version: 66.04
glider: 512
mission: 4
dive: 270
start: 11 7 113 18 11 25
data:
$ID,512
$MISSION,4
$DIVE,270
$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,-111795.52
$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,56
$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
$GPS1,174936,2241.164,-15805.990,51,1.0,51,10.0
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.3
$GPS2,181031,2241.350,-15806.164,16,1.1,16,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.020,-0.211
$KALMAN_X,54098.5,-147.8,-200.2,-64191.1,624.9
$KALMAN_Y,63923.1,170.2,-82.1,-69064.7,2063.9
$MHEAD_RNG_PITCHd_Wd,175.5,1599,-19.5,-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,-0.52,-101.0,0.0,0.0,0,80,0.00,0.00,-60.00,0.000,2,0.000,0.000,9,2538,2710
$GC,86,-0.53,-126.5,2.1,-1.2,7,124,9.50,1.55,-18.35,0.000,4,0.197,0.057,2507,3544,3411
$GC,292,-0.53,-126.5,56.0,-25.7,30,301,0.00,1.52,0.00,0.000,6,0.000,0.019,2507,2487,3412
$GC,558,-0.53,-126.5,118.8,-20.5,55,561,0.00,1.62,0.00,0.000,4,0.000,0.040,2500,3556,3413
$GC,654,-0.53,-126.5,139.1,-19.9,63,658,0.00,1.50,0.00,0.000,6,0.000,0.018,2505,2506,3412
$GC,927,-0.53,-126.5,188.6,-16.8,88,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2499,3413
$GC,1206,-0.53,-126.5,232.5,-16.2,100,1210,0.00,1.45,0.00,0.000,4,0.000,0.020,2512,1449,3413
$GC,1235,-0.53,-126.5,238.2,-15.9,100,1239,0.00,1.60,0.00,0.000,6,0.000,0.036,2506,2525,3413
$GC,1501,-0.53,-126.5,279.9,-15.7,107,1505,0.00,1.58,0.00,0.000,4,0.000,0.044,2498,3560,3412
$GC,1537,-0.53,-126.5,285.7,-14.9,107,1541,0.00,1.45,0.00,0.000,6,0.000,0.020,2503,2529,3412
$GC,1797,-0.53,-126.5,317.9,-12.1,114,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2521,3411
$GC,2041,-0.53,-126.5,349.2,-13.1,120,2045,0.00,1.60,0.00,0.000,4,0.000,0.044,2497,3577,3410
$GC,2072,-0.53,-126.5,354.1,-14.7,120,2076,0.00,1.45,0.00,0.000,6,0.000,0.021,2503,2557,3410
$GC,2339,-0.53,-126.5,385.5,-11.5,127,2343,0.00,1.52,0.00,0.000,4,0.000,0.021,2511,1455,3409
$GC,2389,-0.53,-126.5,391.1,-9.8,128,2392,0.00,1.65,0.00,0.000,6,0.000,0.039,2505,2551,3408
$GC,2683,-0.53,-126.5,424.1,-11.7,135,2686,0.00,1.55,0.00,0.000,4,0.000,0.022,2508,1464,3405
$GC,2707,-0.53,-126.5,427.6,-12.5,135,2711,0.00,1.60,0.00,0.000,6,0.000,0.038,2503,2530,3405
$GC,2979,-0.53,-126.5,460.9,-12.3,142,2984,0.00,1.60,-0.08,0.000,4,0.000,0.066,2494,3571,3426
$GC,3082,-0.53,-126.5,472.8,-10.7,144,3085,0.00,1.48,0.00,0.000,6,0.000,0.022,2500,2548,3425
$GC,3365,-0.53,-126.5,499.9,-9.4,151,3369,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1449,3423
$GC,3416,-0.53,-126.5,504.6,-8.5,152,3419,0.00,1.62,0.00,0.000,6,0.000,0.041,2502,2519,3423
$GC,3710,-0.53,-126.5,530.8,-8.8,159,3713,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3567,3420
$GC,3836,-0.53,-126.5,543.4,-10.4,161,3839,0.00,1.50,0.00,0.000,6,0.000,0.024,2499,2537,3419
$GC,4096,-0.53,-126.5,571.4,-11.2,168,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2529,3416
$GC,4339,-0.53,-126.5,597.9,-10.6,174,4343,0.00,1.52,0.00,0.000,4,0.000,0.025,2507,1455,3415
$GC,4376,-0.53,-126.5,601.9,-9.7,174,4379,0.00,1.67,0.00,0.000,6,0.000,0.044,2501,2553,3414
$GC,4637,-0.53,-126.5,626.6,-9.6,181,4640,0.00,1.58,0.00,0.000,4,0.000,0.053,2494,3558,3412
$GC,4756,-0.53,-126.5,638.6,-8.7,183,4759,0.00,1.45,0.00,0.000,6,0.000,0.026,2499,2566,3412
