version: 66.04
glider: 512
mission: 4
dive: 268
start: 11 7 113 7 29 45
data:
$ID,512
$MISSION,4
$DIVE,268
$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,-111755.55
$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,80
$R_STBD_OVSHOOT,52
$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
$GPS1,071535,2244.405,-15804.863,33,1.3,33,10.0
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-80.8
$GPS2,072848,2244.476,-15804.968,13,1.5,30,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.067,-0.225
$KALMAN_X,54229.7,-51.2,-160.4,-62418.2,786.2
$KALMAN_Y,61031.2,-497.5,110.2,-59915.5,2205.8
$MHEAD_RNG_PITCHd_Wd,186.5,7572,-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,-126.5,0.0,0.0,0,80,0.00,0.00,-60.12,0.000,2,0.000,0.000,11,2525,2723
$GC,86,-0.47,-126.5,2.1,-1.7,7,124,9.70,1.55,-17.20,0.000,4,0.202,0.040,2540,1451,3413
$GC,311,-0.47,-126.5,47.3,-19.6,34,314,0.00,1.58,0.00,0.000,6,0.000,0.038,2534,2476,3413
$GC,584,-0.47,-126.5,102.4,-18.4,59,588,0.00,1.67,0.00,0.000,4,0.000,0.044,2526,3570,3414
$GC,657,-0.47,-126.5,115.1,-16.0,65,661,0.00,1.55,0.00,0.000,6,0.000,0.018,2527,2479,3414
$GC,929,-0.47,-126.5,160.5,-14.3,90,932,0.00,1.67,0.00,0.000,4,0.000,0.041,2521,3559,3414
$GC,969,-0.47,-126.5,167.3,-15.8,93,979,0.00,1.50,0.00,0.000,6,0.000,0.019,2521,2504,3415
$GC,1233,-0.47,-126.5,207.4,-15.7,115,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2497,3414
$GC,1477,-0.47,-126.5,243.5,-14.5,121,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2497,3414
$GC,1721,-0.47,-126.5,274.1,-12.0,127,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2497,3414
$GC,1964,-0.47,-126.5,300.9,-10.9,133,1968,0.00,1.62,0.00,0.000,4,0.000,0.043,2513,3571,3413
$GC,2016,-0.47,-126.5,307.7,-11.6,134,2020,0.00,1.52,0.00,0.000,6,0.000,0.020,2517,2493,3413
$GC,2304,-0.47,-126.5,343.0,-12.4,141,2308,0.00,1.42,0.00,0.000,4,0.000,0.021,2518,1451,3412
$GC,2385,-0.47,-126.5,352.7,-10.3,142,2389,0.10,1.58,0.00,0.000,6,0.256,0.037,2540,2490,3411
$GC,2646,-0.47,-126.5,375.7,-8.7,149,2649,0.00,1.62,0.00,0.000,4,0.000,0.048,2534,3565,3409
$GC,2761,-0.47,-126.5,386.7,-8.8,151,2765,0.00,1.50,0.00,0.000,6,0.000,0.021,2533,2514,3408
$GC,3033,-0.47,-126.5,414.5,-10.4,158,3036,0.00,1.48,0.00,0.000,4,0.000,0.021,2534,1447,3407
$GC,3107,-0.47,-126.5,422.3,-9.2,159,3110,0.00,1.60,0.00,0.000,6,0.000,0.039,2527,2515,3405
$GC,3374,-0.47,-126.5,446.8,-9.0,166,3378,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3565,3404
$GC,3426,-0.47,-126.5,451.5,-7.8,167,3430,0.00,1.52,0.00,0.000,6,0.000,0.023,2523,2507,3403
$GC,3715,-0.47,-126.5,475.8,-8.6,174,3719,0.00,1.70,-0.08,0.000,4,0.000,0.066,2523,3558,3425
$GC,3775,-0.47,-126.5,481.0,-8.6,175,3779,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2520,3424
