version: 66.04
glider: 512
mission: 4
dive: 330
start: 11 21 113 4 51 1
data:
$ID,512
$MISSION,4
$DIVE,330
$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,605.6358
$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,-113844.5
$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,65
$R_STBD_OVSHOOT,47
$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
$GPS1,042735,2259.975,-15740.326,26,1.6,26,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-82.5
$GPS2,045007,2259.836,-15740.238,12,1.8,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,-0.021
$KALMAN_X,57912.1,44.8,15.9,-24135.0,1954.4
$KALMAN_Y,13057.1,-119.5,-271.2,16510.0,-1794.4
$MHEAD_RNG_PITCHd_Wd,254.7,56749,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.47,-126.5,0.0,0.0,0,84,0.00,0.00,-59.92,0.000,2,0.000,0.000,10,2537,2667
$GC,90,-0.47,-126.5,2.1,-0.8,7,126,9.62,1.58,-19.42,0.000,4,0.197,0.038,2534,1427,3384
$GC,350,-0.47,-126.5,46.9,-17.7,39,354,0.00,1.60,0.00,0.000,6,0.000,0.038,2528,2497,3384
$GC,622,-0.47,-126.5,101.1,-16.2,64,625,0.00,1.62,0.00,0.000,4,0.000,0.046,2519,3559,3384
$GC,786,-0.47,-126.5,125.6,-14.7,78,790,0.00,1.50,0.00,0.000,6,0.000,0.018,2521,2499,3385
$GC,1059,-0.47,-126.5,166.8,-15.2,103,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2491,3385
$GC,1333,-0.47,-126.5,207.0,-14.2,126,1337,0.00,1.62,0.00,0.000,4,0.000,0.043,2515,3568,3385
$GC,1442,-0.47,-126.5,222.3,-13.0,128,1446,0.00,1.48,0.00,0.000,6,0.000,0.018,2517,2521,3385
$GC,1719,-0.47,-126.5,255.3,-12.0,135,1723,0.00,1.45,0.00,0.000,4,0.000,0.021,2520,1454,3385
$GC,1761,-0.47,-126.5,260.5,-11.8,135,1770,0.00,1.65,0.00,0.000,6,0.000,0.038,2514,2542,3385
$GC,2016,-0.47,-126.5,291.2,-12.2,142,2020,0.10,1.52,0.00,0.000,4,0.142,0.045,2534,3560,3384
$GC,2096,-0.47,-126.5,299.7,-9.2,143,2100,0.00,1.42,0.00,0.000,6,0.000,0.021,2534,2546,3383
$GC,2357,-0.47,-126.5,322.3,-8.8,150,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2537,3382
$GC,2600,-0.47,-126.5,343.7,-8.9,156,2604,0.00,1.58,0.00,0.000,4,0.000,0.046,2526,3557,3380
$GC,2659,-0.47,-126.5,349.4,-9.3,157,2662,0.00,1.40,0.00,0.000,6,0.000,0.021,2526,2565,3380
$GC,2942,-0.47,-126.5,374.5,-8.8,164,2945,0.00,1.52,0.00,0.000,4,0.000,0.022,2526,1466,3378
$GC,3057,-0.47,-126.5,384.0,-7.9,166,3060,0.00,1.62,0.00,0.000,6,0.000,0.040,2523,2549,3378
$GC,3329,-0.47,-126.5,407.5,-9.0,173,3333,0.00,1.58,-0.08,0.000,4,0.000,0.068,2523,3563,3398
$GC,3404,-0.47,-126.5,414.6,-8.7,174,3407,0.00,1.42,0.00,0.000,6,0.000,0.024,2523,2562,3397
$GC,3670,-0.47,-126.5,438.3,-9.1,181,3674,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1469,3395
$GC,3720,-0.47,-126.5,442.8,-8.1,182,3724,0.00,1.65,0.00,0.000,6,0.000,0.041,2516,2559,3395
$GC,4015,-0.47,-126.5,469.3,-8.8,189,4018,0.00,1.55,0.00,0.000,4,0.000,0.050,2509,3555,3393
$GC,4066,-0.47,-126.5,473.9,-8.8,190,4070,0.08,1.42,0.00,0.000,6,0.104,0.024,2538,2563,3392
$GC,4361,-0.47,-126.5,494.7,-6.8,197,4364,0.00,1.55,0.00,0.000,4,0.000,0.025,2539,1458,3390
$GC,4413,-0.47,-126.5,498.6,-6.5,198,4416,0.00,1.70,0.00,0.000,6,0.000,0.043,2537,2555,3390
$GC,4703,-0.47,-126.5,518.5,-7.1,205,4706,0.00,1.58,0.00,0.000,4,0.000,0.052,2530,3563,3388
$GC,4766,-0.47,-126.5,523.4,-6.9,206,4770,0.00,1.45,0.00,0.000,6,0.000,0.025,2529,2563,3387
$GC,5044,-0.47,-126.5,543.5,-7.4,213,5048,0.00,1.52,0.00,0.000,4,0.000,0.025,2530,1473,3385
$GC,5096,-0.47,-126.5,547.5,-7.7,214,5100,0.00,1.67,0.00,0.000,6,0.000,0.044,2524,2546,3385
$GC,5390,-0.47,-126.5,571.6,-8.2,221,5394,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3556,3383
$GC,5426,-0.47,-126.5,574.8,-8.8,221,5429,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2564,3382
$GC,5687,-0.47,-126.5,596.6,-8.5,228,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2555,3381
