version: 66.04
glider: 512
mission: 4
dive: 266
start: 11 6 113 21 8 12
data:
$ID,512
$MISSION,4
$DIVE,266
$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,-111707.77
$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,59
$R_STBD_OVSHOOT,51
$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
$GPS1,204636,2247.693,-15803.310,38,1.0,38,10.1
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-80.5
$GPS2,210718,2247.762,-15803.387,12,1.3,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.107,-0.209
$KALMAN_X,53729.1,-53.8,-96.0,-59272.6,1015.8
$KALMAN_Y,57227.0,519.4,211.6,-51138.8,820.8
$MHEAD_RNG_PITCHd_Wd,196.9,14172,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.47,-126.5,0.0,0.0,0,93,0.00,0.00,-68.53,0.000,2,0.000,0.000,13,2534,2681
$GC,99,-0.47,-126.5,2.0,-1.2,8,137,9.60,1.55,-20.25,0.000,4,0.198,0.057,2531,3541,3410
$GC,377,-0.47,-126.5,63.0,-22.1,39,386,0.00,1.52,0.00,0.000,6,0.000,0.019,2533,2483,3411
$GC,642,-0.47,-126.5,114.7,-17.3,64,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2476,3412
$GC,907,-0.47,-126.5,155.8,-15.3,89,911,0.00,1.62,0.00,0.000,4,0.000,0.040,2526,3537,3412
$GC,1004,-0.47,-126.5,171.4,-15.1,97,1012,0.00,1.48,0.00,0.000,6,0.000,0.018,2528,2486,3412
$GC,1288,-0.47,-126.5,212.0,-14.6,118,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2479,3412
$GC,1532,-0.47,-126.5,249.4,-15.4,124,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2479,3411
$GC,1775,-0.47,-126.5,281.7,-12.5,130,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2479,3411
$GC,2019,-0.47,-126.5,308.0,-10.7,136,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2479,3410
$GC,2262,-0.47,-126.5,333.2,-10.3,142,2266,0.00,1.62,0.00,0.000,4,0.000,0.044,2523,3546,3407
$GC,2287,-0.47,-126.5,336.1,-10.4,142,2291,0.00,1.42,0.00,0.000,6,0.000,0.021,2523,2540,3407
$GC,2558,-0.47,-126.5,365.4,-11.1,149,2562,0.00,1.50,0.00,0.000,4,0.000,0.021,2523,1455,3406
$GC,2685,-0.47,-126.5,379.4,-10.4,151,2688,0.00,1.58,0.00,0.000,6,0.000,0.038,2516,2491,3404
$GC,2945,-0.47,-126.5,406.7,-10.5,158,2949,0.00,1.67,-0.08,0.000,4,0.000,0.064,2508,3564,3424
$GC,3086,-0.47,-126.5,422.1,-11.3,161,3091,0.08,1.48,0.00,0.000,6,0.107,0.021,2538,2527,3423
$GC,3380,-0.47,-126.5,451.0,-9.7,168,3384,0.00,1.50,0.00,0.000,4,0.000,0.023,2539,1453,3422
$GC,3450,-0.47,-126.5,458.0,-9.0,169,3454,0.00,1.62,0.00,0.000,6,0.000,0.042,2537,2526,3421
$GC,3722,-0.47,-126.5,481.6,-8.6,176,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2526,3418
$GC,3966,-0.47,-126.5,499.5,-7.1,182,3969,0.00,1.60,0.00,0.000,4,0.000,0.051,2529,3575,3416
$GC,4046,-0.47,-126.5,505.3,-7.3,183,4049,0.00,1.50,0.00,0.000,6,0.000,0.024,2529,2540,3415
$GC,4308,-0.47,-126.5,525.6,-8.2,190,4311,0.00,1.60,0.00,0.000,4,0.000,0.050,2523,3562,3413
$GC,4365,-0.47,-126.5,531.1,-8.6,191,4369,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2548,3413
$GC,4648,-0.47,-126.5,556.2,-8.8,198,4652,0.00,1.55,0.00,0.000,4,0.000,0.025,2524,1450,3411
$GC,4690,-0.47,-126.5,560.0,-8.8,198,4699,0.00,1.70,0.00,0.000,6,0.000,0.045,2523,2540,3411
$GC,4946,-0.47,-126.5,579.9,-7.9,205,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3409
$GC,5190,-0.47,-126.5,597.8,-7.3,211,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3408
$GC,5433,-0.47,-126.5,615.1,-7.0,217,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3406
$GC,5677,-0.47,-126.5,634.0,-8.0,223,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2540,3404
$GC,5921,-0.47,-126.5,654.7,-8.7,229,5925,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3564,3401
$GC,5950,-0.47,-126.5,657.9,-9.3,229,5954,0.00,1.50,0.00,0.000,6,0.000,0.027,2524,2545,3401