$GC,5023,-0.53,-126.5,662.1,-8.8,190,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2558,3409
$GC,5267,-0.53,-126.5,683.3,-8.7,196,5270,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1457,3408
$GC,5310,-0.53,-126.5,687.3,-8.3,196,5317,0.00,1.73,0.00,0.000,6,0.000,0.045,2501,2560,3408
$GC,5564,-0.53,-126.5,710.2,-9.2,203,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2560,3406
$GC,5808,-0.53,-126.5,733.1,-9.4,209,5812,0.00,1.58,0.00,0.000,4,0.000,0.055,2493,3556,3404
$GC,5843,-0.53,-126.5,737.1,-10.6,209,5847,0.00,1.48,0.00,0.000,6,0.000,0.028,2498,2558,3403
$GC,6103,-0.53,-126.5,761.7,-9.5,216,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2549,3402
$GC,6347,-0.53,-126.5,785.2,-9.5,222,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2549,3401
$GC,6591,-0.53,-126.5,808.1,-9.3,228,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2549,3400
$GC,6835,-0.53,-126.5,829.8,-8.8,234,6839,0.00,1.60,0.00,0.000,4,0.000,0.054,2493,3567,3399
$GC,6905,-0.53,-126.5,836.5,-9.1,235,6908,0.00,1.48,0.00,0.000,6,0.000,0.028,2499,2572,3398
$GC,7177,-0.53,-126.5,859.4,-8.4,242,7180,0.00,1.60,0.00,0.000,4,0.000,0.029,2507,1438,3398
$GC,7213,-0.53,-126.5,862.7,-7.9,242,7217,0.00,1.73,0.00,0.000,6,0.000,0.047,2501,2553,3398
$GC,7473,-0.53,-126.5,884.0,-8.2,249,7477,0.00,1.60,0.00,0.000,4,0.000,0.058,2493,3556,3396
$GC,7509,-0.53,-126.5,887.4,-8.9,249,7513,0.00,1.48,0.00,0.000,6,0.000,0.030,2498,2565,3396
$STATE,7683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7683,begin apogee
$GC,7695,-0.17,0.0,901.5,8.1,254,7807,0.43,0.00,109.53,1.254,6,0.104,0.000,2644,2214,2895
$STATE,7808,end apogee,CONTROL_FINISHED_OK
$STATE,7808,begin climb
$GC,7813,0.53,126.5,904.2,0.0,257,8021,0.57,0.00,143.25,1.050,6,0.029,0.000,2887,2213,2379
$GC,8267,0.53,126.5,839.6,19.5,268,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2214,2370
$GC,8510,0.53,126.5,795.0,18.1,274,8514,0.00,1.73,0.00,0.000,4,0.000,0.051,2887,3280,2368
$GC,8561,0.53,126.5,785.4,18.8,275,8565,0.00,1.58,0.00,0.000,6,0.000,0.029,2894,2243,2367
$GC,8855,0.53,126.5,728.9,19.5,282,8858,0.00,1.60,0.00,0.000,4,0.000,0.029,2902,1156,2365
$GC,8891,0.53,126.5,721.3,19.3,282,8895,0.15,1.65,0.00,0.000,6,0.165,0.043,2865,2220,2365
$GC,9152,0.53,126.5,677.0,16.9,289,9155,0.00,1.65,0.00,0.000,4,0.000,0.051,2863,3286,2364
$GC,9209,0.53,126.5,666.2,17.7,290,9213,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2222,2364
$GC,9491,0.53,126.5,623.3,14.6,297,9495,0.00,1.55,0.00,0.000,4,0.000,0.029,2877,1160,2363
$GC,9526,0.53,126.5,618.5,12.0,297,9530,0.00,1.70,0.00,0.000,6,0.000,0.044,2875,2259,2363
$GC,9788,0.53,126.5,586.8,12.2,304,9792,0.00,1.62,0.00,0.000,4,0.000,0.052,2876,3289,2363
$GC,9912,0.53,126.5,568.9,14.0,306,9916,0.00,1.48,0.00,0.000,6,0.000,0.027,2881,2297,2362
$GC,10174,0.53,126.5,534.9,13.3,313,10178,0.00,1.67,0.00,0.000,4,0.000,0.030,2889,1157,2362
$GC,10193,0.53,126.5,531.8,13.5,313,10196,0.00,1.80,0.00,0.000,6,0.000,0.044,2889,2321,2361
$GC,10470,0.53,126.5,490.5,15.9,320,10473,0.00,1.50,0.00,0.000,4,0.000,0.051,2889,3279,2361
$GC,10494,0.53,126.5,486.1,15.9,320,10498,0.00,1.45,0.00,0.000,6,0.000,0.027,2896,2304,2361
$GC,10765,0.53,126.5,446.4,14.3,327,10769,0.00,1.65,0.00,0.000,4,0.000,0.029,2904,1152,2361
$GC,10790,0.53,126.5,442.7,13.8,327,10794,0.15,1.80,0.00,0.000,6,0.153,0.043,2865,2318,2360
