version: 66.04
glider: 512
mission: 4
dive: 284
start: 11 10 113 19 19 39
data:
$ID,512
$MISSION,4
$DIVE,284
$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,-112927.62
$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,94
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2888
$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
$GPS1,182805,2304.647,-15804.144,28,2.0,28,10.1
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.7
$GPS2,182805,2304.647,-15804.144,28,2.0,28,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.212
$KALMAN_X,55689.5,-88.1,-85.1,-63003.3,1419.5
$KALMAN_Y,68182.3,214.3,-312.3,-31591.7,697.1
$MHEAD_RNG_PITCHd_Wd,144.3,65994,-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,17,-0.47,-126.5,0.0,0.0,0,123,0.00,0.00,-102.93,0.000,2,0.000,0.000,6,2537,2970
$GC,129,-0.47,-126.5,2.4,-1.4,12,158,9.52,1.50,-9.15,0.000,4,0.196,0.039,2543,1463,3406
$GC,278,-0.47,-126.5,39.7,-15.8,30,282,0.00,1.55,0.00,0.000,6,0.000,0.040,2538,2479,3406
$GC,551,-0.47,-126.5,95.9,-18.5,55,555,0.00,1.65,0.00,0.000,4,0.000,0.046,2530,3561,3406
$GC,625,-0.47,-126.5,108.8,-16.5,61,628,0.00,1.45,0.00,0.000,6,0.000,0.018,2530,2524,3406
$GC,896,-0.47,-126.5,152.7,-15.7,86,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2516,3406
$GC,1162,-0.47,-126.5,193.1,-14.9,111,1166,0.00,1.45,0.00,0.000,4,0.000,0.019,2530,1454,3406
$GC,1221,-0.47,-126.5,202.2,-13.5,115,1225,0.00,1.60,0.00,0.000,6,0.000,0.038,2523,2530,3406
$GC,1504,-0.47,-126.5,242.3,-14.0,122,1508,0.00,1.55,0.00,0.000,4,0.000,0.045,2516,3556,3405
$GC,1600,-0.47,-126.5,254.3,-11.9,124,1604,0.00,1.50,0.00,0.000,6,0.000,0.019,2516,2487,3404
$GC,1894,-0.47,-126.5,289.4,-11.8,131,1897,0.00,1.40,0.00,0.000,4,0.000,0.020,2516,1453,3403
$GC,1930,-0.47,-126.5,294.1,-12.0,131,1934,0.05,1.55,0.00,0.000,6,0.202,0.037,2541,2478,3403
$GC,2190,-0.47,-126.5,319.2,-9.8,138,2193,0.00,1.62,0.00,0.000,4,0.000,0.048,2535,3561,3401
$GC,2316,-0.47,-126.5,332.3,-9.9,140,2319,0.00,1.50,0.00,0.000,6,0.000,0.020,2535,2505,3401
$GC,2576,-0.47,-126.5,359.4,-10.4,147,2579,0.00,1.62,0.00,0.000,4,0.000,0.046,2526,3567,3399
$GC,2617,-0.47,-126.5,363.8,-9.5,147,2626,0.00,1.52,0.00,0.000,6,0.000,0.021,2526,2487,3398
$GC,2873,-0.47,-126.5,387.6,-9.3,154,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2486,3397
$GC,3116,-0.47,-126.5,410.3,-9.4,160,3118,0.00,0.00,-0.08,0.000,6,0.000,0.000,2527,2486,3417
$GC,3360,-0.47,-126.5,433.6,-9.6,166,3363,0.00,1.67,0.00,0.000,4,0.000,0.051,2524,3565,3415
$GC,3395,-0.47,-126.5,437.2,-9.8,166,3399,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2529,3414
$GC,3656,-0.47,-126.5,460.2,-8.9,173,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2522,3413
$GC,3899,-0.47,-126.5,481.3,-8.6,179,3903,0.00,1.60,0.00,0.000,4,0.000,0.051,2516,3560,3411
