version: 66.04
glider: 512
mission: 4
dive: 368
start: 11 29 113 16 20 59
data:
$ID,512
$MISSION,4
$DIVE,368
$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,-114593.65
$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,57
$R_STBD_OVSHOOT,32
$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
$GPS1,155635,2254.238,-15754.142,32,1.0,32,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-77.7
$GPS2,162001,2254.394,-15754.089,14,1.8,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,-0.214
$KALMAN_X,102635.3,-180.5,13.6,-92283.6,763.5
$KALMAN_Y,-52237.1,-331.6,168.4,71502.1,1391.7
$MHEAD_RNG_PITCHd_Wd,145.1,40387,-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,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,98,0.00,0.00,-77.32,0.000,2,0.000,0.000,6,2514,3102
$GC,103,-0.54,-126.5,2.6,-2.0,9,124,9.75,1.58,-5.50,0.000,4,0.202,0.038,2521,1410,3375
$GC,217,-0.54,-126.5,35.9,-18.9,23,226,0.00,1.67,0.00,0.000,6,0.000,0.039,2515,2499,3376
$GC,482,-0.54,-126.5,90.2,-17.6,48,486,0.00,1.62,0.00,0.000,4,0.000,0.046,2507,3566,3377
$GC,546,-0.54,-126.5,102.7,-17.8,53,554,0.00,1.52,0.00,0.000,6,0.000,0.019,2506,2484,3376
$GC,812,-0.54,-126.5,149.3,-16.0,78,816,0.00,1.65,0.00,0.000,4,0.000,0.042,2499,3556,3377
$GC,887,-0.54,-126.5,161.8,-14.5,84,896,0.00,1.48,0.00,0.000,6,0.000,0.018,2505,2501,3377
$GC,1184,-0.54,-126.5,206.6,-15.3,109,1188,0.00,1.42,0.00,0.000,4,0.000,0.019,2513,1449,3378
$GC,1236,-0.54,-126.5,214.7,-13.1,110,1240,0.00,1.60,0.00,0.000,6,0.000,0.038,2506,2525,3377
$GC,1525,-0.54,-126.5,254.0,-13.8,117,1528,0.00,1.58,0.00,0.000,4,0.000,0.047,2498,3559,3377
$GC,1666,-0.54,-126.5,273.2,-13.1,120,1669,0.00,1.42,0.00,0.000,6,0.000,0.019,2504,2542,3377
$GC,1961,-0.54,-126.5,308.0,-11.3,127,1964,0.00,1.58,0.00,0.000,4,0.000,0.045,2498,3556,3376
$GC,1991,-0.54,-126.5,312.0,-12.0,127,1995,0.00,1.40,0.00,0.000,6,0.000,0.020,2503,2554,3376
$GC,2257,-0.54,-126.5,343.4,-11.8,134,2261,0.00,1.58,0.00,0.000,4,0.000,0.045,2497,3564,3374
$GC,2298,-0.54,-126.5,348.8,-12.2,134,2306,0.00,1.45,0.00,0.000,6,0.000,0.020,2502,2542,3374
$GC,2553,-0.54,-126.5,375.2,-10.3,141,2556,0.00,1.58,0.00,0.000,4,0.000,0.046,2496,3553,3372
$GC,2594,-0.54,-126.5,380.0,-10.2,141,2603,0.00,1.42,0.00,0.000,6,0.000,0.021,2502,2541,3372
$GC,2851,-0.54,-126.5,405.8,-10.2,148,2855,0.00,1.50,0.00,0.000,4,0.000,0.022,2509,1462,3370
$GC,2920,-0.54,-126.5,412.9,-9.3,149,2923,0.00,1.60,0.00,0.000,6,0.000,0.041,2503,2528,3369
$GC,3191,-0.54,-126.5,439.9,-10.2,156,3195,0.00,1.60,0.00,0.000,4,0.000,0.051,2495,3585,3367
$GC,3210,-0.54,-126.5,442.1,-9.8,156,3214,0.00,1.50,0.00,0.000,6,0.000,0.022,2501,2541,3367
$GC,3488,-0.54,-126.5,468.9,-9.7,163,3492,0.00,1.52,-0.08,0.000,4,0.000,0.041,2508,1441,3390
$GC,3530,-0.54,-126.5,473.4,-9.4,163,3538,0.00,1.67,0.00,0.000,6,0.000,0.042,2503,2528,3390
$GC,3784,-0.54,-126.5,497.0,-9.4,170,3788,0.00,1.60,0.00,0.000,4,0.000,0.052,2495,3556,3388
$GC,3835,-0.54,-126.5,501.7,-9.4,171,3839,0.00,1.48,0.00,0.000,6,0.000,0.023,2499,2539,3387
$GC,4130,-0.54,-126.5,529.9,-9.7,178,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2530,3385
$GC,4374,-0.54,-126.5,555.4,-10.6,184,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2530,3383
$GC,4617,-0.54,-126.5,580.4,-10.2,190,4621,0.00,1.60,0.00,0.000,4,0.000,0.051,2495,3563,3380
$GC,4668,-0.54,-126.5,585.7,-10.1,191,4671,0.00,1.48,0.00,0.000,6,0.000,0.024,2500,2550,3380
