version: 66.04
glider: 512
mission: 4
dive: 289
start: 11 11 113 22 9 0
data:
$ID,512
$MISSION,4
$DIVE,289
$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,-113077.59
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,213730,2256.680,-15756.641,50,1.5,50,10.1
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.8
$GPS2,220803,2256.671,-15756.698,15,2.9,34,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.049,-0.230
$KALMAN_X,60837.3,-12.7,-331.6,-54764.8,1929.3
$KALMAN_Y,77157.5,37.8,-718.8,-53153.5,3603.0
$MHEAD_RNG_PITCHd_Wd,181.8,46519,-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,-126.5,0.0,0.0,0,89,0.00,0.00,-68.62,0.000,2,0.000,0.000,7,2516,2918
$GC,94,-0.47,-126.5,2.2,-1.2,8,123,9.60,1.55,-10.75,0.000,4,0.198,0.038,2542,1425,3404
$GC,294,-0.47,-126.5,46.4,-18.1,31,303,0.00,1.65,0.00,0.000,6,0.000,0.038,2536,2499,3405
$GC,559,-0.47,-126.5,101.0,-18.8,56,563,0.00,1.52,0.00,0.000,4,0.000,0.019,2537,1409,3404
$GC,576,-0.47,-126.5,103.8,-17.6,57,580,0.00,1.62,0.00,0.000,6,0.000,0.035,2532,2504,3405
$GC,848,-0.47,-126.5,147.5,-15.7,82,851,0.00,1.60,0.00,0.000,4,0.000,0.046,2523,3573,3405
$GC,999,-0.47,-126.5,170.8,-14.7,95,1003,0.00,1.50,0.00,0.000,6,0.000,0.018,2526,2515,3404
$GC,1278,-0.47,-126.5,212.6,-15.3,115,1282,0.00,1.60,0.00,0.000,4,0.000,0.042,2520,3571,3404
$GC,1336,-0.47,-126.5,222.6,-15.6,116,1340,0.00,1.45,0.00,0.000,6,0.000,0.018,2520,2544,3404
$GC,1618,-0.47,-126.5,265.9,-15.5,123,1621,0.00,1.50,0.00,0.000,4,0.000,0.021,2521,1451,3404
$GC,1669,-0.47,-126.5,272.5,-12.2,124,1673,0.00,1.65,0.00,0.000,6,0.000,0.038,2515,2555,3404
$GC,1963,-0.47,-126.5,308.8,-11.9,131,1967,0.00,1.55,0.00,0.000,4,0.000,0.020,2521,1450,3403
$GC,2049,-0.47,-126.5,318.6,-10.3,132,2058,0.00,1.65,0.00,0.000,6,0.000,0.038,2515,2532,3402
$GC,2305,-0.47,-126.5,347.0,-11.1,139,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2531,3401
$GC,2548,-0.47,-126.5,374.1,-11.5,145,2551,0.00,1.58,0.00,0.000,4,0.000,0.049,2506,3556,3399
$GC,2622,-0.47,-126.5,383.1,-11.2,146,2626,0.08,1.45,0.00,0.000,6,0.109,0.021,2538,2525,3398
$GC,2888,-0.47,-126.5,407.1,-8.9,153,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2518,3397
$GC,3132,-0.47,-126.5,426.5,-7.9,159,3134,0.00,0.00,-0.08,0.000,6,0.000,0.000,2538,2518,3417
$GC,3376,-0.47,-126.5,444.0,-7.0,165,3379,0.00,1.62,0.00,0.000,4,0.000,0.050,2533,3569,3415
$GC,3427,-0.47,-126.5,447.8,-7.8,166,3430,0.00,1.45,0.00,0.000,6,0.000,0.023,2533,2563,3415
$GC,3722,-0.47,-126.5,473.3,-8.6,173,3725,0.00,1.52,0.00,0.000,4,0.000,0.023,2532,1471,3413
$GC,3796,-0.47,-126.5,480.0,-7.7,174,3800,0.00,1.62,0.00,0.000,6,0.000,0.044,2525,2544,3412
$GC,4063,-0.47,-126.5,503.9,-9.2,181,4067,0.00,1.58,0.00,0.000,4,0.000,0.054,2523,3553,3410