$GC,6217,-0.47,-126.5,680.4,-8.5,236,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3400
$GC,6461,-0.47,-126.5,698.8,-7.3,242,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3399
$GC,6704,-0.47,-126.5,714.5,-6.3,248,6707,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1445,3398
$GC,6745,-0.47,-126.5,717.3,-6.1,248,6753,0.00,1.75,0.00,0.000,6,0.000,0.048,2523,2555,3398
$GC,7000,-0.47,-126.5,733.2,-6.4,255,7004,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3578,3396
$GC,7052,-0.47,-126.5,736.8,-7.2,256,7055,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2551,3395
$GC,7346,-0.47,-126.5,758.3,-7.5,263,7350,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1451,3394
$GC,7376,-0.47,-126.5,761.1,-8.5,263,7380,0.00,1.75,0.00,0.000,6,0.000,0.049,2523,2557,3394
$GC,7642,-0.47,-126.5,781.5,-7.8,270,7646,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3579,3393
$GC,7673,-0.47,-126.5,784.1,-8.2,270,7676,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2553,3393
$GC,7940,-0.47,-126.5,803.2,-7.2,277,7943,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1453,3392
$GC,7990,-0.47,-126.5,806.6,-6.6,278,7993,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2560,3392
$GC,8284,-0.47,-126.5,826.4,-6.6,285,8288,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3580,3390
$GC,8335,-0.47,-126.5,829.8,-6.3,286,8339,0.00,1.55,0.00,0.000,6,0.000,0.028,2523,2543,3390
$GC,8630,-0.47,-126.5,850.1,-7.0,293,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2535,3390
$GC,8874,-0.47,-126.5,867.5,-7.2,299,8877,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3565,3389
$GC,8915,-0.47,-126.5,870.8,-7.3,299,8923,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2532,3388
$GC,9170,-0.47,-126.5,888.4,-6.9,306,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2532,3387
$STATE,9368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9368,begin apogee
$GC,9379,-0.17,0.0,901.8,6.7,311,9491,0.35,0.00,108.88,1.269,6,0.095,0.000,2642,2203,2895
$STATE,9492,end apogee,CONTROL_FINISHED_OK
$STATE,9492,begin climb
$GC,9497,0.47,126.5,904.9,0.0,314,9652,0.55,1.62,127.20,1.173,4,0.033,0.028,2882,1192,2379
$GC,9703,0.47,126.5,888.0,15.6,318,9706,0.00,1.70,0.00,0.000,6,0.000,0.040,2877,2239,2372
$GC,9970,0.47,126.5,842.9,17.1,325,9973,0.00,1.65,0.00,0.000,4,0.000,0.049,2875,3287,2368
$GC,10055,0.47,126.5,827.2,17.9,326,10064,0.10,1.55,0.00,0.000,6,0.166,0.027,2853,2271,2367
$GC,10310,0.47,126.5,790.0,14.8,333,10313,0.00,1.65,0.00,0.000,4,0.000,0.049,2852,3283,2364
$GC,10328,0.47,126.5,786.7,14.8,333,10332,0.00,1.50,0.00,0.000,6,0.000,0.028,2858,2290,2364
$GC,10607,0.47,126.5,744.3,15.3,340,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2284,2363
$GC,10850,0.47,126.5,706.4,15.5,346,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2284,2362
$GC,11094,0.47,126.5,670.2,14.8,352,11098,0.00,1.60,0.00,0.000,4,0.000,0.050,2859,3281,2362
$GC,11118,0.47,126.5,665.9,15.3,352,11121,0.00,1.48,0.00,0.000,6,0.000,0.028,2866,2294,2362
$GC,11389,0.47,126.5,627.6,14.2,359,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2288,2362
$GC,11633,0.47,126.5,595.7,12.9,365,11636,0.00,1.62,0.00,0.000,4,0.000,0.030,2874,1166,2361
$GC,11697,0.47,126.5,588.1,10.4,366,11701,0.00,1.75,0.00,0.000,6,0.000,0.044,2874,2297,2360
$GC,11975,0.47,126.5,554.4,12.5,373,11979,0.00,1.65,0.00,0.000,4,0.000,0.028,2882,1175,2361
$GC,12011,0.47,126.5,549.5,11.2,373,12015,0.00,1.70,0.00,0.000,6,0.000,0.042,2876,2280,2360
$GC,12271,0.47,126.5,516.2,13.3,380,12275,0.00,1.58,0.00,0.000,4,0.000,0.049,2876,3282,2360
