version: 66.04
glider: 512
mission: 4
dive: 364
start: 11 28 113 20 43 7
data:
$ID,512
$MISSION,4
$DIVE,364
$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,-114514.8
$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,60
$R_STBD_OVSHOOT,49
$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
$GPS1,202114,2301.745,-15800.538,41,2.8,60,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-82.1
$GPS2,204215,2301.704,-15800.502,16,2.8,35,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.201
$KALMAN_X,101587.1,-328.5,-145.9,-101873.8,2190.0
$KALMAN_Y,-56059.7,914.9,132.7,87629.6,-1111.1
$MHEAD_RNG_PITCHd_Wd,138.5,57769,-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,18,begin dive
$GC,23,-0.54,-126.5,0.0,0.0,0,94,0.00,0.00,-68.32,0.000,2,0.000,0.000,7,2529,2862
$GC,99,-0.54,-126.5,2.2,-1.6,8,128,9.57,1.52,-12.62,0.000,4,0.196,0.058,2506,3546,3375
$GC,152,-0.54,-126.5,13.5,-23.8,14,161,0.00,1.52,0.00,0.000,6,0.000,0.020,2508,2486,3375
$GC,434,-0.54,-126.5,83.6,-24.7,44,438,0.00,1.65,0.00,0.000,4,0.000,0.041,2502,3548,3376
$GC,473,-0.54,-126.5,93.3,-26.3,47,477,0.00,1.48,0.00,0.000,6,0.000,0.019,2507,2497,3376
$GC,745,-0.54,-126.5,141.6,-16.2,72,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2490,3376
$GC,1012,-0.54,-126.5,185.1,-15.2,97,1016,0.00,1.60,0.00,0.000,4,0.000,0.042,2501,3535,3377
$GC,1176,-0.54,-126.5,208.8,-12.9,107,1179,0.00,1.42,0.00,0.000,6,0.000,0.020,2506,2520,3377
$GC,1442,-0.54,-126.5,244.1,-13.8,114,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2513,3377
$GC,1685,-0.54,-126.5,274.7,-12.3,120,1689,0.00,1.58,0.00,0.000,4,0.000,0.044,2500,3534,3376
$GC,1800,-0.54,-126.5,288.3,-11.2,122,1803,0.00,1.42,0.00,0.000,6,0.000,0.021,2506,2521,3376
$GC,2072,-0.54,-126.5,318.6,-11.2,129,2075,0.00,1.58,0.00,0.000,4,0.000,0.046,2499,3533,3375
$GC,2153,-0.54,-126.5,328.6,-11.7,130,2156,0.00,1.40,0.00,0.000,6,0.000,0.021,2505,2541,3374
$GC,2413,-0.54,-126.5,357.5,-11.3,137,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2534,3373
$GC,2657,-0.54,-126.5,383.4,-10.4,143,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2534,3371
$GC,2901,-0.54,-126.5,409.7,-10.8,149,2904,0.00,1.50,0.00,0.000,4,0.000,0.023,2508,1458,3370
$GC,2932,-0.54,-126.5,413.4,-11.0,149,2936,0.00,1.60,0.00,0.000,6,0.000,0.041,2502,2526,3370
$GC,3198,-0.54,-126.5,444.3,-11.9,156,3202,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3563,3367
$GC,3222,-0.54,-126.5,447.7,-12.1,156,3226,0.00,1.50,0.00,0.000,6,0.000,0.023,2500,2520,3367
$GC,3495,-0.54,-126.5,476.5,-10.4,163,3500,0.00,1.65,-0.08,0.000,4,0.000,0.065,2494,3553,3390
$GC,3546,-0.54,-126.5,481.4,-8.9,164,3549,0.00,1.48,0.00,0.000,6,0.000,0.023,2499,2532,3390
$GC,3840,-0.54,-126.5,509.0,-9.5,171,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2524,3388
$GC,4084,-0.54,-126.5,533.9,-10.1,177,4087,0.00,1.52,0.00,0.000,4,0.000,0.025,2507,1443,3386
$GC,4148,-0.54,-126.5,540.2,-8.9,178,4152,0.00,1.67,0.00,0.000,6,0.000,0.044,2501,2546,3385
$GC,4426,-0.54,-126.5,564.8,-8.9,185,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2546,3383
$GC,4669,-0.54,-126.5,584.5,-8.1,191,4673,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3554,3381
$GC,4706,-0.54,-126.5,588.0,-9.1,191,4709,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2529,3380
$GC,4965,-0.54,-126.5,611.5,-9.4,198,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2521,3379