$GC,4058,-0.47,-126.5,502.3,-7.4,182,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2513,3423
$GC,4302,-0.47,-126.5,522.3,-8.4,188,4306,0.00,1.50,0.00,0.000,4,0.000,0.023,2523,1446,3421
$GC,4398,-0.47,-126.5,530.3,-8.5,190,4402,0.00,1.67,0.00,0.000,6,0.000,0.041,2516,2526,3421
$GC,4692,-0.47,-126.5,556.1,-8.9,197,4696,0.00,1.62,0.00,0.000,4,0.000,0.052,2508,3565,3418
$GC,4749,-0.47,-126.5,562.0,-9.5,198,4753,0.08,1.50,0.00,0.000,6,0.106,0.024,2550,2528,3417
$GC,5033,-0.47,-126.5,581.4,-6.8,205,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2526,3416
$GC,5277,-0.47,-126.5,596.9,-6.3,211,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2526,3413
$GC,5520,-0.47,-126.5,610.6,-5.7,217,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2526,3412
$GC,5764,-0.47,-126.5,625.0,-5.9,223,5767,0.00,1.62,0.00,0.000,4,0.000,0.052,2545,3565,3411
$GC,5794,-0.47,-126.5,627.2,-6.5,223,5798,0.00,1.52,0.00,0.000,6,0.000,0.026,2545,2523,3411
$GC,6061,-0.47,-126.5,643.5,-6.1,230,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2516,3409
$GC,6304,-0.47,-126.5,657.3,-5.5,236,6307,0.00,1.65,0.00,0.000,4,0.000,0.054,2537,3565,3408
$GC,6354,-0.47,-126.5,660.3,-5.9,237,6358,0.00,1.50,0.00,0.000,6,0.000,0.026,2537,2543,3408
$GC,6649,-0.47,-126.5,680.1,-6.9,244,6653,0.00,1.55,0.00,0.000,4,0.000,0.025,2537,1449,3406
$GC,6700,-0.47,-126.5,683.8,-7.3,245,6704,0.00,1.73,0.00,0.000,6,0.000,0.046,2537,2543,3406
$GC,6994,-0.47,-126.5,702.5,-6.0,252,6997,0.00,1.62,0.00,0.000,4,0.000,0.055,2529,3567,3405
$GC,7055,-0.47,-126.5,706.5,-6.8,253,7058,0.00,1.50,0.00,0.000,6,0.000,0.027,2529,2548,3404
$GC,7338,-0.47,-126.5,726.0,-7.1,260,7342,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3563,3402
$GC,7368,-0.47,-126.5,728.4,-8.2,260,7371,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2562,3402
$GC,7634,-0.47,-126.5,747.4,-7.1,267,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2554,3401
$GC,7878,-0.47,-126.5,763.8,-6.7,273,7881,0.00,1.60,0.00,0.000,4,0.000,0.058,2524,3560,3400
$GC,7914,-0.47,-126.5,766.3,-6.4,273,7917,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2576,3400
$GC,8176,-0.47,-126.5,783.5,-6.9,280,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3400
$GC,8419,-0.47,-126.5,802.6,-8.0,286,8423,0.00,1.60,0.00,0.000,4,0.000,0.028,2524,1439,3399
$GC,8462,-0.47,-126.5,806.4,-7.7,286,8470,0.00,1.80,0.00,0.000,6,0.000,0.048,2523,2574,3399
$GC,8717,-0.47,-126.5,825.7,-7.4,293,8721,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3557,3398
$GC,8768,-0.47,-126.5,828.9,-6.3,294,8771,0.00,1.45,0.00,0.000,6,0.000,0.029,2523,2584,3398
$GC,9064,-0.47,-126.5,845.8,-5.4,301,9067,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1445,3397
$GC,9132,-0.47,-126.5,850.0,-5.6,302,9136,0.00,1.80,0.00,0.000,6,0.000,0.049,2523,2580,3397
