version: 66.04
glider: 512
mission: 4
dive: 291
start: 11 12 113 8 46 35
data:
$ID,512
$MISSION,4
$DIVE,291
$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,-113105.57
$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,58
$R_STBD_OVSHOOT,70
$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
$GPS1,082836,2252.960,-15753.951,29,1.6,29,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.3
$GPS2,084537,2252.871,-15754.034,12,1.8,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,-0.224
$KALMAN_X,62892.0,84.1,-453.3,-52246.7,1450.5
$KALMAN_Y,77913.1,-257.0,-511.8,-60865.3,1703.4
$MHEAD_RNG_PITCHd_Wd,151.9,38326,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.47,-126.5,0.0,0.0,0,81,0.00,0.00,-60.25,0.000,2,0.000,0.000,7,2553,2674
$GC,87,-0.47,-126.5,2.0,-1.1,7,125,9.68,1.60,-20.73,0.000,4,0.199,0.037,2535,1424,3403
$GC,253,-0.47,-126.5,32.8,-20.2,30,257,0.00,1.60,0.00,0.000,6,0.000,0.039,2529,2483,3404
$GC,525,-0.47,-126.5,95.2,-19.3,55,529,0.00,1.62,0.00,0.000,4,0.000,0.044,2521,3567,3404
$GC,636,-0.47,-126.5,116.2,-16.0,64,645,0.00,1.52,0.00,0.000,6,0.000,0.018,2520,2489,3404
$GC,901,-0.47,-126.5,162.1,-18.6,89,904,0.00,1.42,0.00,0.000,4,0.000,0.020,2520,1448,3405
$GC,952,-0.47,-126.5,171.3,-15.8,93,962,0.10,1.62,0.00,0.000,6,0.127,0.038,2546,2514,3405
$GC,1248,-0.47,-126.5,210.1,-12.6,115,1251,0.00,1.60,0.00,0.000,4,0.000,0.045,2539,3583,3404
$GC,1289,-0.47,-126.5,216.1,-12.6,115,1297,0.00,1.52,0.00,0.000,6,0.000,0.019,2539,2499,3404
$GC,1543,-0.47,-126.5,247.5,-12.8,122,1547,0.00,1.42,0.00,0.000,4,0.000,0.020,2539,1458,3405
$GC,1612,-0.47,-126.5,255.2,-10.4,123,1616,0.00,1.60,0.00,0.000,6,0.000,0.038,2532,2532,3404
$GC,1885,-0.47,-126.5,283.5,-10.7,130,1888,0.00,1.58,0.00,0.000,4,0.000,0.047,2524,3563,3404
$GC,2100,-0.47,-126.5,306.8,-10.6,134,2104,0.00,1.42,0.00,0.000,6,0.000,0.021,2525,2550,3403
$GC,2360,-0.47,-126.5,335.1,-11.0,141,2364,0.00,1.58,0.00,0.000,4,0.000,0.045,2517,3560,3402
$GC,2413,-0.47,-126.5,341.3,-10.6,142,2417,0.00,1.40,0.00,0.000,6,0.000,0.021,2517,2570,3402
$GC,2702,-0.47,-126.5,373.7,-11.2,149,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2562,3400
$GC,2945,-0.47,-126.5,402.3,-11.8,155,2949,0.00,1.55,0.00,0.000,4,0.000,0.047,2510,3559,3399
$GC,3003,-0.47,-126.5,409.4,-10.9,156,3007,0.08,1.40,0.00,0.000,6,0.106,0.022,2539,2570,3398
$GC,3286,-0.47,-126.5,434.1,-8.6,163,3290,0.00,1.55,0.00,0.000,4,0.000,0.023,2539,1455,3396
$GC,3361,-0.47,-126.5,440.9,-8.7,164,3365,0.00,1.67,-0.08,0.000,6,0.000,0.041,2537,2564,3419
$GC,3627,-0.47,-126.5,464.5,-9.1,171,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2564,3416
$GC,3870,-0.47,-126.5,487.1,-9.2,177,3874,0.00,1.55,0.00,0.000,4,0.000,0.051,2529,3558,3415
