version: 66.04
glider: 512
mission: 4
dive: 362
start: 11 28 113 11 1 49
data:
$ID,512
$MISSION,4
$DIVE,362
$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,-114446.04
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$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
$GPS1,103524,2304.958,-15804.867,39,1.7,39,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-81.0
$GPS2,110055,2304.896,-15804.818,13,1.1,13,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.187
$KALMAN_X,99902.2,-285.9,-153.9,-107605.1,2575.7
$KALMAN_Y,-56488.4,-224.6,-15.7,95270.8,-2012.5
$MHEAD_RNG_PITCHd_Wd,132.4,67120,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,102,0.00,0.00,-77.10,0.000,2,0.000,0.000,7,2509,3106
$GC,108,-0.54,-126.5,2.7,-2.2,9,128,9.57,1.58,-5.45,0.000,4,0.196,0.038,2525,1420,3375
$GC,210,-0.54,-126.5,32.4,-18.8,23,219,0.00,1.67,0.00,0.000,6,0.000,0.043,2523,2493,3376
$GC,476,-0.54,-126.5,88.0,-18.7,48,479,0.00,1.62,0.00,0.000,4,0.000,0.046,2515,3576,3376
$GC,516,-0.54,-126.5,95.0,-17.4,51,520,0.00,1.58,0.00,0.000,6,0.000,0.020,2515,2473,3376
$GC,788,-0.54,-126.5,140.1,-16.3,76,791,0.00,1.67,0.00,0.000,4,0.000,0.042,2507,3573,3377
$GC,851,-0.54,-126.5,149.9,-15.2,81,855,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2495,3377
$GC,1124,-0.54,-126.5,190.1,-14.5,106,1128,0.00,1.65,0.00,0.000,4,0.000,0.044,2501,3578,3377
$GC,1185,-0.54,-126.5,199.5,-15.6,111,1188,0.00,1.45,0.00,0.000,6,0.000,0.019,2506,2545,3377
$GC,1446,-0.54,-126.5,234.6,-12.7,118,1449,0.00,1.50,0.00,0.000,4,0.000,0.021,2513,1445,3377
$GC,1488,-0.54,-126.5,240.4,-11.9,118,1496,0.00,1.67,0.00,0.000,6,0.000,0.040,2508,2546,3376
$GC,1742,-0.54,-126.5,272.6,-12.7,125,1746,0.00,1.55,0.00,0.000,4,0.000,0.048,2500,3560,3375
$GC,1822,-0.54,-126.5,282.9,-10.9,126,1825,0.00,1.40,0.00,0.000,6,0.000,0.020,2505,2561,3375
$GC,2084,-0.54,-126.5,313.6,-12.2,133,2087,0.00,1.55,0.00,0.000,4,0.000,0.045,2499,3556,3374
$GC,2158,-0.54,-126.5,323.5,-12.5,134,2161,0.00,1.38,0.00,0.000,6,0.000,0.021,2505,2577,3373
$GC,2424,-0.54,-126.5,353.3,-11.3,141,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2568,3371
$GC,2668,-0.54,-126.5,380.3,-11.0,147,2671,0.00,1.55,0.00,0.000,4,0.000,0.048,2500,3563,3369
$GC,2726,-0.54,-126.5,387.0,-10.9,148,2730,0.00,1.40,0.00,0.000,6,0.000,0.021,2505,2570,3368
$GC,3009,-0.54,-126.5,417.4,-11.2,155,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2561,3366
$GC,3253,-0.54,-126.5,443.9,-10.6,161,3255,0.00,0.00,-0.08,0.000,6,0.000,0.000,2505,2561,3389
$GC,3497,-0.54,-126.5,466.0,-8.8,167,3500,0.00,1.55,0.00,0.000,4,0.000,0.024,2512,1461,3388
$GC,3527,-0.54,-126.5,469.0,-8.6,167,3531,0.00,1.70,0.00,0.000,6,0.000,0.043,2506,2564,3387