$GC,11062,0.53,126.5,409.9,12.3,334,11065,0.00,1.52,0.00,0.000,4,0.000,0.051,2863,3287,2359
$GC,11258,0.53,126.5,385.1,12.4,338,11262,0.00,1.38,0.00,0.000,6,0.000,0.027,2868,2360,2359
$GC,11541,0.53,126.5,350.9,11.8,345,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2353,2359
$GC,11785,0.53,126.5,326.7,9.7,351,11788,0.00,1.48,0.00,0.000,4,0.000,0.048,2863,3281,2359
$GC,11860,0.53,126.5,318.8,9.8,352,11863,0.00,1.38,0.00,0.000,6,0.000,0.027,2868,2352,2359
$GC,12126,0.53,126.5,294.8,9.3,359,12127,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2346,2359
$GC,12369,0.53,126.5,271.1,9.4,365,12373,0.00,1.50,0.00,0.000,4,0.000,0.048,2863,3292,2359
$GC,12401,0.53,126.5,268.0,10.2,365,12404,0.00,1.38,0.00,0.000,6,0.000,0.026,2868,2356,2359
$GC,12666,0.53,126.5,243.0,9.7,372,12670,0.00,1.75,0.00,0.000,4,0.000,0.028,2873,1159,2359
$GC,12922,0.53,138.1,221.0,8.3,377,12941,0.00,1.83,8.27,0.702,6,0.000,0.041,2873,2348,2331
$GC,13190,0.53,139.7,195.6,8.9,387,13193,0.00,1.45,0.00,0.000,4,0.000,0.047,2873,3286,2330
$GC,13274,0.53,139.7,187.1,10.0,394,13278,0.00,1.38,0.00,0.000,6,0.000,0.024,2879,2346,2330
$GC,13546,0.54,162.8,164.4,7.6,419,13574,0.00,1.77,22.95,0.708,4,0.000,0.026,2888,1144,2230
$GC,13683,0.54,162.8,151.2,9.5,430,13691,0.00,1.92,0.00,0.000,6,0.000,0.039,2888,2377,2226
$GC,13950,0.54,162.8,122.6,10.5,455,13953,0.00,1.40,0.00,0.000,4,0.000,0.044,2888,3284,2226
$GC,13978,0.54,162.8,119.8,10.4,457,13981,0.00,1.33,0.00,0.000,6,0.000,0.023,2893,2370,2226
$GC,14250,0.54,162.8,92.0,9.9,482,14253,0.00,1.73,0.00,0.000,4,0.000,0.025,2900,1150,2226
$GC,14267,0.54,162.8,90.2,10.4,483,14272,0.12,1.92,0.00,0.000,6,0.127,0.038,2867,2415,2226
$GC,14546,0.57,244.6,72.9,4.1,508,14619,0.00,1.92,67.65,0.620,4,0.000,0.025,2869,1159,1896
$GC,14645,0.59,280.2,67.3,6.9,515,14683,0.00,1.92,30.05,0.595,6,0.000,0.038,2869,2376,1750
$GC,14944,0.60,306.8,47.1,7.4,542,14973,0.00,1.77,21.95,0.574,4,0.000,0.023,2869,1162,1643
$GC,15017,0.61,349.7,41.4,6.4,547,15057,0.00,1.88,35.28,0.572,6,0.000,0.035,2869,2362,1469
$GC,15337,0.63,389.9,23.2,6.6,582,15382,0.00,1.85,32.90,0.554,4,0.000,0.023,2869,1147,1303
$GC,15413,0.66,458.1,19.0,4.9,591,15475,0.08,1.83,54.90,0.548,6,0.202,0.031,2919,2330,1026
$STATE,15585,end climb,SURFACE_DEPTH_REACHED
$STATE,15585,begin surface coast
$FINISH,0.5,1.009609
$STATE,15618,end surface coast,CONTROL_FINISHED_OK
$STATE,15618,begin surface
$SM_CCo,15704,0.00,0.000,0,0,1021,459.68
$SM_GC,1.43,7.47,0.00,0.00,0.028,0.000,0.000,26,2576,1021,-8.22,2.12,459.68
$IRIDIUM_FIX,2157.39,-15809.32,010203,181840
$TT8_MAMPS,0.02301
$HUMID,2201
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.50
$XPDR_PINGS,7
$24V_AH,23.8,44.605
$10V_AH,10.6,52.999
$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,18.475,116.050,526.725,0.000,0.000,60.077,77.944,854.725,1.750,0.000,0.000,16.520,1283.794,10285.752,532.351,3213.957,1630.138,33.379,1593.069,0.000,3208.551,0.000,0.546,0.000
$DEVICE_MAMPS,202.488,65.962,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,420.679,2042.429,2114.613,1456.643,1436.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50970,620
$CAP_FILE_SIZE,133613,0
$CFSIZE,260165632,240705536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,071113,223435,2240.497,-15806.359,37,1.4,42,10.0