version: 66.04
glider: 512
mission: 4
dive: 365
start: 11 29 113 1 29 27
data:
$ID,512
$MISSION,4
$DIVE,365
$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,-114547.75
$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,87
$R_STBD_OVSHOOT,34
$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
$GPS1,011056,2259.853,-15758.796,45,9.6,64,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-82.6
$GPS2,012835,2259.960,-15758.815,15,1.5,32,10.1
$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,101927.3,-188.3,-243.6,-99376.1,1801.8
$KALMAN_Y,-55322.4,958.2,191.6,83566.2,-1409.2
$MHEAD_RNG_PITCHd_Wd,132.4,53440,-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,23,-0.54,-126.5,0.0,0.0,0,93,0.00,0.00,-68.62,0.000,2,0.000,0.000,18,2447,2864
$GC,100,-0.54,-126.5,2.2,-1.3,8,129,9.50,1.70,-11.82,0.000,4,0.194,0.053,2512,3558,3370
$GC,147,-0.54,-126.5,13.8,-22.9,13,156,0.00,1.50,0.00,0.000,6,0.000,0.020,2516,2503,3370
$GC,430,-0.54,-126.5,80.3,-21.5,43,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2496,3371
$GC,696,-0.54,-126.5,127.9,-16.9,68,700,0.00,1.60,0.00,0.000,4,0.000,0.040,2510,3568,3372
$GC,727,-0.54,-126.5,133.8,-17.0,70,736,0.00,1.52,0.00,0.000,6,0.000,0.018,2510,2486,3371
$GC,993,-0.54,-126.5,179.1,-17.4,95,996,0.00,1.62,0.00,0.000,4,0.000,0.042,2504,3562,3372
$GC,1100,-0.54,-126.5,196.1,-13.2,104,1108,0.00,1.48,0.00,0.000,6,0.000,0.019,2509,2510,3372
$GC,1387,-0.54,-126.5,232.6,-12.6,114,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2502,3372
$GC,1630,-0.54,-126.5,263.9,-12.8,120,1634,0.00,1.60,0.00,0.000,4,0.000,0.044,2503,3566,3371
$GC,1682,-0.54,-126.5,270.6,-13.6,121,1686,0.00,1.50,0.00,0.000,6,0.000,0.020,2509,2501,3371
$GC,1976,-0.54,-126.5,305.6,-11.9,128,1980,0.00,1.62,0.00,0.000,4,0.000,0.044,2502,3568,3371
$GC,2041,-0.54,-126.5,313.8,-12.3,129,2044,0.00,1.50,0.00,0.000,6,0.000,0.020,2508,2504,3370
$GC,2319,-0.54,-126.5,345.4,-11.4,136,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2497,3369
$GC,2562,-0.54,-126.5,371.3,-10.4,142,2566,0.00,1.60,0.00,0.000,4,0.000,0.045,2501,3555,3367
$GC,2598,-0.54,-126.5,375.3,-10.2,142,2602,0.00,1.45,0.00,0.000,6,0.000,0.022,2507,2533,3367
$GC,2858,-0.54,-126.5,400.7,-9.9,149,2862,0.00,1.60,-0.08,0.000,4,0.000,0.064,2501,3556,3387
$GC,2894,-0.54,-126.5,404.8,-10.2,149,2897,0.00,1.45,0.00,0.000,6,0.000,0.023,2506,2547,3387
$GC,3154,-0.54,-126.5,431.0,-10.2,156,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2540,3385
$GC,3398,-0.54,-126.5,457.1,-10.7,162,3401,0.00,1.60,0.00,0.000,4,0.000,0.050,2500,3557,3384
$GC,3429,-0.54,-126.5,460.7,-11.3,162,3433,0.00,1.45,0.00,0.000,6,0.000,0.024,2505,2548,3383
$GC,3697,-0.54,-126.5,486.9,-9.6,169,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2541,3381
$GC,3940,-0.54,-126.5,508.6,-9.0,175,3943,0.00,1.55,0.00,0.000,4,0.000,0.025,2513,1447,3379
$GC,3990,-0.54,-126.5,513.2,-8.6,176,3994,0.00,1.67,0.00,0.000,6,0.000,0.044,2507,2548,3378
$GC,4284,-0.54,-126.5,539.8,-9.0,183,4287,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1454,3376
$GC,4309,-0.54,-126.5,542.1,-8.5,183,4312,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2557,3376
$GC,4581,-0.54,-126.5,566.8,-9.6,190,4585,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3565,3373
$GC,4639,-0.54,-126.5,573.4,-10.7,191,4643,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2569,3373