$GC,4176,-0.47,-126.5,514.6,-9.1,183,4180,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2567,3409
$GC,4449,-0.47,-126.5,538.0,-8.5,190,4453,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1477,3407
$GC,4486,-0.47,-126.5,541.4,-8.5,190,4490,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2560,3407
$GC,4747,-0.47,-126.5,561.6,-7.9,197,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3404
$GC,4991,-0.47,-126.5,581.8,-8.3,203,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3402
$GC,5234,-0.47,-126.5,602.0,-8.3,209,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3400
$GC,5478,-0.47,-126.5,621.7,-8.1,215,5482,0.00,1.58,0.00,0.000,4,0.000,0.055,2522,3560,3399
$GC,5502,-0.47,-126.5,623.9,-7.8,215,5506,0.00,1.48,0.00,0.000,6,0.000,0.027,2522,2552,3399
$GC,5775,-0.47,-126.5,645.6,-8.1,222,5778,0.00,1.52,0.00,0.000,4,0.000,0.026,2522,1475,3397
$GC,5811,-0.47,-126.5,648.9,-8.4,222,5814,0.00,1.62,0.00,0.000,6,0.000,0.045,2516,2537,3397
$GC,6072,-0.47,-126.5,671.0,-8.8,229,6076,0.00,1.60,0.00,0.000,4,0.000,0.054,2508,3574,3395
$GC,6130,-0.47,-126.5,676.7,-8.9,230,6135,0.08,1.48,0.00,0.000,6,0.099,0.027,2540,2562,3395
$GC,6413,-0.47,-126.5,696.3,-6.8,237,6417,0.00,1.55,0.00,0.000,4,0.000,0.025,2540,1465,3393
$GC,6455,-0.47,-126.5,699.4,-7.1,237,6464,0.00,1.70,0.00,0.000,6,0.000,0.046,2537,2551,3393
$GC,6711,-0.47,-126.5,717.2,-7.2,244,6715,0.00,1.60,0.00,0.000,4,0.000,0.056,2530,3563,3392
$GC,6747,-0.47,-126.5,720.3,-7.7,244,6750,0.00,1.45,0.00,0.000,6,0.000,0.028,2530,2575,3391
$GC,7008,-0.47,-126.5,740.0,-7.7,251,7011,0.00,1.58,0.00,0.000,4,0.000,0.027,2529,1470,3390
$GC,7073,-0.47,-126.5,745.3,-7.9,252,7076,0.00,1.65,0.00,0.000,6,0.000,0.046,2524,2541,3390
$GC,7351,-0.47,-126.5,766.4,-7.5,259,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2541,3389
$GC,7595,-0.47,-126.5,783.1,-6.8,265,7598,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3564,3387
$GC,7645,-0.47,-126.5,786.2,-6.4,266,7648,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2570,3386
$GC,7939,-0.47,-126.5,804.7,-6.2,273,7943,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1480,3386
$GC,7975,-0.47,-126.5,807.4,-7.0,273,7978,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2547,3386
$GC,8236,-0.47,-126.5,823.9,-6.5,280,8240,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3565,3385
$GC,8301,-0.47,-126.5,828.4,-6.3,281,8305,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2570,3385
$GC,8579,-0.47,-126.5,846.7,-6.8,288,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2561,3383
$GC,8822,-0.47,-126.5,863.6,-7.0,294,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2561,3382
$GC,9066,-0.47,-126.5,880.9,-6.9,300,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2560,3381
