version: 66.04
glider: 512
mission: 4
dive: 267
start: 11 7 113 2 19 43
data:
$ID,512
$MISSION,4
$DIVE,267
$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,-111724.46
$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,73
$R_STBD_OVSHOOT,32
$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
$GPS1,020123,2246.076,-15804.275,28,0.9,45,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-81.5
$GPS2,021849,2246.062,-15804.428,15,0.9,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.051,-0.229
$KALMAN_X,53884.1,-0.1,38.0,-61395.9,222.4
$KALMAN_Y,59064.1,78.6,-149.7,-55327.9,1515.6
$MHEAD_RNG_PITCHd_Wd,182.5,10645,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.47,-126.5,0.0,0.0,0,93,0.00,0.00,-68.68,0.000,2,0.000,0.000,13,2524,2937
$GC,99,-0.47,-126.5,2.4,-1.9,8,126,9.60,1.55,-10.15,0.000,4,0.196,0.039,2548,1440,3411
$GC,310,-0.47,-126.5,50.7,-19.0,32,314,0.00,1.60,0.00,0.000,6,0.000,0.037,2542,2504,3412
$GC,582,-0.47,-126.5,103.1,-17.3,57,586,0.00,1.62,0.00,0.000,4,0.000,0.044,2534,3586,3412
$GC,656,-0.47,-126.5,114.2,-15.4,63,660,0.00,1.55,0.00,0.000,6,0.000,0.019,2534,2500,3412
$GC,929,-0.47,-126.5,159.1,-16.5,88,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2493,3413
$GC,1194,-0.47,-126.5,198.3,-13.1,113,1198,0.00,1.45,0.00,0.000,4,0.000,0.021,2534,1444,3413
$GC,1264,-0.47,-126.5,207.3,-11.5,115,1267,0.00,1.60,0.00,0.000,6,0.000,0.035,2527,2525,3413
$GC,1535,-0.47,-126.5,240.9,-13.0,122,1539,0.00,1.58,0.00,0.000,4,0.000,0.044,2518,3565,3412
$GC,1615,-0.47,-126.5,254.0,-15.7,123,1618,0.00,1.52,0.00,0.000,6,0.000,0.019,2518,2481,3412
$GC,1876,-0.47,-126.5,291.7,-14.3,130,1880,0.00,1.40,0.00,0.000,4,0.000,0.021,2518,1459,3411
$GC,1895,-0.47,-126.5,294.8,-13.3,130,1899,0.08,1.60,0.00,0.000,6,0.116,0.035,2540,2518,3411
$GC,2171,-0.47,-126.5,321.1,-9.3,137,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2518,3410
$GC,2415,-0.47,-126.5,344.9,-9.8,143,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2518,3409
$GC,2659,-0.47,-126.5,369.6,-10.1,149,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2518,3407
$GC,2902,-0.47,-126.5,392.7,-9.2,155,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2518,3405
$GC,3146,-0.47,-126.5,413.0,-8.3,161,3150,0.00,1.60,0.00,0.000,4,0.000,0.049,2534,3556,3403
$GC,3251,-0.47,-126.5,423.2,-9.9,163,3254,0.00,1.50,0.00,0.000,6,0.000,0.023,2534,2509,3402
$GC,3533,-0.47,-126.5,452.3,-10.6,170,3538,0.00,1.50,-0.08,0.000,4,0.000,0.041,2534,1450,3424
$GC,3596,-0.47,-126.5,459.3,-10.2,171,3600,0.00,1.60,0.00,0.000,6,0.000,0.041,2527,2514,3424
$GC,3874,-0.47,-126.5,487.5,-10.1,178,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2514,3422
$GC,4118,-0.47,-126.5,507.1,-7.7,184,4122,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3559,3420
