version: 66.04
glider: 512
mission: 4
dive: 287
start: 11 11 113 11 20 40
data:
$ID,512
$MISSION,4
$DIVE,287
$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,610.54175
$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,-113004.52
$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,55
$R_STBD_OVSHOOT,51
$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
$GPS1,105853,2300.221,-15759.187,25,1.4,42,10.1
$_CALLS,5
$_XMS_NAKs,22
$_XMS_TOUTs,2
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.9
$GPS2,111943,2300.198,-15759.304,18,1.2,18,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,-0.215
$KALMAN_X,59158.1,-256.9,-88.2,-57530.8,1285.7
$KALMAN_Y,74148.9,-390.4,339.8,-44246.0,814.9
$MHEAD_RNG_PITCHd_Wd,146.0,54327,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-68.32,0.000,2,0.000,0.000,8,2523,2736
$GC,94,-0.47,-126.5,2.2,-1.5,8,132,9.65,1.60,-16.27,0.000,4,0.198,0.040,2540,1439,3406
$GC,206,-0.47,-126.5,27.3,-20.4,23,215,0.00,1.60,0.00,0.000,6,0.000,0.038,2535,2475,3407
$GC,482,-0.47,-126.5,90.2,-20.7,49,485,0.00,1.65,0.00,0.000,4,0.000,0.045,2526,3570,3406
$GC,566,-0.47,-126.5,105.2,-15.9,56,570,0.00,1.55,0.00,0.000,6,0.000,0.019,2526,2481,3406
$GC,839,-0.47,-126.5,148.4,-15.3,81,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2473,3407
$GC,1106,-0.47,-126.5,191.3,-15.9,106,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2473,3407
$GC,1373,-0.47,-126.5,228.8,-13.5,117,1377,0.00,1.67,0.00,0.000,4,0.000,0.041,2518,3564,3407
$GC,1493,-0.47,-126.5,244.1,-12.0,119,1497,0.00,1.45,0.00,0.000,6,0.000,0.018,2520,2537,3406
$GC,1759,-0.47,-126.5,277.6,-13.2,126,1763,0.00,1.60,0.00,0.000,4,0.000,0.042,2514,3570,3406
$GC,1813,-0.47,-126.5,285.6,-13.3,127,1816,0.00,1.42,0.00,0.000,6,0.000,0.020,2518,2564,3406
$GC,2101,-0.47,-126.5,323.1,-13.0,134,2105,0.00,1.55,0.00,0.000,4,0.000,0.044,2512,3561,3405
$GC,2197,-0.47,-126.5,335.2,-13.2,136,2201,0.00,1.38,0.00,0.000,6,0.000,0.021,2515,2585,3405
$GC,2491,-0.47,-126.5,370.9,-11.8,143,2495,0.00,1.58,0.00,0.000,4,0.000,0.021,2522,1445,3402
$GC,2549,-0.47,-126.5,377.5,-9.9,144,2552,0.00,1.70,0.00,0.000,6,0.000,0.038,2515,2580,3402
$GC,2832,-0.47,-126.5,407.1,-10.5,151,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2581,3400
$GC,3076,-0.47,-126.5,432.4,-10.4,157,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2581,3399
$GC,3320,-0.47,-126.5,457.8,-10.4,163,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2581,3396
$GC,3563,-0.47,-126.5,482.6,-9.8,169,3567,0.00,1.52,-0.08,0.000,4,0.000,0.066,2508,3572,3419
$GC,3604,-0.47,-126.5,486.8,-8.8,169,3613,0.08,1.40,0.00,0.000,6,0.108,0.023,2543,2579,3418
$GC,3859,-0.47,-126.5,503.7,-6.4,176,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2578,3416
$GC,4103,-0.47,-126.5,517.9,-5.7,182,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2578,3415
$GC,4346,-0.47,-126.5,532.4,-6.1,188,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2578,3412
$GC,4590,-0.47,-126.5,549.1,-7.1,194,4594,0.00,1.58,0.00,0.000,4,0.000,0.024,2547,1463,3410
$GC,4620,-0.47,-126.5,551.5,-7.3,194,4623,0.00,1.73,0.00,0.000,6,0.000,0.042,2541,2599,3411
$GC,4886,-0.47,-126.5,572.2,-8.1,201,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2598,3409
$GC,5130,-0.47,-126.5,590.6,-7.3,207,5133,0.00,1.62,0.00,0.000,4,0.000,0.025,2544,1454,3407
$GC,5160,-0.47,-126.5,592.9,-7.2,207,5164,0.00,1.77,0.00,0.000,6,0.000,0.044,2538,2591,3407
$GC,5428,-0.47,-126.5,610.6,-6.7,214,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2592,3405
$GC,5671,-0.47,-126.5,627.2,-6.9,220,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2592,3403