$GC,3924,-0.47,-126.5,492.0,-8.4,178,3927,0.00,1.42,0.00,0.000,6,0.000,0.025,2529,2570,3413
$GC,4213,-0.47,-126.5,515.6,-8.0,185,4217,0.00,1.58,0.00,0.000,4,0.000,0.051,2523,3560,3412
$GC,4237,-0.47,-126.5,517.9,-7.8,185,4241,0.00,1.40,0.00,0.000,6,0.000,0.025,2523,2587,3411
$GC,4509,-0.47,-126.5,537.6,-7.3,192,4513,0.00,1.58,0.00,0.000,4,0.000,0.024,2523,1465,3410
$GC,4534,-0.47,-126.5,539.8,-7.6,192,4538,0.00,1.70,0.00,0.000,6,0.000,0.044,2523,2578,3409
$GC,4807,-0.47,-126.5,560.8,-8.1,199,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2579,3408
$GC,5051,-0.47,-126.5,581.6,-8.6,205,5054,0.00,1.55,0.00,0.000,4,0.000,0.055,2523,3562,3406
$GC,5121,-0.47,-126.5,587.9,-8.4,206,5125,0.00,1.40,0.00,0.000,6,0.000,0.026,2523,2602,3405
$GC,5393,-0.47,-126.5,612.0,-9.0,213,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2593,3403
$GC,5636,-0.47,-126.5,633.9,-8.9,219,5640,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1455,3401
$GC,5706,-0.47,-126.5,640.4,-8.7,220,5710,0.00,1.75,0.00,0.000,6,0.000,0.048,2523,2591,3401
$GC,5978,-0.47,-126.5,662.9,-8.3,227,5982,0.00,1.52,0.00,0.000,4,0.000,0.055,2515,3557,3400
$GC,6010,-0.47,-126.5,665.8,-8.9,227,6014,0.00,1.40,0.00,0.000,6,0.000,0.028,2516,2605,3399
$GC,6276,-0.47,-126.5,687.2,-8.0,234,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2597,3398
$GC,6520,-0.47,-126.5,705.1,-7.3,240,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2597,3397
$GC,6764,-0.47,-126.5,723.1,-7.3,246,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2597,3396
$GC,7008,-0.47,-126.5,741.6,-7.6,252,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2597,3394
$GC,7251,-0.47,-126.5,759.2,-7.2,258,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2597,3393
$GC,7495,-0.47,-126.5,777.7,-7.6,264,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2597,3392
$GC,7739,-0.47,-126.5,796.5,-7.8,270,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2597,3391
$GC,7982,-0.47,-126.5,815.0,-7.6,276,7986,0.00,1.60,0.00,0.000,4,0.000,0.029,2521,1469,3390
$GC,8019,-0.47,-126.5,818.1,-7.1,276,8022,0.00,1.75,0.00,0.000,6,0.000,0.049,2515,2596,3389
$GC,8280,-0.47,-126.5,837.7,-7.6,283,8284,0.00,1.52,0.00,0.000,4,0.000,0.058,2509,3555,3389
$GC,8331,-0.47,-126.5,841.7,-7.3,284,8335,0.08,1.38,0.00,0.000,6,0.094,0.030,2540,2625,3388
$GC,8625,-0.47,-126.5,858.2,-5.5,291,8628,0.00,1.65,0.00,0.000,4,0.000,0.028,2547,1462,3387
$GC,8689,-0.47,-126.5,862.0,-5.9,292,8693,0.00,1.77,0.00,0.000,6,0.000,0.048,2541,2602,3387
$GC,8967,-0.47,-126.5,877.3,-5.6,299,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2603,3386
$GC,9210,-0.47,-126.5,891.6,-6.0,305,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2602,3386
