version: 66.04
glider: 512
mission: 4
dive: 269
start: 11 7 113 12 51 26
data:
$ID,512
$MISSION,4
$DIVE,269
$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,-111778.37
$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,57
$R_STBD_OVSHOOT,49
$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
$GPS1,123424,2242.843,-15805.443,44,1.9,44,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-79.6
$GPS2,125034,2242.834,-15805.652,13,1.7,22,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.023,-0.234
$KALMAN_X,54245.9,-123.0,53.6,-63743.0,207.5
$KALMAN_Y,62608.5,-319.6,-191.2,-64404.8,2858.3
$MHEAD_RNG_PITCHd_Wd,175.6,4363,-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,18,begin dive
$GC,23,-0.47,-126.5,0.0,0.0,0,111,0.00,0.00,-85.50,0.000,2,0.000,0.000,10,2529,2999
$GC,117,-0.47,-126.5,2.5,-2.3,10,146,9.62,1.60,-8.45,0.000,4,0.198,0.041,2538,1433,3413
$GC,372,-0.47,-126.5,65.7,-18.0,36,376,0.00,1.60,0.00,0.000,6,0.000,0.038,2532,2495,3413
$GC,644,-0.47,-126.5,113.6,-15.9,61,648,0.00,1.62,0.00,0.000,4,0.000,0.045,2524,3573,3414
$GC,786,-0.47,-126.5,135.4,-13.7,73,790,0.00,1.55,0.00,0.000,6,0.000,0.019,2527,2476,3413
$GC,1057,-0.47,-126.5,177.4,-15.4,98,1060,0.00,1.67,0.00,0.000,4,0.000,0.044,2521,3567,3413
$GC,1096,-0.47,-126.5,183.6,-15.6,101,1100,0.00,1.48,0.00,0.000,6,0.000,0.018,2521,2531,3413
$GC,1371,-0.47,-126.5,224.9,-15.0,115,1374,0.00,1.48,0.00,0.000,4,0.000,0.021,2521,1451,3413
$GC,1434,-0.47,-126.5,234.1,-13.0,116,1438,0.00,1.62,0.00,0.000,6,0.000,0.038,2515,2521,3413
$GC,1710,-0.47,-126.5,275.7,-15.0,123,1714,0.00,1.58,0.00,0.000,4,0.000,0.046,2507,3556,3413
$GC,1762,-0.47,-126.5,283.0,-14.6,124,1766,0.08,1.48,0.00,0.000,6,0.120,0.020,2536,2505,3413
$GC,2055,-0.47,-126.5,313.8,-9.6,131,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2498,3412
$GC,2299,-0.47,-126.5,338.6,-10.6,137,2302,0.00,1.62,0.00,0.000,4,0.000,0.046,2530,3564,3411
$GC,2349,-0.47,-126.5,344.5,-11.3,138,2353,0.00,1.45,0.00,0.000,6,0.000,0.021,2530,2541,3410
$GC,2644,-0.47,-126.5,379.1,-11.4,145,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2533,3409
$GC,2887,-0.47,-126.5,402.6,-9.1,151,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2533,3406
$GC,3131,-0.47,-126.5,421.7,-7.8,157,3135,0.00,1.50,0.00,0.000,4,0.000,0.023,2530,1462,3403
$GC,3175,-0.47,-126.5,425.4,-8.1,157,3183,0.00,1.67,0.00,0.000,6,0.000,0.041,2523,2548,3403
$GC,3429,-0.47,-126.5,449.2,-9.7,164,3431,0.00,0.00,-0.08,0.000,6,0.000,0.000,2524,2548,3425
$GC,3673,-0.47,-126.5,473.7,-10.0,170,3677,0.00,1.60,0.00,0.000,4,0.000,0.053,2523,3565,3424
$GC,3788,-0.47,-126.5,485.2,-9.9,172,3791,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2575,3423