$GC,9404,-0.47,-126.5,864.5,-5.6,309,9408,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3558,3396
$GC,9440,-0.47,-126.5,867.0,-6.3,309,9444,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2582,3396
$GC,9702,-0.47,-126.5,883.7,-6.6,316,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3395
$STATE,9940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9941,begin apogee
$GC,9952,-0.17,0.0,900.4,6.9,322,10065,0.35,0.00,110.70,1.265,6,0.096,0.000,2641,2218,2895
$STATE,10066,end apogee,CONTROL_FINISHED_OK
$STATE,10066,begin climb
$GC,10072,0.47,126.5,904.1,0.0,325,10229,0.57,1.65,128.00,1.162,4,0.031,0.028,2882,1192,2379
$GC,10264,0.47,126.5,890.3,16.1,329,10268,0.00,1.70,0.00,0.000,6,0.000,0.040,2877,2229,2375
$GC,10530,0.47,126.5,842.5,18.1,336,10533,0.00,1.67,0.00,0.000,4,0.000,0.049,2875,3290,2368
$GC,10566,0.47,126.5,835.0,19.8,336,10570,0.12,1.60,0.00,0.000,6,0.183,0.028,2853,2226,2368
$GC,10826,0.47,126.5,793.8,15.6,343,10830,0.00,1.58,0.00,0.000,4,0.000,0.028,2859,1159,2366
$GC,10862,0.47,126.5,787.9,14.2,343,10866,0.00,1.70,0.00,0.000,6,0.000,0.044,2860,2227,2366
$GC,11122,0.47,126.5,748.7,15.2,350,11126,0.00,1.65,0.00,0.000,4,0.000,0.051,2859,3283,2365
$GC,11247,0.47,126.5,728.1,16.3,352,11251,0.00,1.55,0.00,0.000,6,0.000,0.028,2867,2253,2364
$GC,11508,0.47,126.5,689.5,15.2,359,11511,0.00,1.65,0.00,0.000,4,0.000,0.050,2863,3290,2363
$GC,11558,0.47,126.5,681.8,16.5,360,11561,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2261,2363
$GC,11853,0.47,126.5,636.4,15.4,367,11856,0.00,1.62,0.00,0.000,4,0.000,0.049,2864,3286,2363
$GC,11927,0.47,126.5,623.9,15.4,368,11930,0.00,1.50,0.00,0.000,6,0.000,0.028,2869,2284,2362
$GC,12193,0.47,126.5,583.4,15.2,375,12196,0.00,1.60,0.00,0.000,4,0.000,0.049,2864,3277,2362
$GC,12244,0.47,126.5,576.0,14.4,376,12248,0.00,1.50,0.00,0.000,6,0.000,0.026,2869,2271,2362
$GC,12537,0.47,126.5,533.3,14.4,383,12541,0.00,1.62,0.00,0.000,4,0.000,0.049,2864,3277,2362
$GC,12606,0.47,126.5,521.9,15.2,384,12610,0.00,1.45,0.00,0.000,6,0.000,0.027,2869,2302,2361
$GC,12879,0.47,126.5,487.1,12.3,391,12882,0.00,1.65,0.00,0.000,4,0.000,0.028,2877,1154,2361
$GC,12914,0.47,126.5,482.7,10.4,391,12918,0.00,1.83,0.00,0.000,6,0.000,0.042,2876,2317,2361
$GC,13174,0.47,126.5,454.9,10.8,398,13178,0.00,1.52,0.00,0.000,4,0.000,0.051,2876,3284,2361
$GC,13272,0.47,126.5,443.4,11.0,400,13276,0.10,1.38,0.00,0.000,6,0.159,0.028,2850,2367,2361
$GC,13560,0.47,126.5,416.3,9.2,407,13564,0.00,1.75,0.00,0.000,4,0.000,0.029,2857,1160,2361
$GC,13680,0.47,126.5,404.8,9.2,409,13684,0.00,1.80,0.00,0.000,6,0.000,0.042,2857,2325,2361
$GC,13946,0.47,126.5,375.4,11.4,416,13950,0.00,1.73,0.00,0.000,4,0.000,0.028,2860,1154,2361
$GC,13982,0.47,126.5,370.7,11.8,416,13985,0.00,1.80,0.00,0.000,6,0.000,0.041,2860,2323,2361