$GC,12430,0.47,126.5,491.5,15.0,383,12434,0.10,1.40,0.00,0.000,6,0.160,0.027,2850,2347,2359
$GC,12701,0.47,126.5,457.4,12.2,390,12705,0.00,1.70,0.00,0.000,4,0.000,0.029,2857,1194,2359
$GC,12821,0.47,126.5,444.2,10.5,392,12824,0.00,1.70,0.00,0.000,6,0.000,0.041,2857,2302,2358
$GC,13087,0.47,126.5,418.2,9.4,399,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2302,2359
$GC,13330,0.47,126.5,395.2,9.3,405,13333,0.00,1.52,0.00,0.000,4,0.000,0.049,2857,3277,2359
$GC,13450,0.47,126.5,380.9,11.8,407,13454,0.00,1.45,0.00,0.000,6,0.000,0.026,2864,2297,2358
$GC,13716,0.47,126.5,350.2,11.5,414,13720,0.00,1.62,0.00,0.000,4,0.000,0.028,2872,1161,2358
$GC,13825,0.47,133.4,339.2,8.7,416,13829,0.00,1.73,0.00,0.000,6,0.000,0.042,2872,2283,2359
$GC,14103,0.47,133.4,310.7,10.3,423,14104,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2283,2358
$GC,14346,0.47,133.4,283.4,11.2,429,14350,0.00,1.60,0.00,0.000,4,0.000,0.026,2879,1182,2358
$GC,14387,0.47,133.4,278.5,10.2,429,14396,0.00,1.70,0.00,0.000,6,0.000,0.041,2876,2273,2359
$GC,14643,0.48,139.9,255.3,8.7,436,14657,0.00,1.58,9.85,0.763,4,0.000,0.048,2876,3280,2323
$GC,14705,0.48,153.4,250.2,8.4,437,14724,0.00,1.42,13.52,0.767,6,0.000,0.025,2882,2310,2268
$GC,14981,0.48,153.4,223.9,10.0,444,14985,0.12,1.52,0.00,0.000,4,0.158,0.045,2849,3285,2265
$GC,15044,0.48,153.4,217.2,9.1,445,15048,0.00,1.35,0.00,0.000,6,0.000,0.024,2849,2372,2264
$GC,15322,0.50,206.1,197.7,6.5,452,15375,0.00,1.77,45.12,0.752,4,0.000,0.027,2849,1188,2053
$GC,15475,0.52,247.1,188.0,7.0,464,15515,0.00,1.83,35.17,0.721,6,0.000,0.040,2849,2355,1887
$GC,15773,0.52,247.1,158.9,11.1,491,15776,0.00,1.45,0.00,0.000,4,0.000,0.044,2849,3285,1881
$GC,15790,0.52,247.1,156.4,11.3,492,15800,0.00,1.40,0.00,0.000,6,0.000,0.022,2849,2344,1881
$GC,16058,0.52,247.1,128.4,9.4,517,16061,0.00,1.70,0.00,0.000,4,0.000,0.025,2855,1178,1880
$GC,16132,0.53,269.0,121.9,8.0,523,16158,0.00,1.73,18.00,0.649,6,0.000,0.037,2855,2310,1800
$GC,16421,0.53,269.0,91.3,12.7,549,16424,0.00,1.50,0.00,0.000,4,0.000,0.042,2855,3281,1797
$GC,16437,0.53,269.0,88.5,12.6,550,16440,0.00,1.45,0.00,0.000,6,0.000,0.022,2856,2294,1797
$GC,16710,0.54,306.0,62.7,7.2,575,16752,0.00,1.62,31.90,0.604,4,0.000,0.025,2856,1185,1645
$GC,16760,0.57,386.6,59.4,5.1,578,16830,0.00,1.67,64.50,0.617,6,0.000,0.035,2856,2265,1318
$GC,17091,0.57,386.6,39.6,10.3,607,17094,0.00,1.58,0.00,0.000,4,0.000,0.043,2857,3279,1312
$GC,17391,0.57,386.6,7.1,10.7,646,17400,0.00,1.42,0.00,0.000,6,0.000,0.021,2856,2282,1311
$STATE,17431,end climb,SURFACE_DEPTH_REACHED
$STATE,17431,begin surface coast
$FINISH,0.3,0.997746
$STATE,17470,end surface coast,CONTROL_FINISHED_OK
$STATE,17470,begin surface
$SM_CCo,17496,1.02,0.081,0,0,1305,390.02
$SM_GC,2.35,0.00,0.00,1.02,0.000,0.000,0.081,35,2523,1305,-8.31,0.65,390.02
$IRIDIUM_FIX,2305.10,-15805.38,310103,212119
$TT8_MAMPS,0.023777
$HUMID,2285
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.90
$XPDR_PINGS,5
$24V_AH,23.5,43.929
$10V_AH,10.6,52.079
$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,18.125,114.925,454.150,1.025,0.000,111.133,148.198,581.715,1.250,0.000,0.000,17.666,1376.931,11949.133,472.274,3411.778,1522.275,33.383,1565.355,0.000,3394.207,0.000,0.545,0.000
$DEVICE_MAMPS,197.886,64.428,1268.618,80.535,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,448.185,2166.875,2242.154,1539.091,1469.215,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54265,658
$CAP_FILE_SIZE,142181,0
$CFSIZE,260165632,240979968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,071113,020123,2246.076,-15804.275,28,0.9,45,10.1