version: 66.04
glider: 512
mission: 4
dive: 367
start: 11 29 113 11 23 12
data:
$ID,512
$MISSION,4
$DIVE,367
$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,-114578.52
$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,61
$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
$GPS1,105405,2256.109,-15755.124,37,0.9,37,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.2
$GPS2,112213,2256.122,-15755.180,10,1.7,10,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,-0.226
$KALMAN_X,102330.0,-195.7,-192.1,-93615.9,963.2
$KALMAN_Y,-52735.5,-639.4,-316.2,75987.6,2013.6
$MHEAD_RNG_PITCHd_Wd,153.6,44001,-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,17,-0.54,-126.5,0.0,0.0,0,88,0.00,0.00,-68.35,0.000,2,0.000,0.000,7,2527,2863
$GC,94,-0.54,-126.5,2.2,-1.2,8,123,9.50,1.60,-12.15,0.000,4,0.193,0.057,2510,3558,3373
$GC,165,-0.54,-126.5,19.5,-25.3,17,175,0.00,1.55,0.00,0.000,6,0.000,0.020,2514,2491,3374
$GC,441,-0.54,-126.5,81.2,-19.6,45,444,0.00,1.62,0.00,0.000,4,0.000,0.040,2508,3566,3374
$GC,457,-0.54,-126.5,84.7,-18.7,46,461,0.00,1.50,0.00,0.000,6,0.000,0.018,2509,2497,3374
$GC,730,-0.54,-126.5,130.8,-15.7,71,734,0.00,1.65,0.00,0.000,4,0.000,0.041,2503,3562,3375
$GC,769,-0.54,-126.5,137.5,-17.0,74,773,0.00,1.45,0.00,0.000,6,0.000,0.018,2508,2537,3375
$GC,1040,-0.54,-126.5,178.9,-14.5,99,1044,0.00,1.48,0.00,0.000,4,0.000,0.019,2516,1449,3375
$GC,1078,-0.54,-126.5,184.3,-13.8,102,1082,0.00,1.60,0.00,0.000,6,0.000,0.038,2510,2524,3375
$GC,1364,-0.54,-126.5,222.7,-13.2,117,1367,0.00,1.58,0.00,0.000,4,0.000,0.047,2502,3561,3375
$GC,1467,-0.54,-126.5,236.5,-13.7,119,1470,0.00,1.45,0.00,0.000,6,0.000,0.019,2507,2532,3374
$GC,1750,-0.54,-126.5,270.7,-12.2,126,1753,0.00,1.60,0.00,0.000,4,0.000,0.043,2501,3585,3374
$GC,1831,-0.54,-126.5,280.0,-10.3,127,1835,0.00,1.45,0.00,0.000,6,0.000,0.019,2506,2560,3374
$GC,2092,-0.54,-126.5,308.2,-11.1,134,2095,0.00,1.52,0.00,0.000,4,0.000,0.020,2514,1444,3372
$GC,2141,-0.54,-126.5,313.6,-10.2,135,2145,0.00,1.67,0.00,0.000,6,0.000,0.038,2508,2540,3372
$GC,2437,-0.54,-126.5,346.0,-10.9,142,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2540,3370
$GC,2681,-0.54,-126.5,372.9,-11.0,148,2684,0.00,1.58,0.00,0.000,4,0.000,0.048,2500,3566,3369
$GC,2744,-0.54,-126.5,380.5,-10.9,149,2748,0.00,1.48,0.00,0.000,6,0.000,0.021,2505,2534,3368
$GC,3020,-0.54,-126.5,408.4,-10.0,156,3024,0.00,1.50,0.00,0.000,4,0.000,0.022,2508,1447,3365
$GC,3051,-0.54,-126.5,411.5,-9.8,156,3055,0.00,1.62,-0.08,0.000,6,0.000,0.041,2502,2529,3389
$GC,3317,-0.54,-126.5,437.9,-10.2,163,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2529,3387
$GC,3561,-0.54,-126.5,463.4,-10.7,169,3564,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3560,3386
$GC,3590,-0.54,-126.5,467.2,-11.7,169,3594,0.00,1.50,0.00,0.000,6,0.000,0.022,2499,2519,3385
$GC,3857,-0.54,-126.5,493.6,-9.8,176,3860,0.00,1.62,0.00,0.000,4,0.000,0.048,2494,3564,3383
$GC,3881,-0.54,-126.5,496.5,-10.2,176,3885,0.00,1.50,0.00,0.000,6,0.000,0.022,2500,2522,3382
$GC,4152,-0.54,-126.5,523.2,-10.0,183,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2513,3380
$GC,4396,-0.54,-126.5,547.3,-9.7,189,4400,0.00,1.62,0.00,0.000,4,0.000,0.050,2494,3566,3378
$GC,4461,-0.54,-126.5,553.8,-9.4,190,4464,0.00,1.50,0.00,0.000,6,0.000,0.023,2499,2532,3378
$GC,4738,-0.54,-126.5,577.3,-8.4,197,4742,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3570,3376
$GC,4770,-0.54,-126.5,580.1,-8.6,197,4774,0.00,1.50,0.00,0.000,6,0.000,0.024,2500,2536,3376