$GC,4059,-0.47,-126.5,511.3,-9.7,179,4063,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1471,3420
$GC,4133,-0.47,-126.5,518.9,-9.8,180,4137,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2552,3420
$GC,4401,-0.47,-126.5,543.0,-9.1,187,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2552,3418
$GC,4645,-0.47,-126.5,563.9,-8.6,193,4649,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3554,3415
$GC,4695,-0.47,-126.5,568.3,-8.6,194,4699,0.00,1.45,0.00,0.000,6,0.000,0.026,2523,2558,3415
$GC,4990,-0.47,-126.5,592.7,-8.3,201,4993,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3573,3413
$GC,5009,-0.47,-126.5,594.5,-8.2,201,5013,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2558,3413
$GC,5287,-0.47,-126.5,613.8,-6.7,208,5291,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1460,3411
$GC,5317,-0.47,-126.5,616.1,-6.5,208,5321,0.00,1.73,0.00,0.000,6,0.000,0.046,2523,2562,3411
$GC,5583,-0.47,-126.5,631.9,-6.2,215,5587,0.00,1.58,0.00,0.000,4,0.000,0.055,2517,3560,3409
$GC,5732,-0.47,-126.5,643.6,-8.3,218,5735,0.00,1.42,0.00,0.000,6,0.000,0.027,2517,2586,3408
$GC,6014,-0.47,-126.5,671.1,-10.2,225,6018,0.00,1.60,0.00,0.000,4,0.000,0.027,2520,1463,3408
$GC,6050,-0.47,-126.5,675.2,-10.3,225,6054,0.10,1.73,0.00,0.000,6,0.111,0.044,2543,2587,3407
$GC,6312,-0.47,-126.5,695.4,-7.5,232,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2587,3405
$GC,6555,-0.47,-126.5,710.3,-5.8,238,6558,0.00,1.62,0.00,0.000,4,0.000,0.027,2544,1472,3404
$GC,6596,-0.47,-126.5,712.8,-5.0,238,6603,0.00,1.73,0.00,0.000,6,0.000,0.047,2538,2568,3403
$GC,6851,-0.47,-126.5,726.8,-5.7,245,6855,0.00,1.58,0.00,0.000,4,0.000,0.058,2531,3558,3401
$GC,6887,-0.47,-126.5,729.1,-6.5,245,6890,0.00,1.42,0.00,0.000,6,0.000,0.028,2531,2590,3401
$GC,7148,-0.47,-126.5,746.2,-6.8,252,7151,0.00,1.60,0.00,0.000,4,0.000,0.027,2531,1450,3401
$GC,7206,-0.47,-126.5,750.8,-7.3,253,7210,0.00,1.73,0.00,0.000,6,0.000,0.048,2524,2563,3400
$GC,7490,-0.47,-126.5,772.6,-7.8,260,7494,0.00,1.60,0.00,0.000,4,0.000,0.060,2524,3582,3400
$GC,7570,-0.47,-126.5,778.9,-7.3,261,7574,0.00,1.45,0.00,0.000,6,0.000,0.029,2524,2601,3399
$GC,7832,-0.47,-126.5,796.3,-6.6,268,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2593,3398
$GC,8076,-0.47,-126.5,810.5,-5.7,274,8079,0.00,1.60,0.00,0.000,4,0.000,0.028,2524,1467,3397
$GC,8119,-0.47,-126.5,813.4,-5.9,274,8126,0.00,1.75,0.00,0.000,6,0.000,0.049,2524,2569,3397
$GC,8373,-0.47,-126.5,828.2,-5.9,281,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2568,3396
$GC,8617,-0.47,-126.5,843.6,-6.4,287,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3395
$GC,8861,-0.47,-126.5,859.5,-6.6,293,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2569,3394
