version: 66.04
glider: 512
mission: 4
dive: 265
start: 11 6 113 15 59 10
data:
$ID,512
$MISSION,4
$DIVE,265
$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,-111689.48
$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,69
$R_STBD_OVSHOOT,48
$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
$GPS1,154723,2248.707,-15802.367,45,1.0,62,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-82.5
$GPS2,155813,2248.800,-15802.429,12,1.1,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.106,-0.210
$KALMAN_X,53580.5,-210.1,-267.1,-57166.5,1579.9
$KALMAN_Y,55846.1,137.7,-294.4,-46956.0,2823.4
$MHEAD_RNG_PITCHd_Wd,196.8,16539,-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,-126.5,0.0,0.0,0,97,0.00,0.00,-77.28,0.000,2,0.000,0.000,12,2530,3081
$GC,103,-0.47,-126.5,2.7,-2.6,9,124,9.62,1.58,-6.45,0.000,4,0.196,0.051,2534,3560,3413
$GC,173,-0.47,-126.5,29.4,-34.5,18,182,0.00,1.55,0.00,0.000,6,0.000,0.020,2534,2500,3413
$GC,439,-0.47,-126.5,92.8,-21.2,43,443,0.00,1.48,0.00,0.000,4,0.000,0.021,2534,1433,3414
$GC,481,-0.47,-126.5,102.1,-20.3,46,490,0.00,1.60,0.00,0.000,6,0.000,0.038,2527,2477,3414
$GC,748,-0.47,-126.5,146.0,-15.9,71,752,0.00,1.67,0.00,0.000,4,0.000,0.045,2521,3567,3415
$GC,858,-0.47,-126.5,163.3,-14.2,80,866,0.00,1.55,0.00,0.000,6,0.000,0.019,2521,2477,3415
$GC,1143,-0.47,-126.5,208.6,-16.8,104,1147,0.00,1.70,0.00,0.000,4,0.000,0.042,2513,3570,3415
$GC,1167,-0.47,-126.5,213.6,-17.9,104,1171,0.00,1.50,0.00,0.000,6,0.000,0.018,2513,2515,3415
$GC,1438,-0.47,-126.5,256.6,-15.2,111,1443,0.10,1.45,0.00,0.000,4,0.142,0.020,2540,1452,3415
$GC,1463,-0.47,-126.5,260.1,-12.6,111,1466,0.00,1.60,0.00,0.000,6,0.000,0.036,2537,2508,3415
$GC,1735,-0.47,-126.5,282.8,-8.4,118,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2507,3414
$GC,1979,-0.47,-126.5,308.8,-10.9,124,1982,0.00,1.48,0.00,0.000,4,0.000,0.020,2537,1453,3414
$GC,2086,-0.47,-126.5,320.3,-10.2,126,2090,0.00,1.58,0.00,0.000,6,0.000,0.040,2536,2485,3414
$GC,2365,-0.47,-126.5,347.1,-9.8,133,2368,0.00,1.62,0.00,0.000,4,0.000,0.048,2529,3563,3412
$GC,2519,-0.47,-126.5,364.1,-10.9,136,2523,0.00,1.52,0.00,0.000,6,0.000,0.021,2529,2496,3411
$GC,2796,-0.47,-126.5,392.6,-10.1,143,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2488,3410
$GC,3040,-0.47,-126.5,415.5,-9.3,149,3044,0.00,1.42,0.00,0.000,4,0.000,0.021,2529,1460,3407
$GC,3090,-0.47,-126.5,419.8,-8.8,150,3094,0.00,1.60,0.00,0.000,6,0.000,0.039,2523,2502,3407
$GC,3385,-0.47,-126.5,445.1,-8.6,157,3389,0.00,1.62,0.00,0.000,4,0.000,0.051,2523,3568,3404
$GC,3575,-0.47,-126.5,461.8,-8.6,161,3578,0.00,1.52,0.00,0.000,6,0.000,0.022,2523,2513,3403
