version: 66.04
glider: 512
mission: 4
dive: 327
start: 11 20 113 12 31 47
data:
$ID,512
$MISSION,4
$DIVE,327
$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,-113797.67
$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,59
$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,2868
$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
$GPS1,122200,2303.950,-15736.110,38,2.0,38,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-82.6
$GPS2,123053,2303.928,-15736.074,12,1.2,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,-0.030
$KALMAN_X,50754.9,25.0,489.4,-10321.6,695.4
$KALMAN_Y,18659.6,-248.2,605.0,17738.1,-2771.5
$MHEAD_RNG_PITCHd_Wd,252.6,67065,-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,-68.53,0.000,2,0.000,0.000,10,2540,2890
$GC,94,-0.47,-126.5,2.2,-1.7,8,123,9.65,1.60,-11.18,0.000,4,0.196,0.040,2538,1436,3385
$GC,321,-0.47,-126.5,47.8,-15.9,34,331,0.00,1.60,0.00,0.000,6,0.000,0.039,2533,2474,3386
$GC,588,-0.47,-126.5,96.5,-15.6,59,592,0.00,1.65,0.00,0.000,4,0.000,0.046,2525,3569,3387
$GC,709,-0.47,-126.5,115.7,-14.1,69,717,0.00,1.52,0.00,0.000,6,0.000,0.020,2527,2493,3387
$GC,976,-0.47,-126.5,154.2,-14.2,94,979,0.00,1.65,0.00,0.000,4,0.000,0.042,2521,3579,3388
$GC,1036,-0.47,-126.5,162.9,-13.3,99,1040,0.00,1.48,0.00,0.000,6,0.000,0.019,2520,2545,3387
$GC,1326,-0.47,-126.5,206.6,-15.8,123,1330,0.00,1.50,0.00,0.000,4,0.000,0.021,2520,1451,3388
$GC,1367,-0.47,-126.5,213.3,-14.4,123,1377,0.08,1.67,0.00,0.000,6,0.119,0.038,2539,2549,3388
$GC,1623,-0.47,-126.5,242.8,-11.0,130,1627,0.00,1.55,0.00,0.000,4,0.000,0.047,2534,3563,3388
$GC,1814,-0.47,-126.5,262.0,-9.2,134,1817,0.00,1.40,0.00,0.000,6,0.000,0.020,2534,2574,3387
$GC,2108,-0.47,-126.5,291.5,-9.9,141,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2565,3387
$GC,2352,-0.47,-126.5,315.8,-10.1,147,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2565,3385
$GC,2595,-0.47,-126.5,340.1,-9.8,153,2599,0.00,1.55,0.00,0.000,4,0.000,0.021,2534,1455,3384
$GC,2654,-0.47,-126.5,345.9,-9.2,154,2657,0.00,1.70,0.00,0.000,6,0.000,0.040,2526,2587,3384
$GC,2937,-0.47,-126.5,371.3,-9.0,161,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2587,3382
$GC,3181,-0.47,-126.5,393.1,-9.0,167,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2587,3379
$GC,3424,-0.47,-126.5,417.1,-10.1,173,3427,0.00,1.52,0.00,0.000,4,0.000,0.051,2523,3568,3378
$GC,3476,-0.47,-126.5,422.7,-9.4,174,3480,0.00,1.42,0.00,0.000,6,0.000,0.023,2523,2576,3378
$GC,3766,-0.47,-126.5,449.6,-9.0,181,3770,0.00,1.58,-0.08,0.000,4,0.000,0.041,2523,1455,3399
$GC,3816,-0.47,-126.5,454.1,-8.7,182,3819,0.00,1.75,0.00,0.000,6,0.000,0.043,2523,2580,3400
$GC,4110,-0.47,-126.5,478.1,-8.3,189,4114,0.00,1.55,0.00,0.000,4,0.000,0.052,2522,3567,3397
$GC,4171,-0.47,-126.5,483.3,-8.2,190,4174,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2577,3396
$GC,4454,-0.47,-126.5,506.9,-8.6,197,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3395
$GC,4697,-0.47,-126.5,527.0,-8.1,203,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3393
$GC,4942,-0.47,-126.5,545.6,-7.6,209,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3391
$GC,5185,-0.47,-126.5,564.2,-7.7,215,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3390
$GC,5429,-0.47,-126.5,584.1,-8.3,221,5432,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1467,3388
$GC,5503,-0.47,-126.5,591.0,-9.2,222,5507,0.00,1.73,0.00,0.000,6,0.000,0.046,2522,2588,3387
$GC,5771,-0.47,-126.5,613.1,-8.4,229,5775,0.00,1.65,0.00,0.000,4,0.000,0.027,2523,1458,3386
$GC,5840,-0.47,-126.5,619.2,-8.0,230,5844,0.00,1.67,0.00,0.000,6,0.000,0.045,2523,2552,3386