$GC,5914,-0.47,-126.5,644.9,-7.3,226,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2592,3401
$GC,6158,-0.47,-126.5,663.2,-7.5,232,6162,0.00,1.52,0.00,0.000,4,0.000,0.055,2531,3559,3400
$GC,6177,-0.47,-126.5,665.1,-8.0,232,6181,0.00,1.42,0.00,0.000,6,0.000,0.028,2531,2587,3400
$GC,6455,-0.47,-126.5,686.8,-7.9,239,6458,0.00,1.60,0.00,0.000,4,0.000,0.025,2531,1440,3398
$GC,6496,-0.47,-126.5,690.3,-8.2,239,6504,0.00,1.77,0.00,0.000,6,0.000,0.046,2525,2573,3398
$GC,6751,-0.47,-126.5,709.9,-7.7,246,6755,0.00,1.55,0.00,0.000,4,0.000,0.057,2524,3551,3397
$GC,6805,-0.47,-126.5,714.4,-7.8,247,6808,0.00,1.40,0.00,0.000,6,0.000,0.028,2523,2597,3397
$GC,7094,-0.47,-126.5,735.2,-7.2,254,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2589,3396
$GC,7337,-0.47,-126.5,752.6,-7.1,260,7341,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1459,3394
$GC,7418,-0.47,-126.5,758.9,-7.6,261,7421,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2571,3393
$GC,7679,-0.47,-126.5,777.2,-7.0,268,7683,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3557,3392
$GC,7704,-0.47,-126.5,779.2,-7.0,268,7708,0.00,1.45,0.00,0.000,6,0.000,0.029,2523,2580,3392
$GC,7976,-0.47,-126.5,798.2,-7.0,275,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2572,3392
$GC,8219,-0.47,-126.5,815.6,-7.1,281,8223,0.00,1.58,0.00,0.000,4,0.000,0.055,2516,3553,3390
$GC,8269,-0.47,-126.5,819.3,-7.7,282,8272,0.00,1.42,0.00,0.000,6,0.000,0.029,2519,2596,3391
$GC,8564,-0.47,-126.5,841.3,-7.4,289,8568,0.00,1.60,0.00,0.000,4,0.000,0.028,2521,1459,3390
$GC,8589,-0.47,-126.5,843.5,-7.8,289,8593,0.00,1.77,0.00,0.000,6,0.000,0.047,2516,2585,3389
$GC,8861,-0.47,-126.5,864.2,-7.8,296,8865,0.00,1.55,0.00,0.000,4,0.000,0.057,2507,3557,3388
$GC,8912,-0.47,-126.5,868.2,-7.4,297,8916,0.08,1.42,0.00,0.000,6,0.106,0.029,2539,2593,3388
$GC,9207,-0.47,-126.5,885.7,-5.7,304,9211,0.00,1.60,0.00,0.000,4,0.000,0.028,2544,1462,3387
$GC,9238,-0.47,-126.5,887.7,-6.6,304,9241,0.00,1.77,0.00,0.000,6,0.000,0.048,2538,2584,3387
$STATE,9498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9498,begin apogee
$GC,9510,-0.17,0.0,901.9,5.3,311,9624,0.30,0.00,111.25,1.260,6,0.087,0.000,2643,2231,2888
$STATE,9625,end apogee,CONTROL_FINISHED_OK
$STATE,9625,begin climb
$GC,9630,0.47,126.5,904.9,0.0,314,9812,0.52,1.70,133.75,1.121,4,0.031,0.028,2877,1174,2371
$GC,9904,0.47,126.5,877.3,17.1,320,9907,0.00,1.70,0.00,0.000,6,0.000,0.040,2875,2232,2364
$GC,10192,0.47,126.5,825.9,18.2,327,10196,0.00,1.65,0.00,0.000,4,0.000,0.049,2875,3289,2361
$GC,10312,0.47,126.5,802.7,18.9,329,10317,0.12,1.58,0.00,0.000,6,0.200,0.028,2854,2246,2359
$GC,10578,0.47,126.5,760.9,15.5,336,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2240,2358
$GC,10822,0.47,126.5,725.9,14.5,342,10826,0.00,1.60,0.00,0.000,4,0.000,0.030,2860,1164,2357
$GC,10858,0.47,126.5,720.3,14.7,342,10861,0.00,1.65,0.00,0.000,6,0.000,0.043,2860,2229,2357
$GC,11119,0.47,126.5,683.4,14.2,349,11122,0.00,1.62,0.00,0.000,4,0.000,0.051,2860,3278,2356
$GC,11199,0.47,126.5,670.8,14.6,350,11202,0.00,1.55,0.00,0.000,6,0.000,0.028,2867,2244,2355
$GC,11459,0.47,126.5,634.7,14.0,357,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2238,2355
$GC,11702,0.47,126.5,600.4,14.2,363,11706,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3290,2355
$GC,11726,0.47,126.5,596.4,15.0,363,11730,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2252,2354
$GC,11999,0.47,126.5,558.9,14.0,370,12003,0.00,1.60,0.00,0.000,4,0.000,0.030,2876,1162,2354
$GC,12029,0.47,126.5,554.1,13.7,370,12033,0.00,1.70,0.00,0.000,6,0.000,0.044,2876,2242,2354