$GC,14242,0.47,126.5,339.9,11.8,423,14243,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2323,2361
$GC,14486,0.47,126.5,313.5,10.6,429,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2322,2361
$GC,14729,0.47,126.5,287.2,10.8,435,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2322,2360
$GC,14974,0.47,135.0,265.7,8.6,441,14983,0.00,1.45,5.40,0.664,4,0.000,0.047,2860,3288,2345
$GC,15070,0.47,135.0,257.0,10.3,443,15073,0.00,1.48,0.00,0.000,6,0.000,0.025,2866,2284,2344
$GC,15359,0.48,156.3,233.8,8.0,450,15381,0.00,0.00,20.73,0.778,6,0.000,0.000,2867,2277,2257
$GC,15602,0.48,156.3,210.1,9.8,456,15605,0.00,1.60,0.00,0.000,4,0.000,0.026,2873,1164,2254
$GC,15698,0.49,169.8,202.2,8.4,458,15717,0.00,1.75,12.73,0.720,6,0.000,0.038,2873,2302,2202
$GC,15980,0.49,169.8,174.2,11.2,481,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2302,2199
$GC,16245,0.49,169.8,144.8,11.2,506,16254,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2302,2199
$GC,16512,0.49,177.9,118.5,8.6,531,16523,0.00,0.00,8.48,0.606,6,0.000,0.000,2873,2302,2169
$GC,16778,0.49,177.9,94.4,9.6,556,16787,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2302,2168
$GC,17045,0.49,182.7,69.5,8.8,581,17060,0.00,1.50,5.95,0.516,4,0.000,0.042,2873,3283,2149
$GC,17137,0.49,184.2,60.7,8.9,588,17141,0.00,1.45,0.00,0.000,6,0.000,0.021,2879,2272,2149
$GC,17410,0.53,282.4,40.9,4.3,613,17497,0.00,1.62,81.68,0.587,4,0.000,0.023,2883,1153,1744
$GC,17534,0.57,379.2,35.8,4.4,622,17618,0.00,1.75,77.35,0.571,6,0.000,0.035,2883,2290,1348
$GC,17919,0.60,456.3,8.4,5.3,675,17989,0.00,1.70,61.35,0.543,4,0.000,0.023,2883,1172,1033
$GC,18008,0.63,517.0,4.6,6.1,685,18036,0.00,1.70,24.08,0.523,2,0.000,0.033,2883,2257,916
$STATE,18037,end climb,SURFACE_DEPTH_REACHED
$STATE,18037,begin surface coast
$FINISH,0.5,1.023158
$STATE,18106,end surface coast,CONTROL_FINISHED_OK
$STATE,18106,begin surface
$SM_CCo,18192,0.00,0.000,0,0,911,486.67
$SM_GC,1.34,7.32,0.00,0.00,0.021,0.000,0.000,33,2536,911,-8.22,1.02,486.67
$IRIDIUM_FIX,2255.72,-15809.31,010203,020216
$TT8_MAMPS,0.023777
$HUMID,2193
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,26.20
$XPDR_PINGS,10
$24V_AH,23.3,44.260
$10V_AH,10.6,52.548
$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,18.350,122.125,536.425,0.000,0.000,25.524,34.791,520.028,2.500,0.000,0.000,30.455,1458.514,12093.173,515.452,3653.789,1254.559,33.410,1674.293,0.000,3621.418,0.000,0.545,0.000
$DEVICE_MAMPS,256.178,65.962,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,475.748,2302.798,2389.414,1687.482,1627.230,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57507,699
$CAP_FILE_SIZE,144403,0
$CFSIZE,260165632,240828416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,071113,123424,2242.843,-15805.443,44,1.9,44,10.0