$GC,4922,-0.54,-126.5,601.5,-9.9,198,4925,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1452,3372
$GC,4952,-0.54,-126.5,604.7,-9.0,198,4955,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2568,3371
$GC,5218,-0.54,-126.5,629.4,-9.4,205,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2568,3369
$GC,5462,-0.54,-126.5,649.9,-8.2,211,5466,0.00,1.55,0.00,0.000,4,0.000,0.056,2494,3553,3368
$GC,5493,-0.54,-126.5,652.7,-8.4,211,5497,0.00,1.45,0.00,0.000,6,0.000,0.027,2499,2566,3367
$GC,5759,-0.54,-126.5,672.8,-7.6,218,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2556,3366
$GC,6003,-0.54,-126.5,691.3,-7.7,224,6006,0.00,1.58,0.00,0.000,4,0.000,0.028,2507,1457,3364
$GC,6033,-0.54,-126.5,694.1,-8.4,224,6037,0.00,1.73,0.00,0.000,6,0.000,0.048,2502,2560,3364
$GC,6299,-0.54,-126.5,716.2,-8.7,231,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2560,3363
$GC,6542,-0.54,-126.5,739.2,-9.5,237,6546,0.00,1.58,0.00,0.000,4,0.000,0.058,2494,3556,3361
$GC,6578,-0.54,-126.5,743.1,-10.4,237,6581,0.00,1.45,0.00,0.000,6,0.000,0.028,2499,2569,3361
$GC,6839,-0.54,-126.5,766.0,-8.8,244,6843,0.00,1.60,0.00,0.000,4,0.000,0.028,2507,1428,3359
$GC,6870,-0.54,-126.5,769.1,-9.0,244,6874,0.00,1.77,0.00,0.000,6,0.000,0.048,2501,2559,3359
$GC,7136,-0.54,-126.5,790.9,-8.4,251,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2560,3358
$GC,7380,-0.54,-126.5,811.2,-8.4,257,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2560,3358
$GC,7623,-0.54,-126.5,830.4,-7.7,263,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2560,3357
$GC,7867,-0.54,-126.5,848.2,-7.3,269,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2560,3355
$GC,8111,-0.54,-126.5,865.1,-6.9,275,8114,0.00,1.58,0.00,0.000,4,0.000,0.058,2493,3550,3354
$GC,8135,-0.54,-126.5,867.1,-7.1,275,8139,0.00,1.45,0.00,0.000,6,0.000,0.028,2499,2567,3354
$GC,8407,-0.54,-126.5,885.4,-6.8,282,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2558,3353
$STATE,8645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8645,begin apogee
$GC,8657,-0.20,0.0,901.3,6.4,288,8773,0.40,0.00,113.15,1.250,6,0.101,0.000,2637,2219,2858
$STATE,8774,end apogee,CONTROL_FINISHED_OK
$STATE,8774,begin climb
$GC,8779,0.54,126.5,903.1,0.0,291,9001,0.62,0.00,147.60,1.040,6,0.036,0.000,2881,2219,2342
$GC,9238,0.54,126.5,838.4,17.9,302,9242,0.00,1.73,0.00,0.000,4,0.000,0.053,2877,3284,2335
$GC,9301,0.54,126.5,826.7,17.8,303,9304,0.00,1.58,0.00,0.000,6,0.000,0.028,2883,2235,2333
$GC,9579,0.54,126.5,779.1,17.4,310,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2229,2332
$GC,9823,0.54,126.5,738.7,16.4,316,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2229,2331
$GC,10066,0.54,126.5,699.2,16.0,322,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2229,2330
$GC,10310,0.54,126.5,660.1,16.0,328,10313,0.00,1.65,0.00,0.000,4,0.000,0.050,2878,3284,2329
$GC,10345,0.54,126.5,653.4,17.6,328,10349,0.00,1.58,0.00,0.000,6,0.000,0.028,2883,2226,2329
$GC,10605,0.54,126.5,612.8,15.4,335,10609,0.00,1.67,0.00,0.000,4,0.000,0.051,2878,3287,2329
$GC,10656,0.54,126.5,604.8,16.7,336,10660,0.00,1.55,0.00,0.000,6,0.000,0.028,2883,2250,2328
$GC,10951,0.54,126.5,560.8,14.4,343,10954,0.00,1.58,0.00,0.000,4,0.000,0.030,2891,1165,2328
$GC,11002,0.54,126.5,553.2,13.2,344,11006,0.00,1.70,0.00,0.000,6,0.000,0.044,2890,2249,2327
$GC,11291,0.54,126.5,514.9,13.3,351,11295,0.00,1.62,0.00,0.000,4,0.000,0.053,2891,3280,2327