$STATE,9367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9367,begin apogee
$GC,9379,-0.17,0.0,901.3,6.0,309,9492,0.30,0.00,110.62,1.256,6,0.087,0.000,2646,2241,2888
$STATE,9493,end apogee,CONTROL_FINISHED_OK
$STATE,9493,begin climb
$GC,9498,0.47,126.5,905.8,0.0,312,9653,0.52,1.70,128.12,1.160,4,0.031,0.029,2881,1170,2372
$GC,9756,0.47,126.5,882.8,14.9,317,9759,0.00,1.70,0.00,0.000,6,0.000,0.043,2878,2226,2364
$GC,10016,0.47,126.5,840.5,16.5,324,10019,0.00,1.62,0.00,0.000,4,0.000,0.031,2884,1155,2361
$GC,10035,0.47,126.5,837.0,16.7,324,10039,0.10,1.70,0.00,0.000,6,0.167,0.044,2854,2217,2361
$GC,10312,0.47,126.5,797.2,14.4,331,10316,0.00,1.67,0.00,0.000,4,0.000,0.051,2850,3291,2359
$GC,10355,0.47,126.5,790.3,15.9,331,10363,0.00,1.65,0.00,0.000,6,0.000,0.028,2856,2200,2358
$GC,10610,0.47,126.5,754.6,14.1,338,10613,0.00,1.75,0.00,0.000,4,0.000,0.051,2857,3278,2357
$GC,10645,0.47,126.5,748.6,16.3,338,10649,0.00,1.60,0.00,0.000,6,0.000,0.028,2865,2196,2357
$GC,10905,0.47,126.5,710.6,14.5,345,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2190,2357
$GC,11149,0.47,126.5,675.6,14.3,351,11152,0.00,1.73,0.00,0.000,4,0.000,0.051,2863,3278,2356
$GC,11224,0.47,126.5,663.8,14.5,352,11228,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2190,2355
$GC,11490,0.47,126.5,626.5,13.9,359,11494,0.00,1.75,0.00,0.000,4,0.000,0.051,2863,3292,2355
$GC,11514,0.47,126.5,622.4,14.8,359,11518,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2225,2355
$GC,11786,0.47,126.5,588.9,12.3,366,11789,0.00,1.55,0.00,0.000,4,0.000,0.031,2876,1166,2355
$GC,11810,0.47,126.5,585.6,11.8,366,11814,0.00,1.65,0.00,0.000,6,0.000,0.044,2876,2233,2354
$GC,12083,0.47,126.5,552.0,12.5,373,12086,0.00,1.62,0.00,0.000,4,0.000,0.052,2875,3279,2354
$GC,12252,0.47,126.5,527.0,14.7,376,12256,0.08,1.50,0.00,0.000,6,0.186,0.028,2849,2279,2353
$GC,12513,0.47,126.5,498.4,11.0,383,12516,0.00,1.62,0.00,0.000,4,0.000,0.051,2848,3301,2353
$GC,12563,0.47,126.5,492.1,12.0,384,12567,0.00,1.50,0.00,0.000,6,0.000,0.027,2854,2294,2353
$GC,12858,0.47,126.5,457.7,11.5,391,12861,0.00,1.60,0.00,0.000,4,0.000,0.050,2850,3287,2352
$GC,12894,0.47,126.5,452.9,11.9,391,12897,0.00,1.45,0.00,0.000,6,0.000,0.028,2855,2311,2353
$GC,13154,0.47,126.5,424.6,10.6,398,13158,0.00,1.67,0.00,0.000,4,0.000,0.031,2860,1171,2352
$GC,13386,0.48,148.2,405.0,8.0,403,13415,0.00,1.73,19.27,0.839,6,0.000,0.043,2860,2266,2284
$GC,13676,0.48,148.2,374.6,10.9,410,13680,0.00,1.60,0.00,0.000,4,0.000,0.051,2860,3302,2281
$GC,13728,0.48,148.2,367.5,13.0,411,13732,0.00,1.58,0.00,0.000,6,0.000,0.027,2867,2244,2280