$GC,6112,-0.47,-126.5,639.3,-7.4,237,6116,0.00,1.60,0.00,0.000,4,0.000,0.055,2517,3586,3384
$GC,6183,-0.47,-126.5,644.7,-7.5,238,6186,0.00,1.50,0.00,0.000,6,0.000,0.026,2517,2566,3384
$GC,6454,-0.47,-126.5,664.6,-7.4,245,6458,0.00,1.58,0.00,0.000,4,0.000,0.027,2518,1459,3381
$GC,6485,-0.47,-126.5,667.1,-7.5,245,6489,0.08,1.73,0.00,0.000,6,0.105,0.045,2541,2561,3382
$GC,6750,-0.47,-126.5,682.2,-5.6,252,6754,0.00,1.58,0.00,0.000,4,0.000,0.057,2535,3556,3380
$GC,6786,-0.47,-126.5,684.5,-6.3,252,6790,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2570,3380
$GC,7048,-0.47,-126.5,701.2,-6.5,259,7051,0.00,1.58,0.00,0.000,4,0.000,0.027,2535,1468,3379
$GC,7100,-0.47,-126.5,705.2,-6.9,260,7103,0.00,1.73,0.00,0.000,6,0.000,0.047,2528,2565,3379
$GC,7389,-0.47,-126.5,726.0,-7.4,267,7392,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3554,3377
$GC,7440,-0.47,-126.5,729.7,-6.9,268,7444,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2574,3378
$GC,7734,-0.47,-126.5,749.7,-6.5,275,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3376
$GC,7978,-0.47,-126.5,763.4,-5.5,281,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3375
$GC,8222,-0.47,-126.5,776.4,-5.3,287,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3374
$GC,8465,-0.47,-126.5,789.5,-5.4,293,8469,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1462,3372
$GC,8496,-0.47,-126.5,791.6,-6.2,293,8499,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2573,3372
$GC,8762,-0.47,-126.5,807.1,-6.0,300,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3372
$GC,9005,-0.47,-126.5,823.1,-6.6,306,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3371
$GC,9249,-0.47,-126.5,839.6,-6.7,312,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3371
$GC,9493,-0.47,-126.5,855.3,-6.4,318,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2573,3371
$GC,9737,-0.47,-126.5,870.7,-6.2,324,9740,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3554,3370
$GC,9773,-0.47,-126.5,873.1,-6.1,324,9776,0.00,1.45,0.00,0.000,6,0.000,0.030,2523,2580,3370
$GC,10034,-0.47,-126.5,888.2,-5.8,331,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2572,3369
$STATE,10230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10231,begin apogee
$GC,10243,-0.17,0.0,900.2,5.8,336,10358,0.35,0.00,112.57,1.269,6,0.091,0.000,2644,2232,2868
$STATE,10359,end apogee,CONTROL_FINISHED_OK
$STATE,10359,begin climb
$GC,10364,0.47,126.5,903.1,0.0,339,10586,0.52,0.00,146.48,1.052,6,0.033,0.000,2868,2232,2352
$GC,10827,0.47,126.5,843.1,17.3,350,10831,0.00,1.73,0.00,0.000,4,0.000,0.051,2863,3285,2345
$GC,10890,0.47,126.5,830.9,19.0,351,10894,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2219,2343
$GC,11168,0.47,126.5,782.4,17.8,358,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2212,2342
$GC,11412,0.47,126.5,740.6,17.1,364,11415,0.00,1.70,0.00,0.000,4,0.000,0.051,2863,3286,2341
$GC,11447,0.47,126.5,733.7,17.7,364,11451,0.00,1.62,0.00,0.000,6,0.000,0.028,2869,2210,2340
$GC,11708,0.47,126.5,692.0,15.9,371,11711,0.00,1.73,0.00,0.000,4,0.000,0.051,2870,3296,2340
$GC,11765,0.47,126.5,681.8,17.0,372,11769,0.00,1.60,0.00,0.000,6,0.000,0.028,2877,2231,2340
$GC,12049,0.47,126.5,638.0,15.4,379,12053,0.00,1.67,0.00,0.000,4,0.000,0.051,2878,3286,2339
$GC,12073,0.47,126.5,633.4,15.8,379,12078,0.10,1.55,0.00,0.000,6,0.184,0.028,2855,2253,2339
$GC,12345,0.47,126.5,597.4,13.0,386,12346,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2247,2338
$GC,12588,0.47,126.5,568.4,11.7,392,12592,0.00,1.60,0.00,0.000,4,0.000,0.031,2860,1164,2338
$GC,12623,0.47,126.5,564.4,10.1,392,12627,0.00,1.70,0.00,0.000,6,0.000,0.043,2860,2264,2337