$GC,4232,-0.47,-126.5,515.4,-7.0,186,4235,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2509,3419
$GC,4505,-0.47,-126.5,537.2,-8.5,193,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2502,3416
$GC,4749,-0.47,-126.5,558.3,-8.7,199,4752,0.00,1.50,0.00,0.000,4,0.000,0.026,2523,1446,3414
$GC,4806,-0.47,-126.5,563.9,-9.0,200,4810,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2489,3414
$GC,5089,-0.47,-126.5,587.1,-8.3,207,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2489,3413
$GC,5333,-0.47,-126.5,606.6,-8.0,213,5336,0.00,1.67,0.00,0.000,4,0.000,0.055,2523,3569,3411
$GC,5369,-0.47,-126.5,609.8,-8.3,213,5372,0.00,1.60,0.00,0.000,6,0.000,0.025,2523,2452,3410
$GC,5630,-0.47,-126.5,629.8,-8.0,220,5634,0.00,1.40,0.00,0.000,4,0.000,0.026,2523,1450,3409
$GC,5660,-0.47,-126.5,632.7,-8.7,220,5664,0.00,1.60,0.00,0.000,6,0.000,0.045,2523,2475,3409
$GC,5927,-0.47,-126.5,653.3,-7.7,227,5931,0.00,1.73,0.00,0.000,4,0.000,0.057,2523,3561,3408
$GC,5990,-0.47,-126.5,658.4,-7.9,228,5994,0.00,1.58,0.00,0.000,6,0.000,0.027,2523,2494,3407
$GC,6269,-0.47,-126.5,679.4,-7.8,235,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2487,3405
$GC,6513,-0.47,-126.5,699.6,-8.4,241,6516,0.00,1.70,0.00,0.000,4,0.000,0.054,2516,3565,3403
$GC,6576,-0.47,-126.5,705.5,-8.8,242,6580,0.00,1.55,0.00,0.000,6,0.000,0.027,2516,2514,3403
$GC,6853,-0.47,-126.5,728.8,-8.5,249,6857,0.00,1.67,0.00,0.000,4,0.000,0.054,2510,3568,3401
$GC,6904,-0.47,-126.5,733.3,-8.7,250,6908,0.00,1.55,0.00,0.000,6,0.000,0.026,2514,2521,3401
$GC,7199,-0.47,-126.5,758.9,-8.7,257,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2513,3400
$GC,7442,-0.47,-126.5,779.9,-8.4,263,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2514,3399
$GC,7686,-0.47,-126.5,800.0,-8.1,269,7690,0.00,1.67,0.00,0.000,4,0.000,0.057,2509,3569,3398
$GC,7718,-0.47,-126.5,802.8,-8.3,269,7722,0.05,1.55,0.00,0.000,6,0.082,0.028,2542,2515,3398
$GC,7984,-0.47,-126.5,815.7,-4.3,276,7988,0.00,1.70,0.00,0.000,4,0.000,0.058,2537,3563,3397
$GC,8020,-0.47,-126.5,817.2,-4.0,276,8023,0.00,1.52,0.00,0.000,6,0.000,0.028,2537,2530,3396
$GC,8282,-0.47,-126.5,827.1,-3.7,283,8286,0.00,1.55,0.00,0.000,4,0.000,0.028,2537,1448,3395
$GC,8306,-0.47,-126.5,828.4,-4.6,283,8310,0.00,1.70,0.00,0.000,6,0.000,0.050,2537,2538,3395
$GC,8578,-0.47,-126.5,840.3,-4.7,290,8582,0.00,1.62,0.00,0.000,4,0.000,0.058,2533,3572,3394
$GC,8620,-0.47,-126.5,842.6,-5.8,290,8628,0.00,1.52,0.00,0.000,6,0.000,0.027,2533,2534,3394
$GC,8875,-0.47,-126.5,857.0,-5.8,297,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2532,3393
$GC,9118,-0.47,-126.5,870.7,-5.5,303,9122,0.00,1.65,0.00,0.000,4,0.000,0.058,2526,3567,3392