$GC,5930,-0.47,-126.5,617.3,-8.5,234,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2555,3379
$GC,6174,-0.47,-126.5,636.9,-8.0,240,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2555,3378
$GC,6417,-0.47,-126.5,655.8,-7.8,246,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2555,3376
$GC,6661,-0.47,-126.5,674.4,-7.6,252,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2555,3375
$GC,6905,-0.47,-126.5,692.5,-7.5,258,6908,0.00,1.55,0.00,0.000,4,0.000,0.028,2523,1478,3373
$GC,6956,-0.47,-126.5,696.2,-7.1,259,6960,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2577,3373
$GC,7250,-0.47,-126.5,718.7,-7.7,266,7254,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3561,3372
$GC,7292,-0.47,-126.5,722.2,-8.1,266,7300,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2567,3372
$GC,7547,-0.47,-126.5,741.3,-7.7,273,7550,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1473,3371
$GC,7598,-0.47,-126.5,745.2,-7.2,274,7602,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2567,3371
$GC,7893,-0.47,-126.5,767.0,-7.1,281,7896,0.00,1.60,0.00,0.000,4,0.000,0.061,2523,3581,3370
$GC,7943,-0.47,-126.5,770.5,-6.7,282,7947,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2586,3369
$GC,8238,-0.47,-126.5,788.6,-6.1,289,8241,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1476,3369
$GC,8296,-0.47,-126.5,792.5,-6.0,290,8299,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2568,3369
$GC,8579,-0.47,-126.5,810.4,-6.6,297,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2568,3367
$GC,8822,-0.47,-126.5,827.8,-7.3,303,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3366
$GC,9066,-0.47,-126.5,846.2,-7.6,309,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3365
$GC,9310,-0.47,-126.5,864.5,-7.4,315,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3364
$GC,9553,-0.47,-126.5,882.0,-7.1,321,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3364
$GC,9797,-0.47,-126.5,897.7,-6.4,327,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3363
$STATE,9834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9834,begin apogee
$GC,9845,-0.17,0.0,900.2,6.3,328,9960,0.35,0.00,111.68,1.261,6,0.091,0.000,2643,2239,2868
$STATE,9960,end apogee,CONTROL_FINISHED_OK
$STATE,9961,begin climb
$GC,9966,0.47,126.5,903.1,0.0,331,10139,0.55,0.00,134.65,1.124,6,0.035,0.000,2869,2239,2352
$GC,10376,0.47,126.5,853.1,16.6,341,10380,0.00,1.70,0.00,0.000,4,0.000,0.051,2864,3280,2342
$GC,10411,0.47,126.5,846.6,17.4,341,10415,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2210,2341
$GC,10672,0.47,126.5,806.5,15.6,348,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2203,2339
$GC,10915,0.47,126.5,769.9,14.9,354,10919,0.00,1.73,0.00,0.000,4,0.000,0.050,2864,3296,2338
$GC,10968,0.47,126.5,761.2,15.5,355,10972,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2207,2338
$GC,11256,0.47,126.5,719.4,14.5,362,11260,0.00,1.73,0.00,0.000,4,0.000,0.051,2870,3291,2336
$GC,11326,0.47,126.5,708.7,15.0,363,11329,0.00,1.55,0.00,0.000,6,0.000,0.028,2877,2253,2336
$GC,11598,0.47,126.5,669.6,14.5,370,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2246,2336
$GC,11841,0.47,126.5,634.2,14.4,376,11845,0.00,1.60,0.00,0.000,4,0.000,0.029,2885,1163,2335
$GC,11866,0.47,126.5,630.1,14.1,376,11870,0.12,1.70,0.00,0.000,6,0.177,0.044,2848,2266,2335
$GC,12137,0.47,126.5,594.5,13.3,383,12141,0.00,1.60,0.00,0.000,4,0.000,0.051,2848,3283,2334
$GC,12211,0.47,126.5,583.5,14.1,384,12215,0.00,1.52,0.00,0.000,6,0.000,0.028,2854,2260,2334
$GC,12478,0.47,126.5,548.6,13.4,391,12482,0.00,1.62,0.00,0.000,4,0.000,0.049,2852,3292,2333
$GC,12543,0.47,126.5,540.1,12.4,392,12546,0.00,1.50,0.00,0.000,6,0.000,0.028,2857,2286,2334