$GC,12884,0.47,126.5,534.0,11.8,399,12887,0.00,1.60,0.00,0.000,4,0.000,0.051,2859,3279,2337
$GC,12953,0.47,126.5,524.6,12.9,400,12957,0.00,1.50,0.00,0.000,6,0.000,0.028,2867,2269,2337
$GC,13225,0.47,126.5,489.5,13.2,407,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2263,2337
$GC,13469,0.47,126.5,458.4,12.6,413,13472,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3297,2336
$GC,13543,0.47,126.5,448.6,12.4,414,13546,0.00,1.48,0.00,0.000,6,0.000,0.028,2868,2304,2336
$GC,13810,0.47,126.5,418.1,11.5,421,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2298,2336
$GC,14054,0.47,126.5,389.8,11.6,427,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2299,2336
$GC,14297,0.47,126.5,361.1,11.8,433,14300,0.00,1.58,0.00,0.000,4,0.000,0.050,2864,3282,2336
$GC,14347,0.47,126.5,355.2,11.2,434,14350,0.00,1.48,0.00,0.000,6,0.000,0.028,2868,2292,2336
$GC,14640,0.47,126.5,323.3,10.6,441,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2287,2336
$GC,14885,0.47,126.5,297.7,10.6,447,14888,0.00,1.58,0.00,0.000,4,0.000,0.048,2864,3272,2336
$GC,15049,0.47,126.5,281.1,9.1,450,15053,0.00,1.42,0.00,0.000,6,0.000,0.026,2868,2307,2335
$GC,15317,0.48,144.4,259.2,8.2,457,15343,0.00,1.60,16.80,0.730,4,0.000,0.048,2864,3292,2279
$GC,15395,0.48,157.9,252.4,8.4,458,15414,0.00,1.45,13.45,0.776,6,0.000,0.025,2869,2306,2224
$GC,15694,0.48,157.9,224.8,9.5,466,15698,0.00,1.55,0.00,0.000,4,0.000,0.047,2864,3281,2220
$GC,15724,0.48,157.9,221.1,10.6,466,15728,0.00,1.40,0.00,0.000,6,0.000,0.025,2868,2337,2219
$GC,15990,0.48,157.9,197.0,9.1,473,15994,0.00,1.67,0.00,0.000,4,0.000,0.027,2877,1157,2220
$GC,16055,0.49,182.6,191.6,7.8,478,16081,0.00,1.85,22.27,0.742,6,0.000,0.041,2877,2337,2123
$GC,16340,0.49,182.6,162.6,10.5,504,16344,0.00,1.73,0.00,0.000,4,0.000,0.026,2884,1160,2119
$GC,16379,0.49,182.6,158.4,10.4,507,16383,0.00,1.77,0.00,0.000,6,0.000,0.039,2884,2310,2118
$GC,16650,0.49,182.6,130.9,9.4,532,16654,0.00,1.50,0.00,0.000,4,0.000,0.045,2884,3281,2119
$GC,16758,0.49,182.6,119.0,11.5,541,16762,0.10,1.40,0.00,0.000,6,0.133,0.024,2857,2327,2118
$GC,17034,0.51,215.0,97.0,7.5,566,17067,0.00,1.73,28.45,0.644,4,0.000,0.025,2860,1166,1989
$GC,17142,0.52,250.3,88.0,7.3,574,17183,0.00,1.80,30.17,0.630,6,0.000,0.037,2860,2322,1848
$GC,17440,0.54,293.2,66.6,6.9,601,17482,0.00,1.48,36.40,0.607,4,0.000,0.041,2860,3297,1672
$GC,17538,0.56,356.6,60.2,6.0,608,17601,0.00,1.45,52.20,0.599,6,0.000,0.022,2860,2307,1412
$GC,17858,0.56,356.6,37.6,9.8,637,17866,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2306,1408
$GC,18159,0.56,356.6,7.8,10.4,679,18168,0.00,1.65,0.00,0.000,4,0.000,0.023,2860,1169,1407
$STATE,18206,end climb,SURFACE_DEPTH_REACHED
$STATE,18206,begin surface coast
$FINISH,0.5,1.009457
$STATE,18245,end surface coast,CONTROL_FINISHED_OK
$STATE,18245,begin surface
$SM_CCo,18272,13.68,0.512,0,0,1277,390.02
$SM_GC,1.63,0.00,0.00,13.68,0.000,0.000,0.512,29,2530,1277,-8.33,0.85,390.02
$IRIDIUM_FIX,2255.72,-15733.62,140203,070734
$TT8_MAMPS,0.023777
$HUMID,2254
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.3,54.764
$10V_AH,10.5,66.473
$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,18.075,112.150,458.800,13.675,0.000,31.015,35.308,266.189,0.250,0.000,0.000,16.742,1431.783,12321.500,506.896,3530.719,1019.091,33.376,1613.345,0.000,3520.678,0.000,0.546,0.000
$DEVICE_MAMPS,196.352,59.826,1269.385,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,472.417,2277.901,2351.108,1600.083,1534.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57209,692
$CAP_FILE_SIZE,135962,0
$CFSIZE,260165632,236580864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,201113,173833,2302.350,-15737.831,51,2.6,70,10.1