$GC,3968,-0.47,-126.5,487.8,-9.6,180,3972,0.00,1.45,0.00,0.000,6,0.000,0.024,2516,2550,3410
$GC,4241,-0.47,-126.5,512.4,-9.3,187,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2542,3408
$GC,4484,-0.47,-126.5,535.7,-9.6,193,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2542,3406
$GC,4728,-0.47,-126.5,558.5,-9.3,199,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2542,3403
$GC,4972,-0.47,-126.5,579.3,-8.4,205,4976,0.00,1.55,0.00,0.000,4,0.000,0.025,2521,1451,3401
$GC,5002,-0.47,-126.5,582.0,-7.8,205,5006,0.00,1.70,0.00,0.000,6,0.000,0.045,2515,2544,3401
$GC,5269,-0.47,-126.5,601.9,-7.4,212,5272,0.00,1.60,0.00,0.000,4,0.000,0.054,2507,3563,3400
$GC,5343,-0.47,-126.5,608.1,-8.4,213,5347,0.08,1.45,0.00,0.000,6,0.104,0.025,2539,2555,3399
$GC,5611,-0.47,-126.5,624.3,-6.1,220,5615,0.00,1.55,0.00,0.000,4,0.000,0.025,2548,1457,3397
$GC,5641,-0.47,-126.5,626.7,-7.7,220,5645,0.00,1.67,0.00,0.000,6,0.000,0.046,2542,2549,3397
$GC,5908,-0.47,-126.5,644.1,-6.7,227,5911,0.00,1.60,0.00,0.000,4,0.000,0.056,2534,3581,3395
$GC,5944,-0.47,-126.5,647.0,-7.9,227,5947,0.00,1.50,0.00,0.000,6,0.000,0.028,2534,2552,3395
$GC,6205,-0.47,-126.5,666.2,-7.4,234,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2544,3393
$GC,6448,-0.47,-126.5,682.8,-6.7,240,6451,0.00,1.55,0.00,0.000,4,0.000,0.027,2534,1461,3392
$GC,6472,-0.47,-126.5,684.8,-7.4,240,6476,0.00,1.70,0.00,0.000,6,0.000,0.046,2526,2568,3392
$GC,6745,-0.47,-126.5,702.8,-6.7,247,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2568,3390
$GC,6989,-0.47,-126.5,718.9,-6.6,253,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2568,3389
$GC,7233,-0.47,-126.5,736.5,-7.3,259,7236,0.00,1.58,0.00,0.000,4,0.000,0.058,2524,3556,3388
$GC,7290,-0.47,-126.5,741.4,-8.1,260,7294,0.00,1.48,0.00,0.000,6,0.000,0.029,2524,2556,3387
$GC,7574,-0.47,-126.5,761.7,-7.1,267,7577,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3558,3386
$GC,7625,-0.47,-126.5,765.4,-6.9,268,7629,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2576,3386
$GC,7920,-0.47,-126.5,786.9,-7.3,275,7923,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1436,3385
$GC,7944,-0.47,-126.5,789.2,-7.8,275,7948,0.00,1.80,0.00,0.000,6,0.000,0.049,2523,2574,3385
$GC,8216,-0.47,-126.5,809.1,-7.4,282,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2575,3384
$GC,8459,-0.47,-126.5,826.2,-7.0,288,8463,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3555,3383
$GC,8495,-0.47,-126.5,828.9,-6.7,288,8499,0.00,1.42,0.00,0.000,6,0.000,0.030,2523,2595,3382
$GC,8757,-0.47,-126.5,846.2,-6.7,295,8760,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1461,3382
$GC,8826,-0.47,-126.5,851.6,-7.4,296,8830,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2573,3381