$GC,11388,0.54,126.5,501.1,14.8,353,11392,0.00,1.52,0.00,0.000,6,0.000,0.027,2897,2252,2327
$GC,11682,0.54,126.5,460.8,13.7,360,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2246,2326
$GC,11926,0.54,126.5,426.2,14.1,366,11930,0.00,1.62,0.00,0.000,4,0.000,0.051,2892,3284,2326
$GC,12002,0.54,126.5,415.1,12.9,367,12005,0.00,1.48,0.00,0.000,6,0.000,0.028,2897,2290,2326
$GC,12267,0.54,126.5,381.7,13.0,374,12271,0.00,1.62,0.00,0.000,4,0.000,0.028,2905,1145,2325
$GC,12317,0.54,126.5,375.1,12.5,375,12321,0.00,1.80,0.00,0.000,6,0.000,0.041,2904,2296,2325
$GC,12613,0.54,126.5,337.8,12.6,382,12616,0.00,1.52,0.00,0.000,4,0.000,0.050,2905,3276,2325
$GC,12687,0.54,126.5,327.9,13.2,383,12691,0.10,1.48,0.00,0.000,6,0.164,0.026,2870,2281,2325
$GC,12952,0.54,126.5,301.9,9.7,390,12956,0.00,1.62,0.00,0.000,4,0.000,0.030,2873,1167,2324
$GC,13013,0.54,126.5,296.1,9.3,391,13017,0.00,1.70,0.00,0.000,6,0.000,0.041,2873,2281,2324
$GC,13296,0.54,126.5,268.8,9.9,398,13300,0.00,1.55,0.00,0.000,4,0.000,0.049,2873,3278,2324
$GC,13393,0.54,126.5,259.8,9.7,400,13396,0.00,1.45,0.00,0.000,6,0.000,0.025,2880,2286,2325
$GC,13687,0.54,127.4,233.9,9.0,407,13691,0.00,1.62,0.00,0.000,4,0.000,0.027,2888,1153,2324
$GC,13802,0.54,127.4,222.0,9.1,409,13805,0.00,1.75,0.00,0.000,6,0.000,0.042,2888,2297,2324
$GC,14073,0.55,148.1,198.6,8.0,416,14103,0.00,1.52,19.95,0.689,4,0.000,0.048,2888,3275,2253
$GC,14216,0.55,148.1,185.8,9.1,428,14220,0.00,1.45,0.00,0.000,6,0.000,0.024,2894,2286,2252
$GC,14488,0.55,153.5,162.0,8.8,453,14502,0.00,1.62,6.20,0.603,4,0.000,0.025,2899,1163,2232
$GC,14542,0.55,154.8,157.3,8.9,457,14546,0.00,1.70,0.00,0.000,6,0.000,0.038,2899,2279,2231
$GC,14814,0.56,165.2,132.1,8.5,482,14832,0.00,1.65,12.15,0.650,4,0.000,0.025,2902,1166,2183
$GC,14856,0.56,165.2,128.1,9.9,485,14860,0.00,1.73,0.00,0.000,6,0.000,0.038,2902,2282,2182
$GC,15128,0.56,165.2,98.0,9.7,510,15131,0.00,1.52,0.00,0.000,4,0.000,0.043,2903,3280,2181
$GC,15343,0.56,176.7,75.1,8.5,528,15359,0.00,1.42,11.57,0.594,6,0.000,0.021,2911,2277,2137
$GC,15620,0.58,214.8,55.7,7.2,553,15663,0.00,1.62,33.00,0.604,4,0.000,0.023,2913,1162,1981
$GC,15846,0.59,239.7,37.6,7.8,571,15875,0.00,1.70,21.88,0.575,6,0.000,0.035,2913,2288,1879
$GC,16167,0.59,239.7,3.3,12.9,615,16176,0.00,1.50,0.00,0.000,4,0.000,0.041,2914,3282,1875
$STATE,16183,end climb,SURFACE_DEPTH_REACHED
$STATE,16183,begin surface coast
$FINISH,0.5,1.023481
$STATE,16209,end surface coast,CONTROL_FINISHED_OK
$STATE,16209,begin surface
$SM_CCo,16235,62.30,0.543,0,0,1268,390.02
$SM_GC,1.47,0.00,0.00,62.30,0.000,0.000,0.543,41,2455,1268,-8.31,-1.27,390.02
$IRIDIUM_FIX,2251.04,-15757.57,230203,010155
$TT8_MAMPS,0.023777
$HUMID,2231
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,7
$24V_AH,23.4,61.088
$10V_AH,10.5,75.395
$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,17.875,107.775,365.500,62.300,0.000,52.771,81.051,643.053,1.750,0.000,0.000,32.319,1297.650,10949.918,500.383,3173.408,1427.921,33.375,1484.894,0.000,3152.946,0.000,0.544,0.000
$DEVICE_MAMPS,194.051,63.661,1250.210,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,424.002,2044.002,2114.636,1418.656,1372.926,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50942,621
$CAP_FILE_SIZE,130673,0
$CFSIZE,260165632,233869312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,291113,060300,2258.309,-15756.790,66,0.9,66,10.1