$GC,3793,-0.54,-126.5,494.4,-10.1,174,3797,0.00,1.55,0.00,0.000,4,0.000,0.052,2498,3558,3385
$GC,3817,-0.54,-126.5,497.4,-10.8,174,3821,0.00,1.40,0.00,0.000,6,0.000,0.024,2504,2584,3385
$GC,4090,-0.54,-126.5,524.8,-10.0,181,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2576,3382
$GC,4334,-0.54,-126.5,548.2,-9.5,187,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2575,3380
$GC,4577,-0.54,-126.5,571.1,-9.3,193,4580,0.00,1.55,0.00,0.000,4,0.000,0.051,2499,3556,3378
$GC,4612,-0.54,-126.5,574.9,-9.5,193,4616,0.00,1.40,0.00,0.000,6,0.000,0.026,2504,2584,3378
$GC,4873,-0.54,-126.5,599.3,-9.6,200,4876,0.00,1.58,0.00,0.000,4,0.000,0.025,2512,1465,3376
$GC,4953,-0.54,-126.5,607.0,-8.9,201,4957,0.00,1.65,0.00,0.000,6,0.000,0.046,2507,2544,3375
$GC,5214,-0.54,-126.5,630.8,-9.2,208,5218,0.00,1.60,0.00,0.000,4,0.000,0.055,2499,3581,3373
$GC,5278,-0.54,-126.5,637.2,-8.9,209,5281,0.00,1.48,0.00,0.000,6,0.000,0.027,2504,2573,3373
$GC,5556,-0.54,-126.5,659.1,-7.6,216,5560,0.00,1.58,0.00,0.000,4,0.000,0.054,2499,3555,3371
$GC,5580,-0.54,-126.5,661.2,-7.7,216,5584,0.00,1.42,0.00,0.000,6,0.000,0.028,2504,2577,3371
$GC,5854,-0.54,-126.5,682.3,-8.0,223,5857,0.00,1.58,0.00,0.000,4,0.000,0.027,2512,1467,3370
$GC,5884,-0.54,-126.5,685.1,-8.5,223,5887,0.00,1.70,0.00,0.000,6,0.000,0.048,2510,2570,3369
$GC,6150,-0.54,-126.5,706.8,-8.4,230,6154,0.00,1.58,0.00,0.000,4,0.000,0.059,2510,3560,3368
$GC,6186,-0.54,-126.5,710.3,-8.1,230,6190,0.00,1.45,0.00,0.000,6,0.000,0.028,2510,2573,3368
$GC,6447,-0.54,-126.5,730.7,-7.8,237,6450,0.00,1.58,0.00,0.000,4,0.000,0.028,2514,1468,3366
$GC,6472,-0.54,-126.5,732.8,-7.6,237,6475,0.00,1.70,0.00,0.000,6,0.000,0.048,2510,2568,3366
$GC,6745,-0.54,-126.5,751.8,-7.1,244,6748,0.00,1.58,0.00,0.000,4,0.000,0.060,2510,3556,3364
$GC,6780,-0.54,-126.5,754.7,-7.4,244,6784,0.00,1.45,0.00,0.000,6,0.000,0.028,2510,2569,3364
$GC,7041,-0.54,-126.5,772.1,-6.8,251,7045,0.00,1.60,0.00,0.000,4,0.000,0.058,2510,3570,3363
$GC,7066,-0.54,-126.5,774.1,-7.0,251,7070,0.00,1.45,0.00,0.000,6,0.000,0.028,2510,2581,3363
$GC,7338,-0.54,-126.5,792.7,-7.0,258,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2571,3362
$GC,7582,-0.54,-126.5,811.0,-7.5,264,7585,0.00,1.60,0.00,0.000,4,0.000,0.056,2503,3585,3361
$GC,7606,-0.54,-126.5,813.4,-8.7,264,7610,0.00,1.48,0.00,0.000,6,0.000,0.028,2508,2588,3360
$GC,7879,-0.54,-126.5,835.1,-8.0,271,7883,0.00,1.60,0.00,0.000,4,0.000,0.028,2508,1449,3359
$GC,7915,-0.54,-126.5,838.3,-7.7,271,7919,0.00,1.77,0.00,0.000,6,0.000,0.049,2502,2572,3359
$GC,8176,-0.54,-126.5,859.4,-8.2,278,8179,0.00,1.58,0.00,0.000,4,0.000,0.061,2494,3556,3358
$GC,8200,-0.54,-126.5,862.0,-9.3,278,8204,0.00,1.45,0.00,0.000,6,0.000,0.029,2500,2575,3358