$GC,5210,-0.54,-126.5,635.2,-9.7,204,5213,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3566,3377
$GC,5274,-0.54,-126.5,642.0,-9.9,205,5277,0.00,1.50,0.00,0.000,6,0.000,0.026,2499,2538,3377
$GC,5552,-0.54,-126.5,666.6,-8.8,212,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2530,3375
$GC,5795,-0.54,-126.5,686.3,-7.9,218,5798,0.00,1.55,0.00,0.000,4,0.000,0.028,2507,1443,3373
$GC,5831,-0.54,-126.5,689.1,-6.9,218,5835,0.00,1.70,0.00,0.000,6,0.000,0.048,2501,2549,3372
$GC,6092,-0.54,-126.5,707.4,-7.2,225,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2549,3371
$GC,6335,-0.54,-126.5,726.6,-8.1,231,6338,0.00,1.60,0.00,0.000,4,0.000,0.057,2493,3580,3370
$GC,6359,-0.54,-126.5,729.1,-9.5,231,6362,0.00,1.52,0.00,0.000,6,0.000,0.028,2498,2549,3370
$GC,6631,-0.54,-126.5,753.0,-9.0,238,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2541,3369
$GC,6876,-0.54,-126.5,774.6,-8.7,244,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2542,3368
$GC,7119,-0.54,-126.5,794.3,-7.8,250,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2542,3366
$GC,7363,-0.54,-126.5,812.4,-7.4,256,7366,0.00,1.62,0.00,0.000,4,0.000,0.057,2493,3571,3365
$GC,7414,-0.54,-126.5,816.6,-8.5,257,7417,0.00,1.50,0.00,0.000,6,0.000,0.028,2498,2559,3365
$GC,7708,-0.54,-126.5,841.4,-8.6,264,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2551,3364
$GC,7951,-0.54,-126.5,862.6,-8.8,270,7955,0.00,1.58,0.00,0.000,4,0.000,0.028,2506,1455,3364
$GC,7976,-0.54,-126.5,865.0,-8.8,270,7979,0.00,1.70,0.00,0.000,6,0.000,0.049,2500,2551,3363
$GC,8249,-0.54,-126.5,887.7,-8.5,277,8252,0.00,1.60,0.00,0.000,4,0.000,0.059,2492,3574,3362
$GC,8318,-0.54,-126.5,894.0,-8.4,278,8322,0.00,1.50,0.00,0.000,6,0.000,0.029,2498,2561,3362
$STATE,8422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8422,begin apogee
$GC,8434,-0.20,0.0,902.4,7.8,281,8551,0.40,0.00,114.93,1.247,6,0.102,0.000,2636,2210,2858
$STATE,8552,end apogee,CONTROL_FINISHED_OK
$STATE,8552,begin climb
$GC,8557,0.54,126.5,905.2,0.0,284,8739,0.65,0.00,136.88,1.101,6,0.039,0.000,2885,2210,2342
$GC,8976,0.54,126.5,845.5,18.8,294,8980,0.00,1.73,0.00,0.000,4,0.000,0.051,2878,3294,2333
$GC,9006,0.54,126.5,839.0,20.1,294,9010,0.00,1.60,0.00,0.000,6,0.000,0.028,2884,2218,2332
$GC,9273,0.54,126.5,791.9,17.5,301,9276,0.00,1.70,0.00,0.000,4,0.000,0.049,2879,3292,2330
$GC,9314,0.54,126.5,783.7,18.1,301,9321,0.00,1.58,0.00,0.000,6,0.000,0.028,2884,2243,2330
$GC,9568,0.54,126.5,742.5,15.8,308,9572,0.00,1.67,0.00,0.000,4,0.000,0.051,2879,3285,2328
$GC,9592,0.54,126.5,738.0,16.7,308,9595,0.00,1.52,0.00,0.000,6,0.000,0.029,2884,2264,2328
$GC,9864,0.54,126.5,695.1,16.0,315,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2258,2327
$GC,10107,0.54,126.5,657.5,15.1,321,10110,0.00,1.62,0.00,0.000,4,0.000,0.031,2892,1132,2327
$GC,10148,0.54,126.5,650.7,15.2,321,10157,0.00,1.77,0.00,0.000,6,0.000,0.045,2891,2260,2326
$GC,10403,0.54,126.5,612.6,14.9,328,10407,0.00,1.60,0.00,0.000,4,0.000,0.052,2891,3279,2326
$GC,10461,0.54,126.5,603.1,16.0,329,10465,0.00,1.48,0.00,0.000,6,0.000,0.028,2896,2282,2325
$GC,10744,0.54,126.5,560.1,15.6,336,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2276,2325
$GC,10987,0.54,126.5,523.2,15.0,342,10991,0.00,1.62,0.00,0.000,4,0.000,0.031,2905,1148,2325
$GC,11046,0.54,126.5,514.5,13.9,343,11050,0.00,1.77,0.00,0.000,6,0.000,0.044,2905,2299,2324