$GC,3868,-0.47,-126.5,491.4,-9.9,168,3872,0.00,1.48,-0.08,0.000,4,0.000,0.041,2523,1451,3425
$GC,3927,-0.47,-126.5,497.2,-9.1,169,3930,0.00,1.60,0.00,0.000,6,0.000,0.042,2523,2505,3425
$GC,4210,-0.47,-126.5,519.7,-7.8,176,4214,0.00,1.62,0.00,0.000,4,0.000,0.053,2523,3562,3423
$GC,4285,-0.47,-126.5,525.3,-7.0,177,4289,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2525,3423
$GC,4552,-0.47,-126.5,547.9,-9.1,184,4555,0.00,1.62,0.00,0.000,4,0.000,0.051,2516,3564,3420
$GC,4646,-0.47,-126.5,557.6,-9.7,186,4650,0.00,1.50,0.00,0.000,6,0.000,0.024,2516,2539,3419
$GC,4941,-0.47,-126.5,587.3,-9.8,193,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2532,3417
$GC,5185,-0.47,-126.5,609.1,-8.8,199,5189,0.00,1.52,0.00,0.000,4,0.000,0.024,2519,1453,3416
$GC,5243,-0.47,-126.5,614.4,-8.2,200,5247,0.00,1.70,0.00,0.000,6,0.000,0.044,2513,2546,3416
$GC,5526,-0.47,-126.5,639.3,-9.1,207,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2546,3413
$GC,5769,-0.47,-126.5,661.9,-9.3,213,5773,0.10,1.55,0.00,0.000,4,0.131,0.025,2541,1449,3412
$GC,5793,-0.47,-126.5,664.1,-8.1,213,5796,0.00,1.70,0.00,0.000,6,0.000,0.047,2537,2553,3412
$GC,6066,-0.47,-126.5,682.8,-6.8,220,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2552,3411
$GC,6309,-0.47,-126.5,699.3,-6.8,226,6313,0.00,1.60,0.00,0.000,4,0.000,0.057,2531,3580,3409
$GC,6359,-0.47,-126.5,702.8,-6.6,227,6363,0.00,1.55,0.00,0.000,6,0.000,0.028,2531,2534,3409
$GC,6654,-0.47,-126.5,722.7,-6.6,234,6657,0.00,1.62,0.00,0.000,4,0.000,0.054,2524,3559,3407
$GC,6705,-0.47,-126.5,726.2,-6.4,235,6709,0.00,1.50,0.00,0.000,6,0.000,0.027,2524,2546,3407
$GC,7000,-0.47,-126.5,748.1,-7.5,242,7003,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1456,3405
$GC,7041,-0.47,-126.5,751.6,-7.7,242,7049,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2548,3405
$GC,7296,-0.47,-126.5,771.1,-7.7,249,7299,0.00,1.60,0.00,0.000,4,0.000,0.060,2523,3566,3404
$GC,7326,-0.47,-126.5,773.6,-8.0,249,7330,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2550,3403
$GC,7593,-0.47,-126.5,793.4,-7.7,256,7597,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1447,3402
$GC,7644,-0.47,-126.5,797.4,-7.4,257,7648,0.00,1.75,0.00,0.000,6,0.000,0.049,2523,2547,3402
$GC,7938,-0.47,-126.5,819.9,-7.6,264,7942,0.00,1.62,0.00,0.000,4,0.000,0.061,2523,3558,3401
$GC,7999,-0.47,-126.5,824.5,-7.2,265,8003,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2545,3401
$GC,8282,-0.47,-126.5,844.8,-7.4,272,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3399
$GC,8526,-0.47,-126.5,863.6,-7.8,278,8529,0.00,1.67,0.00,0.000,4,0.000,0.058,2523,3565,3399
$GC,8561,-0.47,-126.5,866.6,-8.1,278,8565,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2554,3399