$GC,9098,-0.47,-126.5,871.4,-7.6,303,9102,0.00,1.58,0.00,0.000,4,0.000,0.061,2523,3554,3380
$GC,9149,-0.47,-126.5,875.3,-7.2,304,9153,0.00,1.42,0.00,0.000,6,0.000,0.030,2523,2595,3380
$GC,9444,-0.47,-126.5,898.0,-7.7,311,9448,0.00,1.62,0.00,0.000,4,0.000,0.029,2523,1465,3379
$STATE,9463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9463,begin apogee
$GC,9475,-0.17,0.0,900.3,8.1,311,9588,0.32,0.00,109.53,1.256,6,0.094,0.000,2640,2232,2888
$STATE,9588,end apogee,CONTROL_FINISHED_OK
$STATE,9589,begin climb
$GC,9594,0.47,126.5,904.6,0.0,314,9764,0.55,0.00,131.48,1.135,6,0.034,0.000,2869,2232,2371
$GC,10015,0.47,126.5,858.0,15.9,324,10018,0.00,1.67,0.00,0.000,4,0.000,0.049,2863,3278,2363
$GC,10066,0.47,126.5,848.8,17.0,325,10070,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2243,2362
$GC,10359,0.47,126.5,800.9,16.5,332,10363,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1156,2359
$GC,10423,0.47,126.5,789.8,16.2,333,10426,0.00,1.65,0.00,0.000,6,0.000,0.043,2875,2219,2358
$GC,10701,0.47,126.5,744.4,16.4,340,10704,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3280,2357
$GC,10795,0.47,126.5,727.9,17.6,342,10800,0.10,1.58,0.00,0.000,6,0.173,0.028,2852,2234,2357
$GC,11090,0.47,126.5,685.1,14.4,349,11094,0.00,1.67,0.00,0.000,4,0.000,0.051,2853,3290,2356
$GC,11140,0.47,126.5,677.1,15.8,350,11144,0.00,1.55,0.00,0.000,6,0.000,0.028,2859,2259,2356
$GC,11434,0.47,126.5,635.6,14.2,357,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2253,2355
$GC,11677,0.47,126.5,601.6,13.9,363,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2253,2355
$GC,11921,0.47,126.5,569.1,13.4,369,11925,0.00,1.62,0.00,0.000,4,0.000,0.051,2859,3287,2355
$GC,11986,0.47,126.5,559.4,13.1,370,11989,0.00,1.52,0.00,0.000,6,0.000,0.028,2866,2263,2355
$GC,12263,0.47,126.5,522.5,13.3,377,12267,0.00,1.60,0.00,0.000,4,0.000,0.029,2874,1166,2355
$GC,12372,0.47,126.5,507.9,13.3,379,12375,0.00,1.70,0.00,0.000,6,0.000,0.042,2874,2272,2354
$GC,12649,0.47,126.5,472.1,12.8,386,12652,0.00,1.58,0.00,0.000,4,0.000,0.051,2874,3274,2353
$GC,12718,0.47,126.5,462.4,12.9,387,12722,0.08,1.55,0.00,0.000,6,0.147,0.027,2848,2233,2353
$GC,12990,0.47,126.5,433.5,10.5,394,12993,0.00,1.55,0.00,0.000,4,0.000,0.030,2854,1167,2353
$GC,13047,0.47,126.5,427.2,9.5,395,13051,0.00,1.62,0.00,0.000,6,0.000,0.041,2853,2204,2353
$GC,13329,0.47,126.5,398.4,10.6,402,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2204,2352
$GC,13573,0.47,126.5,372.5,10.6,408,13576,0.00,1.67,0.00,0.000,4,0.000,0.051,2850,3291,2353
$GC,13720,0.47,126.5,355.5,11.4,411,13724,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2194,2352
$GC,14004,0.47,126.5,327.3,9.9,418,14008,0.00,1.73,0.00,0.000,4,0.000,0.048,2857,3291,2352