$GC,9148,-0.47,-126.5,872.5,-5.5,303,9152,0.00,1.50,0.00,0.000,6,0.000,0.028,2525,2552,3392
$GC,9415,-0.47,-126.5,887.2,-5.7,310,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2545,3391
$STATE,9612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9612,begin apogee
$GC,9624,-0.17,0.0,900.0,6.4,315,9736,0.35,0.00,109.65,1.270,6,0.094,0.000,2646,2222,2895
$STATE,9737,end apogee,CONTROL_FINISHED_OK
$STATE,9737,begin climb
$GC,9742,0.47,126.5,904.6,0.0,318,9901,0.52,1.67,127.65,1.166,4,0.031,0.029,2881,1188,2378
$GC,9932,0.47,126.5,893.9,14.9,322,9936,0.00,1.73,0.00,0.000,6,0.000,0.042,2878,2237,2373
$GC,10215,0.47,126.5,850.7,15.5,329,10218,0.00,1.65,0.00,0.000,4,0.000,0.049,2875,3284,2367
$GC,10289,0.47,126.5,838.2,15.8,330,10293,0.12,1.58,0.00,0.000,6,0.183,0.028,2853,2251,2366
$GC,10555,0.47,126.5,802.5,13.3,337,10559,0.00,1.67,0.00,0.000,4,0.000,0.051,2852,3297,2364
$GC,10596,0.47,126.5,796.0,14.8,337,10604,0.00,1.60,0.00,0.000,6,0.000,0.026,2858,2236,2364
$GC,10851,0.47,126.5,760.5,14.2,344,10852,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2230,2363
$GC,11094,0.47,126.5,723.8,15.3,350,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2230,2362
$GC,11338,0.47,126.5,687.4,15.0,356,11342,0.00,1.70,0.00,0.000,4,0.000,0.050,2858,3286,2361
$GC,11436,0.47,126.5,671.2,16.5,358,11440,0.00,1.58,0.00,0.000,6,0.000,0.028,2866,2236,2361
$GC,11724,0.47,126.5,624.8,16.6,365,11728,0.00,1.70,0.00,0.000,4,0.000,0.050,2863,3290,2361
$GC,11809,0.47,126.5,609.2,16.8,366,11819,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2252,2361
$GC,12065,0.47,126.5,567.5,16.4,373,12069,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1157,2361
$GC,12150,0.47,126.5,554.2,14.9,374,12158,0.00,1.70,0.00,0.000,6,0.000,0.044,2875,2236,2361
$GC,12405,0.47,126.5,517.2,14.6,381,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2235,2361
$GC,12649,0.47,126.5,489.4,10.9,387,12652,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3289,2359
$GC,12707,0.47,126.5,482.4,10.9,388,12711,0.12,1.60,0.00,0.000,6,0.173,0.027,2852,2196,2360
$GC,12990,0.47,126.5,453.7,10.9,395,12994,0.00,1.73,0.00,0.000,4,0.000,0.046,2851,3293,2359
$GC,13138,0.47,126.5,434.9,12.2,398,13142,0.00,1.55,0.00,0.000,6,0.000,0.028,2858,2253,2359
$GC,13421,0.47,126.5,402.3,11.4,405,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2247,2359
$GC,13664,0.47,126.5,378.4,9.3,411,13668,0.00,1.65,0.00,0.000,4,0.000,0.050,2858,3296,2359
$GC,13746,0.47,126.5,370.3,9.7,412,13749,0.00,1.52,0.00,0.000,6,0.000,0.027,2865,2264,2359
$GC,14006,0.47,126.5,345.0,9.9,419,14009,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3301,2359
$GC,14019,0.47,126.5,343.1,10.2,419,14022,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2254,2359