$GC,8471,-0.54,-126.5,883.4,-7.8,285,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2566,3357
$STATE,8709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8709,begin apogee
$GC,8721,-0.20,0.0,901.9,7.5,291,8836,0.40,0.00,112.03,1.262,6,0.100,0.000,2638,2227,2858
$STATE,8837,end apogee,CONTROL_FINISHED_OK
$STATE,8837,begin climb
$GC,8842,0.54,126.5,904.6,0.0,294,9037,0.62,1.62,137.80,1.095,4,0.038,0.028,2887,1173,2344
$GC,9050,0.54,126.5,886.0,15.2,298,9054,0.00,1.73,0.00,0.000,6,0.000,0.041,2888,2232,2340
$GC,9310,0.54,126.5,839.5,18.5,305,9314,0.00,1.67,0.00,0.000,4,0.000,0.051,2888,3283,2334
$GC,9362,0.54,126.5,829.3,18.3,306,9366,0.00,1.55,0.00,0.000,6,0.000,0.028,2894,2251,2333
$GC,9652,0.54,126.5,778.0,17.6,313,9655,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3291,2332
$GC,9681,0.54,126.5,771.7,20.1,313,9685,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2238,2331
$GC,9947,0.54,126.5,727.6,16.4,320,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2232,2330
$GC,10191,0.54,126.5,686.5,17.1,326,10195,0.00,1.65,0.00,0.000,4,0.000,0.049,2892,3285,2329
$GC,10260,0.54,126.5,673.7,17.1,327,10264,0.00,1.52,0.00,0.000,6,0.000,0.028,2897,2259,2329
$GC,10533,0.54,126.5,628.6,16.8,334,10536,0.00,1.62,0.00,0.000,4,0.000,0.049,2892,3296,2329
$GC,10569,0.54,126.5,621.9,17.5,334,10572,0.00,1.52,0.00,0.000,6,0.000,0.027,2897,2271,2328
$GC,10829,0.54,126.5,582.2,15.1,341,10833,0.00,1.62,0.00,0.000,4,0.000,0.030,2905,1154,2327
$GC,10892,0.54,126.5,572.7,14.1,342,10896,0.00,1.73,0.00,0.000,6,0.000,0.044,2905,2273,2327
$GC,11170,0.54,126.5,533.2,14.3,349,11174,0.00,1.60,0.00,0.000,4,0.000,0.054,2905,3287,2327
$GC,11283,0.54,126.5,515.0,16.2,351,11287,0.08,1.50,0.00,0.000,6,0.175,0.028,2879,2286,2326
$GC,11556,0.54,126.5,480.6,12.6,358,11559,0.00,1.62,0.00,0.000,4,0.000,0.030,2886,1149,2326
$GC,11592,0.54,126.5,476.1,11.8,358,11595,0.00,1.73,0.00,0.000,6,0.000,0.043,2886,2270,2326
$GC,11852,0.54,126.5,444.8,12.4,365,11856,0.00,1.60,0.00,0.000,4,0.000,0.054,2886,3284,2326
$GC,11888,0.54,126.5,439.9,13.2,365,11891,0.00,1.50,0.00,0.000,6,0.000,0.029,2893,2279,2325
$GC,12148,0.54,126.5,408.6,11.9,372,12151,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3308,2325
$GC,12199,0.54,126.5,401.8,13.5,373,12202,0.00,1.50,0.00,0.000,6,0.000,0.029,2896,2304,2325
$GC,12493,0.54,126.5,364.2,12.7,380,12497,0.00,1.65,0.00,0.000,4,0.000,0.030,2903,1156,2325
$GC,12529,0.54,126.5,359.4,11.6,380,12533,0.00,1.77,0.00,0.000,6,0.000,0.044,2903,2308,2325
$GC,12789,0.54,126.5,327.6,12.1,387,12793,0.00,1.52,0.00,0.000,4,0.000,0.051,2902,3282,2325
