.7,433,14638,0.00,1.67,41.85,0.828,6,0.000,0.040,2873,2268,2130
$GC,14928,0.49,187.5,247.2,13.0,441,14931,0.00,1.60,0.00,0.000,4,0.000,0.048,2873,3300,2123
$GC,14992,0.49,187.5,237.6,13.8,442,14995,0.00,1.52,0.00,0.000,6,0.000,0.025,2880,2284,2122
$GC,15269,0.49,187.5,201.0,13.2,449,15272,0.00,1.62,0.00,0.000,4,0.000,0.025,2886,1147,2122
$GC,15375,0.49,187.5,190.3,9.6,455,15379,0.00,1.77,0.00,0.000,6,0.000,0.039,2886,2282,2121
$GC,15646,0.49,187.5,157.9,12.7,480,15651,0.12,1.55,0.00,0.000,4,0.159,0.042,2854,3280,2121
$GC,15719,0.49,187.5,149.0,10.5,486,15722,0.00,1.48,0.00,0.000,6,0.000,0.024,2857,2285,2121
$GC,15992,0.50,201.7,126.0,8.3,511,16009,0.00,1.58,12.80,0.637,4,0.000,0.025,2860,1171,2072
$GC,16033,0.51,224.4,122.3,7.9,514,16060,0.00,1.73,20.17,0.646,6,0.000,0.036,2859,2287,1980
$GC,16322,0.52,239.8,96.0,8.3,540,16340,0.00,1.52,14.23,0.609,4,0.000,0.041,2860,3293,1917
$GC,16388,0.52,261.7,90.3,8.0,545,16416,0.00,1.45,19.23,0.609,6,0.000,0.021,2860,2299,1828
$GC,16673,0.55,319.7,73.3,6.2,571,16729,0.00,1.67,47.45,0.607,4,0.000,0.023,2860,1167,1589
$GC,16772,0.58,411.0,68.3,4.6,578,16852,0.00,1.77,73.12,0.594,6,0.000,0.033,2859,2306,1218
$GC,17109,0.58,411.0,34.3,10.2,608,17112,0.00,1.65,0.00,0.000,4,0.000,0.021,2859,1167,1214
$GC,17255,0.58,411.0,20.5,9.9,626,17264,0.00,1.70,0.00,0.000,6,0.000,0.031,2860,2281,1213
$STATE,17425,end climb,SURFACE_DEPTH_REACHED
$STATE,17425,begin surface coast
$FINISH,0.5,0.998510
$STATE,17469,end surface coast,CONTROL_FINISHED_OK
$STATE,17469,begin surface
$SM_CCo,17554,0.00,0.000,0,0,1211,413.08
$SM_GC,1.39,7.15,0.00,0.00,0.021,0.000,0.000,34,2537,1211,-8.23,1.05,413.08
$IRIDIUM_FIX,2305.10,-15803.21,310103,101004
$TT8_MAMPS,0.023777
$HUMID,2228
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.60
$XPDR_PINGS,5
$24V_AH,23.4,43.605
$10V_AH,10.6,51.629
$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,18.050,128.350,476.075,0.000,0.000,61.811,76.301,500.124,1.250,0.000,0.000,16.852,1401.228,11735.399,483.641,3512.715,1313.916,33.380,1639.277,0.000,3501.650,0.000,0.544,0.000
$DEVICE_MAMPS,197.886,59.059,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,448.685,2171.029,2251.249,1508.976,1476.825,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53996,659
$CAP_FILE_SIZE,142124,0
$CFSIZE,260165632,241123328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,061113,154723,2248.707,-15802.367,45,1.0,62,10.1