$GC,9104,-0.47,-126.5,876.5,-7.0,299,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2569,3393
$GC,9348,-0.47,-126.5,894.5,-7.5,305,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3393
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9425,begin apogee
$GC,9437,-0.17,0.0,900.7,7.6,307,9550,0.35,0.00,110.32,1.262,6,0.095,0.000,2641,2241,2895
$STATE,9551,end apogee,CONTROL_FINISHED_OK
$STATE,9551,begin climb
$GC,9556,0.47,126.5,905.2,0.0,310,9722,0.55,1.77,129.80,1.150,4,0.031,0.030,2881,1165,2379
$GC,9802,0.47,126.5,884.1,15.6,315,9805,0.00,1.73,0.00,0.000,6,0.000,0.044,2878,2225,2371
$GC,10069,0.47,126.5,839.1,17.1,322,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2224,2367
$GC,10312,0.47,126.5,798.9,16.3,328,10316,0.00,1.67,0.00,0.000,4,0.000,0.053,2876,3290,2366
$GC,10331,0.47,126.5,795.1,16.1,328,10335,0.15,1.60,0.00,0.000,6,0.184,0.028,2846,2217,2365
$GC,10608,0.47,126.5,758.0,13.3,335,10611,0.00,1.70,0.00,0.000,4,0.000,0.050,2846,3283,2363
$GC,10671,0.47,126.5,748.2,15.0,336,10674,0.00,1.55,0.00,0.000,6,0.000,0.029,2847,2261,2363
$GC,10949,0.47,126.5,710.7,13.4,343,10952,0.00,1.62,0.00,0.000,4,0.000,0.030,2855,1138,2362
$GC,11029,0.47,126.5,700.0,11.2,344,11032,0.00,1.73,0.00,0.000,6,0.000,0.046,2850,2244,2362
$GC,11289,0.47,126.5,666.6,13.0,351,11293,0.00,1.65,0.00,0.000,4,0.000,0.054,2850,3282,2362
$GC,11340,0.47,126.5,659.7,13.3,352,11344,0.00,1.60,0.00,0.000,6,0.000,0.028,2855,2221,2361
$GC,11634,0.47,126.5,622.2,12.6,359,11638,0.00,1.73,0.00,0.000,4,0.000,0.051,2856,3281,2361
$GC,11776,0.47,126.5,601.1,15.1,362,11779,0.00,1.52,0.00,0.000,6,0.000,0.029,2864,2266,2361
$GC,12070,0.47,126.5,557.0,15.1,369,12073,0.00,1.62,0.00,0.000,4,0.000,0.051,2863,3287,2360
$GC,12210,0.47,126.5,535.0,16.8,372,12213,0.00,1.48,0.00,0.000,6,0.000,0.027,2868,2299,2360
$GC,12505,0.47,126.5,493.8,13.6,379,12508,0.00,1.65,0.00,0.000,4,0.000,0.030,2877,1147,2359
$GC,12585,0.47,126.5,483.4,12.1,380,12588,0.00,1.80,0.00,0.000,6,0.000,0.044,2877,2310,2359
$GC,12845,0.47,126.5,453.7,11.3,387,12849,0.00,1.52,0.00,0.000,4,0.000,0.051,2876,3277,2359
$GC,12920,0.47,126.5,444.7,11.3,388,12924,0.10,1.42,0.00,0.000,6,0.168,0.027,2851,2316,2359
$GC,13186,0.47,127.9,421.4,8.9,395,13190,0.00,1.67,0.00,0.000,4,0.000,0.028,2858,1174,2358
$GC,13366,0.47,127.9,402.3,10.0,398,13374,0.00,1.73,0.00,0.000,6,0.000,0.042,2858,2278,2358
$GC,13621,0.47,127.9,373.9,11.0,405,13624,0.00,1.58,0.00,0.000,4,0.000,0.050,2858,3280,2358
$GC,13716,0.47,127.9,363.6,11.0,407,13720,0.00,1.45,0.00,0.000,6,0.000,0.026,2865,2304,2358
$GC,14011,0.47,127.9,335.9,9.1,414,14014,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3281,2358
$GC,14106,0.47,127.9,326.0,10.8,416,14110,0.00,1.40,0.00,0.000,6,0.000,0.026,2868,2337,2358