$GC,12887,0.54,126.5,314.9,13.9,389,12891,0.10,1.45,0.00,0.000,6,0.164,0.027,2880,2302,2325
$GC,13176,0.54,126.5,284.4,10.1,396,13179,0.00,1.62,0.00,0.000,4,0.000,0.029,2887,1164,2325
$GC,13324,0.54,133.8,270.5,8.7,399,13333,0.00,1.73,5.05,0.647,6,0.000,0.042,2887,2290,2312
$GC,13607,0.54,133.8,245.1,9.4,406,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2290,2311
$GC,13851,0.54,133.8,222.7,9.3,412,13854,0.00,1.55,0.00,0.000,4,0.000,0.051,2887,3283,2311
$GC,13886,0.54,133.8,218.5,11.2,412,13890,0.00,1.50,0.00,0.000,6,0.000,0.027,2894,2264,2311
$GC,14149,0.55,149.0,195.1,8.3,422,14177,0.00,1.62,17.50,0.672,4,0.000,0.028,2899,1168,2250
$GC,14227,0.55,149.0,187.8,9.2,428,14231,0.00,1.75,0.00,0.000,6,0.000,0.040,2899,2289,2249
$GC,14498,0.55,149.0,160.2,9.2,453,14502,0.00,1.55,0.00,0.000,4,0.000,0.048,2900,3290,2247
$GC,14571,0.55,149.0,153.0,10.1,459,14575,0.00,1.48,0.00,0.000,6,0.000,0.025,2907,2278,2247
$GC,14848,0.56,159.3,126.8,8.5,484,14863,0.00,1.62,10.50,0.640,4,0.000,0.044,2905,3295,2208
$GC,14917,0.56,159.3,119.5,9.9,489,14924,0.08,1.45,0.00,0.000,6,0.145,0.024,2888,2301,2207
$GC,15188,0.56,162.7,98.0,8.8,514,15197,0.00,0.00,4.40,0.479,6,0.000,0.000,2888,2295,2195
$GC,15455,0.58,214.2,77.4,6.5,539,15511,0.00,1.67,44.67,0.626,4,0.000,0.027,2888,1165,1982
$GC,15543,0.60,265.4,71.2,6.5,545,15594,0.00,1.85,43.12,0.611,6,0.000,0.037,2887,2349,1775
$GC,15851,0.60,282.8,46.7,8.2,573,15870,0.00,0.00,15.02,0.566,6,0.000,0.000,2888,2349,1704
$GC,16149,0.60,282.8,17.3,9.4,609,16159,0.00,1.75,0.00,0.000,4,0.000,0.025,2887,1167,1701
$GC,16202,0.62,317.3,13.1,7.4,616,16238,0.00,1.83,28.77,0.555,6,0.000,0.035,2887,2357,1563
$STATE,16338,end climb,SURFACE_DEPTH_REACHED
$STATE,16338,begin surface coast
$FINISH,0.5,1.003038
$STATE,16382,end surface coast,CONTROL_FINISHED_OK
$STATE,16382,begin surface
$SM_CCo,16407,30.00,0.532,0,0,1267,390.02
$SM_GC,1.41,0.00,0.00,30.00,0.000,0.000,0.532,38,2565,1267,-8.31,1.84,390.02
$IRIDIUM_FIX,2253.38,-15804.96,220203,101040
$TT8_MAMPS,0.023777
$HUMID,2256
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,2
$24V_AH,23.3,60.619
$10V_AH,10.6,74.758
$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,18.225,130.500,418.875,30.000,0.000,110.001,201.417,831.727,0.500,0.000,0.000,13.874,1348.029,11030.121,474.719,3269.945,1838.818,33.372,1532.238,0.000,3265.992,0.000,0.544,0.000
$DEVICE_MAMPS,196.352,60.593,1261.715,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,437.567,2113.174,2183.068,1503.675,1437.432,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54239,642
$CAP_FILE_SIZE,143884,0
$CFSIZE,260165632,234045440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1
$GPS,281113,153723,2303.294,-15802.724,47,1.5,47,10.1