$GC,11329,0.54,126.5,472.2,15.3,350,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2299,2324
$GC,11572,0.54,126.5,436.6,14.6,356,11576,0.00,1.52,0.00,0.000,4,0.000,0.051,2905,3277,2324
$GC,11681,0.54,126.5,418.8,15.4,358,11685,0.10,1.42,0.00,0.000,6,0.167,0.028,2881,2317,2324
$GC,11958,0.54,126.5,384.0,13.2,365,11962,0.00,1.55,0.00,0.000,4,0.000,0.051,2876,3282,2324
$GC,11994,0.54,126.5,378.6,13.8,365,11997,0.00,1.40,0.00,0.000,6,0.000,0.026,2881,2329,2323
$GC,12254,0.54,126.5,345.1,12.8,372,12258,0.00,1.70,0.00,0.000,4,0.000,0.029,2889,1164,2323
$GC,12335,0.54,126.5,335.7,10.7,373,12339,0.00,1.77,0.00,0.000,6,0.000,0.043,2889,2320,2323
$GC,12596,0.54,126.5,306.0,11.5,380,12597,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2321,2323
$GC,12839,0.54,126.5,277.6,11.4,386,12843,0.00,1.50,0.00,0.000,4,0.000,0.050,2889,3283,2323
$GC,12863,0.54,126.5,274.4,11.9,386,12866,0.00,1.45,0.00,0.000,6,0.000,0.027,2896,2292,2323
$GC,13135,0.54,126.5,245.1,10.3,393,13138,0.00,1.58,0.00,0.000,4,0.000,0.048,2891,3280,2323
$GC,13166,0.54,126.5,241.5,10.9,393,13170,0.00,1.48,0.00,0.000,6,0.000,0.025,2896,2268,2323
$GC,13433,0.54,126.5,214.7,10.3,400,13437,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1171,2323
$GC,13503,0.54,126.5,208.0,9.7,401,13507,0.00,1.67,0.00,0.000,6,0.000,0.041,2905,2272,2323
$GC,13772,0.54,126.5,182.6,9.2,419,13776,0.00,1.58,0.00,0.000,4,0.000,0.049,2905,3286,2323
$GC,13961,0.55,140.1,166.5,8.4,435,13977,0.10,1.42,10.25,0.677,6,0.151,0.025,2879,2304,2287
$GC,14233,0.57,187.7,146.6,6.7,460,14286,0.00,1.60,42.42,0.701,4,0.000,0.044,2876,3288,2091
$GC,14349,0.57,187.7,136.6,10.3,469,14353,0.00,1.42,0.00,0.000,6,0.000,0.024,2881,2327,2089
$GC,14621,0.57,187.7,107.9,9.7,494,14625,0.00,1.65,0.00,0.000,4,0.000,0.026,2886,1165,2087
$GC,14787,0.58,214.7,93.6,7.7,508,14815,0.00,1.73,23.55,0.635,6,0.000,0.038,2885,2296,1982
$GC,15080,0.59,251.1,71.2,7.3,534,15122,0.00,1.55,31.30,0.612,4,0.000,0.045,2886,3284,1833
$GC,15166,0.60,269.0,63.9,8.1,540,15189,0.00,1.52,16.35,0.584,6,0.000,0.022,2886,2248,1760
$GC,15451,0.61,289.3,41.5,8.0,566,15479,0.00,1.58,17.92,0.570,4,0.000,0.025,2892,1170,1676
$GC,15523,0.62,312.9,35.0,7.9,571,15547,0.00,1.67,20.45,0.563,6,0.000,0.035,2891,2256,1582
$GC,15841,0.62,312.9,6.6,9.7,616,15850,0.00,1.55,0.00,0.000,4,0.000,0.041,2892,3276,1578
$STATE,15875,end climb,SURFACE_DEPTH_REACHED
$STATE,15875,begin surface coast
$FINISH,0.4,1.023505
$STATE,15896,end surface coast,CONTROL_FINISHED_OK
$STATE,15896,begin surface
$SM_CCo,15922,31.73,0.535,0,0,1267,390.02
$SM_GC,1.56,0.00,0.00,31.73,0.000,0.000,0.535,37,2447,1267,-8.32,-1.50,390.02
$IRIDIUM_FIX,2253.38,-15757.57,220203,202017
$TT8_MAMPS,0.023777
$HUMID,2248
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,12
$24V_AH,23.3,60.932
$10V_AH,10.6,75.180
$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,18.150,106.950,414.050,31.725,0.000,83.257,110.004,723.370,3.000,0.000,0.000,36.359,1291.083,10688.523,477.060,3169.435,1582.813,33.377,1469.595,0.000,3154.674,0.000,0.546,0.000
$DEVICE_MAMPS,195.585,65.195,1247.142,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,425.266,2053.941,2127.869,1403.241,1386.417,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50961,624
$CAP_FILE_SIZE,132076,0
$CFSIZE,260165632,233930752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,291113,011056,2259.853,-15758.796,45,9.6,64,10.1