$GC,14302,0.47,126.5,310.9,11.8,426,14305,0.00,1.58,0.00,0.000,4,0.000,0.029,2873,1171,2358
$GC,14442,0.47,126.5,296.4,10.1,429,14446,0.00,1.62,0.00,0.000,6,0.000,0.040,2873,2235,2358
$GC,14737,0.48,159.9,272.8,7.4,436,14782,0.00,1.65,28.60,0.777,4,0.000,0.047,2873,3281,2242
$GC,14880,0.48,159.9,257.1,11.8,439,14884,0.00,1.55,0.00,0.000,6,0.000,0.025,2880,2248,2240
$GC,15169,0.48,159.9,221.9,12.5,446,15172,0.00,1.65,0.00,0.000,4,0.000,0.046,2876,3277,2238
$GC,15226,0.48,159.9,215.7,9.8,447,15230,0.00,1.52,0.00,0.000,6,0.000,0.024,2881,2243,2238
$GC,15492,0.49,168.9,192.3,8.6,458,15506,0.00,1.58,8.82,0.677,4,0.000,0.025,2889,1165,2206
$GC,15536,0.49,168.9,187.6,10.3,461,15545,0.10,1.67,0.00,0.000,6,0.127,0.038,2857,2245,2204
$GC,15809,0.49,172.5,162.4,8.8,486,15823,0.00,1.60,4.78,0.538,4,0.000,0.045,2857,3276,2191
$GC,15853,0.49,172.5,157.2,9.5,489,15862,0.00,1.55,0.00,0.000,6,0.000,0.022,2860,2226,2191
$GC,16123,0.50,211.0,138.9,7.2,514,16163,0.00,1.65,33.47,0.674,4,0.000,0.041,2860,3291,2035
$GC,16203,0.50,211.0,131.1,10.8,520,16206,0.00,1.55,0.00,0.000,6,0.000,0.022,2860,2253,2034
$GC,16476,0.50,211.0,100.9,9.0,545,16480,0.00,1.58,0.00,0.000,4,0.000,0.025,2860,1164,2032
$GC,16549,0.53,275.3,95.7,5.9,551,16607,0.00,1.62,53.33,0.630,6,0.000,0.035,2860,2235,1772
$GC,16869,0.55,324.0,73.3,6.7,579,16912,0.00,1.67,39.22,0.601,4,0.000,0.040,2860,3290,1573
$GC,16978,0.57,383.7,66.9,6.1,587,17034,0.00,1.60,48.97,0.591,6,0.000,0.020,2860,2201,1328
$GC,17290,0.57,383.7,35.9,11.2,615,17294,0.00,1.48,0.00,0.000,4,0.000,0.022,2859,1176,1324
$GC,17592,0.57,383.7,5.4,9.3,656,17601,0.00,1.60,0.00,0.000,6,0.000,0.028,2860,2237,1323
$STATE,17609,end climb,SURFACE_DEPTH_REACHED
$STATE,17609,begin surface coast
$FINISH,0.5,0.999347
$STATE,17642,end surface coast,CONTROL_FINISHED_OK
$STATE,17642,begin surface
$SM_CCo,17667,2.17,0.156,0,0,1305,390.02
$SM_GC,2.16,0.00,0.00,2.17,0.000,0.000,0.156,34,2530,1305,-8.32,0.88,390.02
$IRIDIUM_FIX,2227.67,-15804.11,010203,020216
$TT8_MAMPS,0.02301
$HUMID,2235
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.4,44.095
$10V_AH,10.6,52.308
$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,18.125,122.075,454.500,2.175,0.000,56.612,72.527,650.053,0.500,0.000,0.000,16.060,1409.456,11877.158,469.815,3483.380,1469.415,33.380,1587.126,0.000,3467.458,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,58.292,1270.152,156.468,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,451.737,2181.422,2264.403,1504.273,1468.503,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57322,663
$CAP_FILE_SIZE,144682,0
$CFSIZE,260165632,240906240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,071113,071535,2244.405,-15804.863,33,1.3,33,10.0