$GC,9310,-0.47,-126.5,896.8,-6.4,306,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2561,3380
$STATE,9386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9386,begin apogee
$GC,9397,-0.17,0.0,901.8,6.2,308,9510,0.35,0.00,109.68,1.262,6,0.096,0.000,2641,2241,2888
$STATE,9511,end apogee,CONTROL_FINISHED_OK
$STATE,9511,begin climb
$GC,9516,0.47,126.5,904.7,0.0,311,9669,0.57,0.00,129.43,1.161,6,0.041,0.000,2872,2241,2371
$GC,9914,0.47,126.5,852.3,17.9,321,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2240,2362
$GC,10159,0.47,126.5,808.8,17.7,327,10162,0.00,1.67,0.00,0.000,4,0.000,0.051,2866,3298,2360
$GC,10254,0.47,126.5,791.9,17.6,329,10258,0.00,1.62,0.00,0.000,6,0.000,0.028,2872,2207,2358
$GC,10548,0.47,126.5,743.3,16.5,336,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2201,2357
$GC,10792,0.47,126.5,702.5,16.6,342,10796,0.00,1.52,0.00,0.000,4,0.000,0.029,2880,1171,2356
$GC,10843,0.47,126.5,694.7,15.2,343,10847,0.00,1.62,0.00,0.000,6,0.000,0.041,2876,2222,2356
$GC,11137,0.47,126.5,651.3,14.3,350,11141,0.00,1.65,0.00,0.000,4,0.000,0.051,2875,3290,2355
$GC,11217,0.47,126.5,638.8,15.8,351,11221,0.12,1.60,0.00,0.000,6,0.193,0.028,2853,2203,2355
$GC,11479,0.47,126.5,607.2,12.3,358,11482,0.00,1.73,0.00,0.000,4,0.000,0.050,2850,3294,2354
$GC,11536,0.47,126.5,598.8,13.7,359,11540,0.00,1.55,0.00,0.000,6,0.000,0.028,2856,2258,2354
$GC,11818,0.47,126.5,560.8,13.6,366,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2251,2354
$GC,12062,0.47,126.5,527.5,13.5,372,12066,0.00,1.60,0.00,0.000,4,0.000,0.031,2860,1171,2353
$GC,12087,0.47,126.5,523.6,13.2,372,12090,0.00,1.70,0.00,0.000,6,0.000,0.042,2860,2255,2352
$GC,12359,0.47,126.5,490.7,12.0,379,12363,0.00,1.60,0.00,0.000,4,0.000,0.050,2860,3277,2352
$GC,12428,0.47,126.5,481.4,12.1,380,12431,0.00,1.50,0.00,0.000,6,0.000,0.027,2867,2263,2352
$GC,12699,0.47,126.5,450.1,11.8,387,12703,0.00,1.60,0.00,0.000,4,0.000,0.029,2873,1177,2352
$GC,12740,0.47,126.5,444.6,12.9,387,12750,0.00,1.73,0.00,0.000,6,0.000,0.044,2873,2275,2352
$GC,12996,0.47,126.5,412.3,12.7,394,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2275,2351
$GC,13240,0.47,126.5,382.4,12.1,400,13244,0.00,1.58,0.00,0.000,4,0.000,0.051,2873,3276,2352
$GC,13348,0.47,126.5,369.0,11.4,402,13352,0.08,1.55,0.00,0.000,6,0.171,0.027,2848,2237,2352
$GC,13626,0.47,126.5,343.4,9.3,409,13630,0.00,1.55,0.00,0.000,4,0.000,0.028,2854,1165,2351
$GC,13730,0.48,139.0,334.5,8.4,411,13744,0.00,1.60,9.15,0.805,6,0.000,0.041,2854,2211,2321
$GC,14013,0.48,139.0,309.4,9.1,418,14016,0.00,1.62,0.00,0.000,4,0.000,0.047,2851,3277,2319
$GC,14063,0.48,139.0,304.1,10.7,419,14066,0.00,1.58,0.00,0.000,6,0.000,0.026,2857,2223,2319