$GC,12820,0.47,126.5,508.5,11.3,399,12824,0.00,1.60,0.00,0.000,4,0.000,0.050,2858,3278,2333
$GC,12861,0.47,126.5,503.1,11.7,399,12870,0.00,1.42,0.00,0.000,6,0.000,0.027,2865,2313,2333
$GC,13117,0.47,126.5,473.4,11.6,406,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2311,2333
$GC,13360,0.47,126.5,444.1,11.9,412,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2311,2333
$GC,13604,0.47,126.5,418.0,10.6,418,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2311,2333
$GC,13848,0.47,126.5,393.4,9.9,424,13852,0.00,1.55,0.00,0.000,4,0.000,0.049,2863,3279,2333
$GC,13889,0.47,126.5,388.7,10.3,424,13895,0.00,1.40,0.00,0.000,6,0.000,0.026,2868,2329,2333
$GC,14143,0.47,126.5,362.4,10.6,431,14147,0.00,1.70,0.00,0.000,4,0.000,0.028,2876,1167,2333
$GC,14229,0.47,126.5,353.2,9.9,432,14238,0.00,1.80,0.00,0.000,6,0.000,0.043,2876,2315,2333
$GC,14485,0.47,126.5,327.5,9.9,439,14488,0.00,1.50,0.00,0.000,4,0.000,0.051,2876,3272,2332
$GC,14537,0.47,126.5,321.3,12.0,440,14541,0.10,1.40,0.00,0.000,6,0.175,0.026,2852,2328,2332
$GC,14825,0.47,128.1,295.5,8.9,447,14828,0.00,1.67,0.00,0.000,4,0.000,0.028,2859,1162,2332
$GC,14866,0.48,155.6,291.9,7.7,447,14903,0.00,1.80,25.98,0.788,6,0.000,0.041,2859,2317,2232
$GC,15165,0.48,155.6,264.7,9.2,455,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2317,2228
$GC,15408,0.48,155.6,241.2,9.5,461,15412,0.00,1.50,0.00,0.000,4,0.000,0.050,2859,3278,2227
$GC,15522,0.48,155.6,229.6,9.3,463,15525,0.00,1.33,0.00,0.000,6,0.000,0.024,2866,2376,2227
$GC,15794,0.49,168.5,205.5,8.4,470,15808,0.00,0.00,11.93,0.716,6,0.000,0.000,2866,2370,2181
$GC,16045,0.49,168.5,182.7,9.1,488,16048,0.00,1.42,0.00,0.000,4,0.000,0.044,2863,3279,2180
$GC,16117,0.49,168.5,175.7,9.2,494,16121,0.00,1.33,0.00,0.000,6,0.000,0.023,2868,2373,2180
$GC,16389,0.49,169.7,149.8,8.9,519,16393,0.00,1.73,0.00,0.000,4,0.000,0.025,2876,1155,2179
$GC,16497,0.49,178.1,140.6,8.6,528,16512,0.00,1.88,10.15,0.641,6,0.000,0.039,2876,2365,2141
$GC,16773,0.50,189.2,116.3,8.5,553,16796,0.00,1.45,11.32,0.624,4,0.000,0.044,2876,3291,2095
$GC,16804,0.50,191.9,112.7,8.9,555,16813,0.00,1.35,4.10,0.450,6,0.000,0.022,2881,2360,2085
$GC,17074,0.51,227.1,90.4,7.3,580,17116,0.00,1.77,30.73,0.628,4,0.000,0.025,2886,1156,1940
$GC,17201,0.53,282.6,80.9,6.3,590,17257,0.00,1.80,46.25,0.617,6,0.000,0.037,2885,2313,1715
$GC,17514,0.54,300.5,55.6,8.1,618,17534,0.00,1.55,15.70,0.571,4,0.000,0.042,2885,3298,1641
$GC,17576,0.54,307.9,50.3,8.7,622,17591,0.00,1.45,7.72,0.514,6,0.000,0.021,2886,2309,1610
$GC,17858,0.54,307.9,25.5,9.5,650,17867,0.00,1.65,0.00,0.000,4,0.000,0.023,2893,1161,1608
$GC,17960,0.56,347.5,17.2,7.1,665,18004,0.00,1.75,32.70,0.551,6,0.000,0.035,2891,2305,1449
$STATE,18128,end climb,SURFACE_DEPTH_REACHED
$STATE,18129,begin surface coast
$FINISH,0.7,1.023365
$STATE,18172,end surface coast,CONTROL_FINISHED_OK
$STATE,18172,begin surface
$SM_CCo,18197,123.90,0.533,0,0,398,605.64
$SM_GC,1.33,0.00,0.00,123.90,0.000,0.000,0.533,27,2563,398,-8.33,1.75,605.64
$IRIDIUM_FIX,2251.04,-15737.57,150203,040419
$TT8_MAMPS,0.023777
$HUMID,2141
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,26.20
$XPDR_PINGS,28
$24V_AH,23.3,55.248
$10V_AH,10.6,67.192
$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,18.200,117.200,442.900,123.900,0.000,143.247,180.108,553.486,7.000,0.000,0.000,13.044,1453.165,12430.904,631.553,3542.037,1607.421,33.388,1725.899,0.000,3534.605,0.000,0.547,0.000
$DEVICE_MAMPS,197.119,68.263,1260.948,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,474.400,2287.916,2364.583,1614.729,1547.058,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57288,696
$CAP_FILE_SIZE,150276,0
$CFSIZE,260165632,236326912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,211113,095753,2258.868,-15741.882,41,1.8,41,10.1