$GC,14400,0.47,127.9,295.1,10.4,423,14404,0.00,1.67,0.00,0.000,4,0.000,0.027,2876,1162,2358
$GC,14452,0.47,127.9,290.4,9.9,424,14455,0.00,1.83,0.00,0.000,6,0.000,0.042,2876,2344,2358
$GC,14746,0.47,127.9,263.1,9.0,431,14749,0.00,1.73,0.00,0.000,4,0.000,0.026,2882,1170,2358
$GC,14831,0.47,127.9,255.0,9.0,432,14840,0.00,1.77,0.00,0.000,6,0.000,0.040,2876,2314,2358
$GC,15087,0.48,141.4,234.1,8.4,439,15107,0.00,0.00,12.77,0.641,6,0.000,0.000,2876,2313,2319
$GC,15330,0.48,141.4,212.2,9.3,445,15334,0.00,1.70,0.00,0.000,4,0.000,0.026,2882,1168,2318
$GC,15455,0.48,159.4,201.9,8.1,447,15478,0.00,1.75,17.40,0.722,6,0.000,0.038,2876,2318,2244
$GC,15741,0.49,166.0,178.8,8.7,470,15750,0.00,0.00,7.00,0.618,6,0.000,0.000,2876,2318,2218
$GC,16006,0.49,166.0,151.7,11.0,495,16010,0.00,1.50,0.00,0.000,4,0.000,0.045,2876,3288,2216
$GC,16092,0.49,166.0,141.0,12.0,502,16096,0.00,1.48,0.00,0.000,6,0.000,0.023,2881,2276,2216
$GC,16364,0.49,166.0,113.5,9.4,527,16368,0.00,1.60,0.00,0.000,4,0.000,0.044,2876,3313,2216
$GC,16394,0.49,166.0,110.3,9.9,529,16402,0.00,1.45,0.00,0.000,6,0.000,0.021,2882,2295,2216
$GC,16661,0.49,187.5,87.9,8.0,554,16688,0.00,1.55,19.92,0.611,4,0.000,0.042,2877,3285,2130
$GC,16839,0.52,241.5,74.0,6.4,568,16890,0.00,1.38,45.08,0.606,6,0.000,0.021,2883,2328,1909
$GC,17147,0.53,264.3,49.7,7.9,596,17175,0.00,1.73,19.23,0.568,4,0.000,0.025,2886,1157,1816
$GC,17252,0.54,307.3,41.7,6.9,604,17295,0.00,1.80,35.85,0.569,6,0.000,0.035,2886,2340,1641
$GC,17580,0.55,327.2,13.7,8.1,645,17607,0.00,1.77,16.60,0.530,4,0.000,0.025,2886,1158,1559
$GC,17638,0.57,386.6,9.3,6.2,652,17692,0.00,1.80,48.08,0.539,6,0.000,0.037,2886,2312,1319
$STATE,17717,end climb,SURFACE_DEPTH_REACHED
$STATE,17718,begin surface coast
$FINISH,0.5,1.017988
$STATE,17763,end surface coast,CONTROL_FINISHED_OK
$STATE,17763,begin surface
$SM_CCo,17789,0.93,0.077,0,0,1305,390.02
$SM_GC,2.18,0.00,0.00,0.93,0.000,0.000,0.077,33,2540,1305,-8.32,1.30,390.02
$IRIDIUM_FIX,2239.35,-15807.58,010203,121218
$TT8_MAMPS,0.023777
$HUMID,2186
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.80
$XPDR_PINGS,6
$24V_AH,23.4,44.419
$10V_AH,10.6,52.780
$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,18.325,125.975,462.050,0.925,0.000,57.051,71.611,574.119,1.500,0.000,0.000,22.184,1436.645,11833.594,475.812,3619.714,1384.879,33.379,1659.394,0.000,3594.883,0.000,0.546,0.000
$DEVICE_MAMPS,197.886,59.826,1261.715,76.700,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,455.199,2202.354,2279.052,1539.181,1483.199,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57286,669
$CAP_FILE_SIZE,147456,0
$CFSIZE,260165632,240762880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,071113,174936,2241.164,-15805.990,51,1.0,51,10.0