$GC,5036,-0.54,-126.5,603.1,-8.8,204,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2528,3373
$GC,5280,-0.54,-126.5,624.8,-8.9,210,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2528,3372
$GC,5523,-0.54,-126.5,646.9,-9.0,216,5527,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3569,3370
$GC,5577,-0.54,-126.5,652.0,-8.7,217,5580,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2546,3370
$GC,5866,-0.54,-126.5,675.5,-8.0,224,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2538,3369
$GC,6109,-0.54,-126.5,694.5,-7.8,230,6112,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1448,3367
$GC,6139,-0.54,-126.5,697.0,-7.8,230,6143,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2539,3367
$GC,6405,-0.54,-126.5,718.7,-8.5,237,6409,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3574,3365
$GC,6470,-0.54,-126.5,725.1,-9.4,238,6473,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2554,3364
$GC,6747,-0.54,-126.5,751.0,-9.5,245,6750,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1443,3364
$GC,6788,-0.54,-126.5,755.0,-8.5,245,6796,0.00,1.73,0.00,0.000,6,0.000,0.046,2502,2545,3363
$GC,7043,-0.54,-126.5,776.0,-8.2,252,7047,0.00,1.60,0.00,0.000,4,0.000,0.057,2494,3573,3362
$GC,7095,-0.54,-126.5,780.3,-8.8,253,7098,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2558,3362
$GC,7389,-0.54,-126.5,802.7,-7.6,260,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2549,3360
$GC,7633,-0.54,-126.5,821.9,-7.8,266,7636,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3568,3359
$GC,7683,-0.54,-126.5,826.1,-8.4,267,7687,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2558,3359
$GC,7979,-0.54,-126.5,849.5,-7.9,274,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2550,3358
$GC,8222,-0.54,-126.5,868.9,-7.9,280,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2550,3357
$GC,8467,-0.54,-126.5,887.7,-7.7,286,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2549,3356
$STATE,8622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8622,begin apogee
$GC,8634,-0.20,0.0,901.1,8.3,290,8750,0.40,0.00,113.47,1.249,6,0.101,0.000,2638,2200,2858
$STATE,8751,end apogee,CONTROL_FINISHED_OK
$STATE,8751,begin climb
$GC,8756,0.54,126.5,905.4,0.0,293,8901,0.62,1.62,126.85,1.177,4,0.056,0.028,2888,1194,2341
$GC,8943,0.54,126.5,891.1,14.7,297,8946,0.00,1.70,0.00,0.000,6,0.000,0.041,2888,2241,2336
$GC,9232,0.54,126.5,844.0,16.4,304,9236,0.00,1.62,0.00,0.000,4,0.000,0.051,2888,3283,2331
$GC,9282,0.54,126.5,835.1,18.1,305,9286,0.00,1.55,0.00,0.000,6,0.000,0.028,2894,2251,2330
$GC,9576,0.54,126.5,783.6,18.0,312,9580,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3276,2328
$GC,9628,0.54,126.5,774.1,19.6,313,9631,0.00,1.52,0.00,0.000,6,0.000,0.027,2897,2256,2328
$GC,9921,0.54,126.5,717.9,19.0,320,9925,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3285,2327
$GC,9972,0.54,126.5,708.1,21.0,321,9976,0.00,1.50,0.00,0.000,6,0.000,0.028,2897,2281,2327
$GC,10267,0.54,126.5,654.7,17.8,328,10270,0.00,1.62,0.00,0.000,4,0.000,0.029,2905,1147,2326
$GC,10341,0.54,126.5,642.0,16.3,329,10345,0.00,1.73,0.00,0.000,6,0.000,0.041,2905,2271,2326
$GC,10608,0.54,126.5,599.7,16.1,336,10611,0.00,1.58,0.00,0.000,4,0.000,0.051,2905,3277,2326
$GC,10668,0.54,126.5,589.0,17.6,337,10672,0.10,1.48,0.00,0.000,6,0.180,0.028,2872,2286,2325
$GC,10950,0.54,126.5,551.1,13.0,344,10954,0.00,1.60,0.00,0.000,4,0.000,0.051,2872,3283,2324
$GC,11019,0.54,126.5,541.1,13.8,345,11022,0.00,1.45,0.00,0.000,6,0.000,0.028,2877,2304,2324