$GC,8822,-0.47,-126.5,885.6,-7.4,285,8825,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1454,3398
$GC,8852,-0.47,-126.5,888.3,-8.0,285,8856,0.00,1.75,0.00,0.000,6,0.000,0.051,2523,2556,3398
$STATE,9032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9032,begin apogee
$GC,9044,-0.17,0.0,901.9,7.6,290,9157,0.35,0.00,110.93,1.262,6,0.095,0.000,2641,2217,2895
$STATE,9158,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9163,0.47,126.5,906.9,0.0,293,9303,0.55,1.62,123.72,1.193,4,0.032,0.028,2880,1181,2379
$GC,9354,0.47,126.5,894.3,14.6,297,9358,0.00,1.73,0.00,0.000,6,0.000,0.042,2878,2234,2374
$GC,9638,0.47,126.5,850.8,15.7,304,9641,0.00,1.65,0.00,0.000,4,0.000,0.049,2877,3283,2369
$GC,9740,0.47,126.5,833.2,17.4,306,9744,0.15,1.58,0.00,0.000,6,0.177,0.028,2847,2249,2367
$GC,10023,0.47,126.5,795.2,13.4,313,10027,0.00,1.60,0.00,0.000,4,0.000,0.029,2853,1167,2366
$GC,10080,0.47,126.5,786.8,14.1,314,10084,0.00,1.70,0.00,0.000,6,0.000,0.043,2853,2241,2365
$GC,10363,0.47,126.5,744.0,15.8,321,10367,0.00,1.65,0.00,0.000,4,0.000,0.051,2850,3282,2363
$GC,10428,0.47,126.5,732.8,16.6,322,10431,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2237,2363
$GC,10705,0.47,126.5,691.7,14.7,329,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2232,2362
$GC,10948,0.47,126.5,656.8,14.0,335,10952,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3277,2362
$GC,11012,0.47,126.5,647.6,13.6,336,11015,0.00,1.55,0.00,0.000,6,0.000,0.027,2856,2237,2362
$GC,11290,0.47,126.5,612.7,12.6,343,11293,0.00,1.58,0.00,0.000,4,0.000,0.030,2864,1159,2361
$GC,11364,0.47,126.5,603.6,12.0,344,11368,0.00,1.65,0.00,0.000,6,0.000,0.044,2864,2226,2361
$GC,11630,0.47,126.5,571.0,12.5,351,11634,0.00,1.65,0.00,0.000,4,0.000,0.051,2863,3272,2361
$GC,11705,0.47,126.5,560.4,14.2,352,11709,0.00,1.55,0.00,0.000,6,0.000,0.028,2870,2236,2361
$GC,11971,0.47,126.5,524.6,13.8,359,11975,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3278,2360
$GC,12212,0.47,126.5,489.1,13.3,364,12215,0.00,1.50,0.00,0.000,6,0.000,0.027,2868,2270,2360
$GC,12494,0.47,126.5,455.0,11.7,371,12498,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1171,2360
$GC,12568,0.47,126.5,447.1,9.8,372,12572,0.00,1.73,0.00,0.000,6,0.000,0.041,2876,2293,2359
$GC,12835,0.47,126.5,419.0,10.8,379,12839,0.00,1.55,0.00,0.000,4,0.000,0.050,2875,3280,2359
$GC,12871,0.47,126.5,414.6,12.4,379,12875,0.08,1.50,0.00,0.000,6,0.177,0.028,2848,2277,2359
$GC,13131,0.47,126.5,388.4,10.2,386,13134,0.00,1.62,0.00,0.000,4,0.000,0.048,2848,3305,2359
$GC,13172,0.47,126.5,383.4,11.0,386,13180,0.00,1.50,0.00,0.000,6,0.000,0.027,2854,2298,2359
$GC,13427,0.47,126.5,354.1,11.9,393,13430,0.00,1.62,0.00,0.000,4,0.000,0.029,2860,1166,2359