$GC,14084,0.47,126.5,318.4,10.8,419,14088,0.00,1.60,0.00,0.000,6,0.000,0.026,2864,2186,2352
$GC,14344,0.47,126.5,292.7,9.6,426,14348,0.00,1.75,0.00,0.000,4,0.000,0.048,2863,3279,2352
$GC,14464,0.47,126.5,279.7,10.0,428,14467,0.00,1.55,0.00,0.000,6,0.000,0.025,2868,2226,2352
$GC,14730,0.47,129.7,255.3,8.9,435,14734,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3281,2352
$GC,14795,0.48,161.6,249.8,7.5,436,14827,0.00,1.52,28.33,0.795,6,0.000,0.025,2869,2236,2229
$GC,15111,0.49,185.1,224.7,7.9,444,15134,0.00,0.00,21.48,0.755,6,0.000,0.000,2869,2236,2133
$GC,15354,0.49,185.1,201.0,10.1,450,15357,0.00,1.65,0.00,0.000,4,0.000,0.044,2862,3293,2128
$GC,15384,0.49,185.1,197.3,11.1,450,15387,0.00,1.52,0.00,0.000,6,0.000,0.024,2868,2264,2128
$GC,15650,0.49,185.1,169.1,10.4,474,15654,0.00,1.58,0.00,0.000,4,0.000,0.025,2876,1167,2128
$GC,15702,0.49,185.1,164.1,10.0,478,15706,0.00,1.70,0.00,0.000,6,0.000,0.037,2876,2268,2127
$GC,15974,0.49,185.1,136.2,10.6,503,15978,0.00,1.55,0.00,0.000,4,0.000,0.044,2876,3276,2127
$GC,15991,0.49,185.1,134.4,10.0,504,15995,0.00,1.50,0.00,0.000,6,0.000,0.022,2883,2241,2127
$GC,16263,0.49,185.1,106.1,9.2,529,16270,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2235,2127
$GC,16529,0.50,212.8,81.1,7.7,554,16559,0.00,0.00,24.00,0.616,6,0.000,0.000,2884,2235,2021
$GC,16816,0.53,275.1,62.5,6.0,581,16874,0.00,1.62,51.47,0.600,4,0.000,0.041,2884,3280,1765
$GC,17026,0.54,312.2,48.2,7.2,597,17068,0.00,1.55,30.67,0.578,6,0.000,0.022,2886,2228,1613
$GC,17324,0.57,370.5,30.0,6.2,624,17377,0.00,1.52,46.47,0.562,4,0.000,0.022,2885,1161,1376
$GC,17420,0.57,370.5,21.5,9.8,635,17429,0.00,1.67,0.00,0.000,6,0.000,0.035,2886,2236,1373
$STATE,17657,end climb,SURFACE_DEPTH_REACHED
$STATE,17657,begin surface coast
$FINISH,0.4,1.023148
$STATE,17714,end surface coast,CONTROL_FINISHED_OK
$STATE,17714,begin surface
$SM_CCo,17740,7.93,0.472,0,0,1296,390.02
$SM_GC,1.07,0.00,0.00,7.93,0.000,0.000,0.472,36,2562,1296,-8.31,1.78,390.02
$IRIDIUM_FIX,2202.04,-15808.46,040203,191942
$TT8_MAMPS,0.023777
$HUMID,2267
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.60
$XPDR_PINGS,8
$24V_AH,23.5,47.270
$10V_AH,10.6,56.250
$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,18.050,120.275,443.425,7.925,0.000,145.555,211.427,1329.639,2.000,0.000,0.000,901.575,1423.676,12050.412,485.459,4434.906,2387.057,33.369,1611.975,0.000,3535.167,0.000,0.547,0.000
$DEVICE_MAMPS,201.721,60.593,1255.579,472.472,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,463.895,2243.493,2317.116,1616.633,1557.484,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57400,681
$CAP_FILE_SIZE,156789,0
$CFSIZE,260165632,239693824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,111113,002354,2303.837,-15802.108,437,3.1,456,10.1