$GC,12295,0.47,126.5,515.9,14.5,377,12298,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3273,2353
$GC,12352,0.47,126.5,507.0,14.3,378,12356,0.08,1.52,0.00,0.000,6,0.179,0.028,2850,2253,2353
$GC,12636,0.47,126.5,475.7,10.9,385,12639,0.00,1.65,0.00,0.000,4,0.000,0.051,2850,3293,2353
$GC,12824,0.47,126.5,452.8,11.9,389,12828,0.00,1.52,0.00,0.000,6,0.000,0.028,2855,2273,2353
$GC,13118,0.47,126.5,418.9,11.6,396,13122,0.00,1.62,0.00,0.000,4,0.000,0.051,2854,3299,2352
$GC,13249,0.47,126.5,403.6,11.5,398,13257,0.00,1.48,0.00,0.000,6,0.000,0.028,2860,2311,2352
$GC,13504,0.47,126.5,375.4,11.5,405,13508,0.00,1.65,0.00,0.000,4,0.000,0.029,2868,1154,2352
$GC,13696,0.47,126.5,354.7,12.4,409,13700,0.00,1.70,0.00,0.000,6,0.000,0.041,2865,2256,2352
$GC,13990,0.47,126.5,324.7,9.4,416,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2256,2352
$GC,14234,0.48,144.7,304.1,8.1,422,14259,0.00,1.58,15.70,0.746,4,0.000,0.045,2863,3291,2299
$GC,14312,0.48,144.7,296.6,10.3,423,14321,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2242,2298
$GC,14567,0.48,144.7,272.3,9.3,430,14570,0.00,1.55,0.00,0.000,4,0.000,0.027,2876,1182,2297
$GC,14630,0.48,144.7,266.2,9.2,431,14634,0.00,1.67,0.00,0.000,6,0.000,0.041,2876,2253,2296
$GC,14907,0.48,144.7,241.0,9.2,438,14911,0.00,1.60,0.00,0.000,4,0.000,0.048,2875,3302,2296
$GC,15140,0.48,151.7,221.2,8.7,443,15154,0.08,1.50,8.05,0.691,6,0.176,0.025,2858,2284,2269
$GC,15433,0.49,166.4,197.3,8.3,450,15451,0.00,1.55,14.45,0.715,4,0.000,0.044,2857,3288,2208
$GC,15524,0.49,166.4,188.6,9.2,457,15528,0.00,1.40,0.00,0.000,6,0.000,0.025,2860,2350,2208
$GC,15795,0.49,166.4,162.2,9.9,482,15799,0.00,1.70,0.00,0.000,4,0.000,0.025,2868,1165,2207
$GC,15849,0.49,166.4,156.8,9.2,486,15858,0.00,1.88,0.00,0.000,6,0.000,0.038,2866,2371,2206
$GC,16115,0.49,166.4,130.6,9.2,511,16123,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2371,2206
$GC,16382,0.49,179.6,107.4,8.4,536,16397,0.00,0.00,12.77,0.621,6,0.000,0.000,2866,2371,2155
$GC,16653,0.51,226.2,86.9,6.8,561,16702,0.00,1.42,39.67,0.623,4,0.000,0.041,2864,3292,1965
$GC,16731,0.52,263.4,81.1,7.2,567,16772,0.00,1.38,31.30,0.608,6,0.000,0.022,2869,2349,1814
$GC,17029,0.55,324.8,61.9,6.1,594,17085,0.00,1.73,49.58,0.594,4,0.000,0.023,2869,1163,1563
$GC,17139,0.58,401.7,55.2,5.3,602,17208,0.00,1.83,61.97,0.582,6,0.000,0.033,2869,2357,1249
$GC,17478,0.58,401.7,22.7,10.2,636,17487,0.00,1.75,0.00,0.000,4,0.000,0.023,2869,1184,1245
$GC,17635,0.62,499.9,12.4,4.3,660,17723,0.00,1.75,76.78,0.543,6,0.000,0.035,2869,2324,849
$STATE,17754,end climb,SURFACE_DEPTH_REACHED
$STATE,17754,begin surface coast
$FINISH,0.5,1.023260
$STATE,17798,end surface coast,CONTROL_FINISHED_OK
$STATE,17798,begin surface
$SM_CCo,17823,57.12,0.525,0,0,397,610.54
$SM_GC,1.22,0.00,0.00,57.12,0.000,0.000,0.525,32,2581,397,-8.31,2.29,610.54
$IRIDIUM_FIX,2432.32,-15747.25,050203,111144
$TT8_MAMPS,0.023777
$HUMID,2176
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,26.00
$XPDR_PINGS,6
$24V_AH,23.4,47.813
$10V_AH,10.6,56.956
$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,18.175,115.650,555.275,57.125,0.000,147.997,248.445,390.894,1.500,0.000,0.000,18.778,1409.409,12068.420,589.759,3571.728,1487.764,33.381,1784.885,0.000,3556.059,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,65.962,1260.181,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,462.085,2243.551,2315.947,1583.746,1518.680,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57141,681
$CAP_FILE_SIZE,144446,0
$CFSIZE,260165632,239472640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,111113,162023,2258.743,-15757.525,53,1.4,53,10.1