$GC,13522,0.47,126.5,343.7,10.2,395,13526,0.00,1.73,0.00,0.000,6,0.000,0.042,2860,2283,2358
$GC,13817,0.49,172.0,320.5,6.8,402,13865,0.00,1.55,39.17,0.833,4,0.000,0.048,2860,3290,2193
$GC,13967,0.49,172.0,306.4,10.2,405,13970,0.00,1.48,0.00,0.000,6,0.000,0.025,2866,2312,2190
$GC,14250,0.49,172.0,270.8,13.2,412,14254,0.00,1.65,0.00,0.000,4,0.000,0.027,2873,1165,2188
$GC,14398,0.49,172.0,252.9,11.2,415,14401,0.00,1.75,0.00,0.000,6,0.000,0.040,2873,2300,2186
$GC,14681,0.49,172.0,219.0,12.1,422,14684,0.00,1.52,0.00,0.000,4,0.000,0.048,2873,3278,2186
$GC,14851,0.49,172.0,197.9,11.2,425,14854,0.00,1.42,0.00,0.000,6,0.000,0.025,2880,2314,2186
$GC,15122,0.49,172.0,165.1,13.2,450,15126,0.00,1.65,0.00,0.000,4,0.000,0.025,2888,1164,2185
$GC,15162,0.49,172.0,159.7,12.6,453,15172,0.08,1.83,0.00,0.000,6,0.138,0.038,2863,2341,2186
$GC,15433,0.50,194.6,135.5,7.9,478,15457,0.00,1.77,19.70,0.676,4,0.000,0.025,2870,1160,2101
$GC,15476,0.51,220.1,131.5,7.8,481,15503,0.00,1.80,22.65,0.663,6,0.000,0.038,2870,2315,1997
$GC,15764,0.51,220.1,98.9,13.2,507,15771,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2315,1992
$GC,16031,0.51,238.0,71.9,8.1,532,16049,0.00,0.00,16.00,0.598,6,0.000,0.000,2870,2314,1923
$GC,16316,0.55,323.2,56.0,4.9,557,16390,0.00,1.50,69.07,0.595,4,0.000,0.042,2869,3284,1576
$GC,16433,0.57,374.1,49.4,6.6,565,16482,0.00,1.48,41.22,0.577,6,0.000,0.022,2870,2289,1370
$GC,16741,0.60,452.2,33.9,5.3,593,16811,0.00,1.65,62.62,0.562,4,0.000,0.022,2869,1153,1051
$GC,16860,0.60,452.2,25.5,11.1,605,16869,0.00,1.77,0.00,0.000,6,0.000,0.030,2870,2303,1049
$STATE,17048,end climb,SURFACE_DEPTH_REACHED
$STATE,17053,begin surface coast
$FINISH,0.5,0.997486
$STATE,17080,end surface coast,CONTROL_FINISHED_OK
$STATE,17080,begin surface
$SM_CCo,17165,0.00,0.000,0,0,1045,453.55
$SM_GC,1.40,7.25,0.00,0.00,0.024,0.000,0.000,44,2527,1045,-8.21,0.76,453.55
$IRIDIUM_FIX,2302.75,-15801.03,310103,101029
$TT8_MAMPS,0.023777
$HUMID,2203
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.50
$XPDR_PINGS,3
$24V_AH,23.4,43.760
$10V_AH,10.6,51.851
$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,18.275,131.825,505.100,0.000,0.000,31.384,42.790,383.482,0.750,0.000,0.000,12.889,1403.909,11245.683,477.063,3551.983,1127.044,33.384,1673.864,0.000,3532.549,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,60.593,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,434.736,2103.557,2167.877,1502.832,1427.824,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54110,639
$CAP_FILE_SIZE,142557,0
$CFSIZE,260165632,241053696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,061113,204636,2247.693,-15803.310,38,1.0,38,10.1