$GC,14017,0.48,148.2,334.9,11.1,418,14021,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3293,2280
$GC,14041,0.48,148.2,331.7,10.6,418,14045,0.00,1.55,0.00,0.000,6,0.000,0.027,2868,2251,2280
$GC,14312,0.48,148.2,302.4,10.7,425,14316,0.00,1.65,0.00,0.000,4,0.000,0.050,2862,3280,2279
$GC,14369,0.48,148.2,295.5,11.2,426,14373,0.00,1.50,0.00,0.000,6,0.000,0.025,2868,2260,2280
$GC,14654,0.48,150.0,268.2,8.9,433,14657,0.00,1.58,0.00,0.000,4,0.000,0.028,2875,1173,2279
$GC,14734,0.49,169.6,261.2,8.1,434,14766,0.00,1.67,22.02,0.746,6,0.000,0.040,2876,2272,2195
$GC,15040,0.49,169.6,233.6,9.3,442,15043,0.00,1.58,0.00,0.000,4,0.000,0.049,2875,3277,2192
$GC,15299,0.49,169.6,204.2,11.8,447,15303,0.00,1.50,0.00,0.000,6,0.000,0.025,2881,2256,2191
$GC,15571,0.49,169.6,176.1,10.6,469,15574,0.00,1.62,0.00,0.000,4,0.000,0.046,2876,3278,2191
$GC,15620,0.49,169.6,170.3,11.6,473,15624,0.00,1.48,0.00,0.000,6,0.000,0.023,2881,2262,2191
$GC,15891,0.49,169.6,142.2,10.3,498,15895,0.00,1.55,0.00,0.000,4,0.000,0.025,2889,1173,2191
$GC,15932,0.49,176.7,138.5,8.7,501,15946,0.12,1.67,7.28,0.596,6,0.153,0.037,2856,2286,2167
$GC,16203,0.50,207.5,116.5,7.5,526,16236,0.00,1.70,27.62,0.647,4,0.000,0.025,2860,1160,2041
$GC,16267,0.52,244.8,111.4,7.2,531,16305,0.00,1.75,32.55,0.636,6,0.000,0.038,2859,2283,1887
$GC,16574,0.52,248.3,83.5,8.8,559,16581,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2283,1882
$GC,16841,0.54,313.4,64.2,5.9,584,16901,0.00,1.58,55.15,0.601,4,0.000,0.042,2859,3283,1609
$GC,16961,0.56,363.3,57.0,6.6,593,17007,0.00,1.52,41.10,0.584,6,0.000,0.021,2860,2245,1404
$GC,17272,0.56,363.3,26.9,11.6,622,17282,0.00,1.55,0.00,0.000,4,0.000,0.024,2860,1176,1399
$STATE,17490,end climb,SURFACE_DEPTH_REACHED
$STATE,17490,begin surface coast
$FINISH,0.5,1.009828
$STATE,17529,end surface coast,CONTROL_FINISHED_OK
$STATE,17529,begin surface
$SM_CCo,17556,11.27,0.500,0,0,1297,390.02
$SM_GC,1.29,0.00,0.00,11.27,0.000,0.000,0.500,38,2521,1297,-8.31,0.59,390.02
$IRIDIUM_FIX,2244.02,-15754.11,060203,080833
$TT8_MAMPS,0.023777
$HUMID,2238
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,23.3,48.530
$10V_AH,10.6,57.906
$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,18.200,124.675,443.750,11.275,0.000,53.817,75.139,631.643,1.000,0.000,0.000,12.386,1421.085,11731.972,463.745,3518.009,1449.528,33.386,1588.261,0.000,3512.330,0.000,0.544,0.000
$DEVICE_MAMPS,198.653,58.292,1256.346,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,451.293,2180.752,2256.726,1536.485,1476.907,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54237,662
$CAP_FILE_SIZE,144581,0
$CFSIZE,260165632,239202304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,121113,134054,2251.408,-15753.032,42,1.4,42,10.1