$GC,14357,0.48,139.0,276.2,9.6,426,14360,0.00,1.52,0.00,0.000,4,0.000,0.028,2859,1168,2319
$GC,14416,0.48,160.0,271.2,8.0,427,14440,0.00,1.65,19.77,0.810,6,0.000,0.040,2860,2248,2235
$GC,14696,0.49,166.6,247.0,8.7,434,14707,0.00,1.65,6.97,0.686,4,0.000,0.048,2860,3285,2208
$GC,14812,0.49,177.6,237.3,8.5,436,14831,0.00,1.58,11.45,0.730,6,0.000,0.025,2868,2225,2163
$GC,15076,0.49,177.6,212.3,9.8,443,15080,0.00,1.55,0.00,0.000,4,0.000,0.027,2873,1169,2160
$GC,15140,0.49,177.6,205.6,9.5,444,15143,0.00,1.62,0.00,0.000,6,0.000,0.038,2873,2234,2159
$GC,15405,0.49,177.6,177.6,10.9,464,15409,0.00,1.62,0.00,0.000,4,0.000,0.045,2873,3285,2159
$GC,15458,0.49,177.6,171.0,12.2,468,15467,0.00,1.55,0.00,0.000,6,0.000,0.023,2880,2230,2159
$GC,15725,0.49,177.6,141.5,11.2,493,15729,0.00,1.62,0.00,0.000,4,0.000,0.044,2876,3283,2159
$GC,15764,0.49,177.6,136.5,12.3,496,15768,0.00,1.58,0.00,0.000,6,0.000,0.024,2881,2213,2159
$GC,16037,0.49,177.6,108.2,10.4,521,16040,0.00,1.65,0.00,0.000,4,0.000,0.042,2876,3288,2159
$GC,16121,0.49,177.6,99.2,10.5,528,16125,0.00,1.52,0.00,0.000,6,0.000,0.022,2881,2231,2159
$GC,16398,0.50,192.8,77.3,8.3,553,16417,0.00,1.62,14.77,0.595,4,0.000,0.041,2876,3290,2100
$GC,16518,0.50,205.7,66.4,8.4,562,16534,0.00,1.42,12.32,0.574,6,0.000,0.021,2882,2295,2049
$GC,16795,0.54,304.6,49.8,4.3,587,16880,0.00,1.70,80.07,0.587,4,0.000,0.023,2883,1170,1645
$GC,16945,0.57,374.8,39.9,5.6,598,17006,0.00,1.75,56.15,0.571,6,0.000,0.034,2883,2313,1358
$GC,17303,0.57,376.8,14.3,8.9,644,17312,0.00,1.67,0.00,0.000,4,0.000,0.025,2883,1185,1354
$GC,17331,0.57,376.8,11.4,9.9,647,17340,0.00,1.70,0.00,0.000,6,0.000,0.033,2883,2292,1353
$STATE,17445,end climb,SURFACE_DEPTH_REACHED
$STATE,17445,begin surface coast
$FINISH,0.4,0.998796
$STATE,17501,end surface coast,CONTROL_FINISHED_OK
$STATE,17501,begin surface
$SM_CCo,17527,110.40,0.531,0,0,398,610.54
$SM_GC,1.32,0.00,0.00,110.40,0.000,0.000,0.531,24,2561,398,-8.31,1.72,610.54
$IRIDIUM_FIX,2113.32,-15743.99,050203,222259
$TT8_MAMPS,0.023777
$HUMID,2178
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,26.50
$XPDR_PINGS,7
$24V_AH,23.4,48.191
$10V_AH,10.6,57.436
$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,18.200,124.325,449.775,110.400,0.000,141.290,197.577,996.219,1.750,0.000,0.000,35.919,1433.114,11869.706,600.235,3499.565,2063.272,33.383,1679.736,0.000,3479.864,0.000,0.546,0.000
$DEVICE_MAMPS,197.886,59.059,1262.482,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,458.699,2217.190,2290.031,1571.598,1531.215,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57224,673
$CAP_FILE_SIZE,156949,0
$CFSIZE,260165632,239325184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,121113,030454,2254.900,-15755.905,67,1.2,67,10.1