$GC,11291,0.54,126.5,505.7,13.1,352,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2299,2324
$GC,11535,0.54,126.5,474.0,13.2,358,11538,0.00,1.65,0.00,0.000,4,0.000,0.029,2886,1151,2323
$GC,11586,0.54,126.5,466.8,13.7,359,11590,0.00,1.80,0.00,0.000,6,0.000,0.044,2886,2319,2323
$GC,11875,0.54,126.5,431.1,12.8,366,11879,0.00,1.70,0.00,0.000,4,0.000,0.028,2893,1156,2323
$GC,11905,0.54,126.5,427.1,12.2,366,11908,0.00,1.75,0.00,0.000,6,0.000,0.042,2891,2298,2323
$GC,12172,0.54,126.5,395.8,11.6,373,12175,0.00,1.65,0.00,0.000,4,0.000,0.028,2897,1164,2322
$GC,12257,0.54,126.5,386.7,9.9,374,12266,0.00,1.75,0.00,0.000,6,0.000,0.041,2891,2288,2322
$GC,12512,0.54,126.5,359.7,10.8,381,12516,0.00,1.55,0.00,0.000,4,0.000,0.051,2891,3279,2322
$GC,12564,0.54,126.5,353.5,12.7,382,12567,0.00,1.48,0.00,0.000,6,0.000,0.026,2896,2274,2322
$GC,12857,0.54,126.5,317.6,12.5,389,12861,0.00,1.60,0.00,0.000,4,0.000,0.050,2891,3273,2322
$GC,12938,0.54,126.5,306.8,13.8,390,12942,0.00,1.45,0.00,0.000,6,0.000,0.026,2896,2288,2322
$GC,13199,0.54,126.5,275.9,11.6,397,13203,0.00,1.62,0.00,0.000,4,0.000,0.027,2905,1135,2322
$GC,13313,0.54,126.5,264.6,9.3,399,13316,0.00,1.77,0.00,0.000,6,0.000,0.041,2905,2296,2322
$GC,13586,0.54,126.5,239.1,9.5,406,13589,0.00,1.52,0.00,0.000,4,0.000,0.048,2905,3282,2322
$GC,13733,0.54,126.5,224.1,11.1,409,13737,0.10,1.42,0.00,0.000,6,0.156,0.025,2880,2310,2322
$GC,14016,0.56,159.6,201.9,7.4,416,14058,0.00,0.00,29.08,0.716,6,0.000,0.000,2880,2304,2206
$GC,14321,0.56,164.0,174.7,8.8,441,14336,0.00,1.67,5.18,0.571,4,0.000,0.025,2887,1159,2188
$GC,14386,0.56,176.0,168.6,8.4,446,14403,0.00,1.80,11.95,0.677,6,0.000,0.039,2886,2310,2141
$GC,14676,0.56,176.0,141.3,9.8,472,14680,0.00,1.67,0.00,0.000,4,0.000,0.025,2894,1149,2139
$GC,14750,0.57,185.2,133.9,8.6,478,14766,0.00,1.70,9.70,0.628,6,0.000,0.037,2891,2270,2102
$GC,15027,0.57,185.2,109.4,9.2,503,15031,0.00,1.55,0.00,0.000,4,0.000,0.045,2891,3280,2101
$GC,15124,0.57,185.2,98.9,10.4,511,15127,0.00,1.45,0.00,0.000,6,0.000,0.022,2897,2279,2101
$GC,15397,0.57,199.7,74.9,8.3,536,15415,0.00,1.58,14.23,0.596,4,0.000,0.024,2899,1161,2043
$GC,15501,0.58,217.8,65.9,8.1,544,15525,0.00,1.75,16.70,0.590,6,0.000,0.036,2899,2288,1969
$GC,15786,0.58,217.8,42.1,9.1,570,15790,0.00,1.52,0.00,0.000,4,0.000,0.044,2899,3283,1966
$GC,15828,0.58,217.8,37.4,10.2,573,15832,0.00,1.45,0.00,0.000,6,0.000,0.022,2900,2284,1966
$GC,16130,0.58,217.8,7.7,10.6,615,16139,0.00,1.60,0.00,0.000,4,0.000,0.022,2906,1148,1966
$STATE,16190,end climb,SURFACE_DEPTH_REACHED
$STATE,16191,begin surface coast
$FINISH,0.3,1.013318
$STATE,16223,end surface coast,CONTROL_FINISHED_OK
$STATE,16223,begin surface
$SM_CCo,16250,70.90,0.542,0,0,1267,390.02
$SM_GC,1.29,0.00,0.00,70.90,0.000,0.000,0.542,26,2517,1267,-8.34,0.51,390.02
$IRIDIUM_FIX,2246.36,-15756.28,230203,111141
$TT8_MAMPS,0.023777
$HUMID,2222
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,6
$24V_AH,23.1,61.440
$10V_AH,10.6,75.838
$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,17.925,124.650,327.150,70.900,0.000,82.738,124.848,1140.859,1.500,0.000,0.000,11.024,1354.792,10875.281,447.771,3281.615,2048.507,33.373,1465.337,0.000,3286.228,0.000,0.545,0.000
$DEVICE_MAMPS,193.284,56.758,1249.443,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,429.966,2072.212,2144.001,1429.047,1393.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54018,629
$CAP_FILE_SIZE,143002,0
$CFSIZE,260165632,233717760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,291113,155635,2254.238,-15754.142,32,1.0,32,10.1