$GC,4962,-0.54,-126.5,615.1,-9.8,198,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2540,3378
$GC,5206,-0.54,-126.5,637.5,-9.0,204,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2541,3377
$GC,5450,-0.54,-126.5,657.5,-7.9,210,5453,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1449,3375
$GC,5475,-0.54,-126.5,659.6,-7.6,210,5479,0.00,1.73,0.00,0.000,6,0.000,0.045,2502,2555,3376
$GC,5748,-0.54,-126.5,677.8,-6.8,217,5751,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3558,3373
$GC,5828,-0.54,-126.5,684.1,-7.9,218,5831,0.00,1.48,0.00,0.000,6,0.000,0.026,2500,2550,3373
$GC,6089,-0.54,-126.5,704.1,-7.9,225,6093,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3561,3371
$GC,6108,-0.54,-126.5,705.9,-8.1,225,6111,0.00,1.45,0.00,0.000,6,0.000,0.026,2499,2568,3371
$GC,6386,-0.54,-126.5,728.2,-8.0,232,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3370
$GC,6630,-0.54,-126.5,748.5,-8.4,238,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3369
$GC,6874,-0.54,-126.5,770.3,-9.0,244,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3368
$GC,7117,-0.54,-126.5,791.2,-8.3,250,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3366
$GC,7361,-0.54,-126.5,809.9,-7.7,256,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3365
$GC,7605,-0.54,-126.5,828.3,-7.5,262,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3365
$GC,7849,-0.54,-126.5,847.9,-8.1,268,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3364
$GC,8092,-0.54,-126.5,867.3,-7.9,274,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3363
$GC,8336,-0.54,-126.5,885.8,-7.4,280,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3362
$STATE,8574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8575,begin apogee
$GC,8586,-0.20,0.0,902.5,6.8,286,8704,0.40,0.00,114.78,1.252,6,0.102,0.000,2638,2218,2858
$STATE,8704,end apogee,CONTROL_FINISHED_OK
$STATE,8705,begin climb
$GC,8710,0.54,126.5,904.6,0.0,289,8902,0.62,1.67,138.07,1.096,4,0.040,0.028,2885,1187,2341
$GC,8926,0.54,126.5,883.3,17.3,293,8935,0.00,1.70,0.00,0.000,6,0.000,0.041,2880,2217,2336
$GC,9181,0.54,126.5,838.3,17.9,300,9185,0.00,1.70,0.00,0.000,4,0.000,0.051,2877,3284,2331
$GC,9242,0.54,126.5,826.7,19.3,301,9245,0.00,1.58,0.00,0.000,6,0.000,0.028,2883,2240,2331
$GC,9524,0.54,126.5,777.4,17.3,308,9528,0.00,1.67,0.00,0.000,4,0.000,0.049,2877,3281,2329
$GC,9548,0.54,126.5,772.7,18.2,308,9552,0.00,1.55,0.00,0.000,6,0.000,0.027,2882,2244,2329
$GC,9821,0.54,126.5,730.8,15.4,315,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2238,2328
$GC,10063,0.54,126.5,694.9,14.6,321,10067,0.00,1.65,0.00,0.000,4,0.000,0.049,2877,3291,2328
$GC,10099,0.54,126.5,689.1,14.8,321,10103,0.00,1.52,0.00,0.000,6,0.000,0.028,2883,2267,2327
$GC,10361,0.54,126.5,650.9,14.9,328,10365,0.00,1.62,0.00,0.000,4,0.000,0.050,2878,3301,2326
$GC,10430,0.54,126.5,639.5,15.8,329,10433,0.00,1.50,0.00,0.000,6,0.000,0.027,2882,2291,2326
$GC,10701,0.54,126.5,597.7,15.5,336,10705,0.00,1.65,0.00,0.000,4,0.000,0.029,2891,1156,2325
$GC,10741,0.54,126.5,591.4,14.6,336,10751,0.00,1.80,0.00,0.000,6,0.000,0.045,2891,2300,2325
$GC,10998,0.54,126.5,554.3,14.7,343,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2301,2325
$GC,11241,0.54,126.5,521.3,13.6,349,11245,0.00,1.70,0.00,0.000,4,0.000,0.028,2897,1152,2325
$GC,11291,0.54,126.5,514.8,13.3,350,11294,0.00,1.77,0.00,0.000,6,0.000,0.041,2891,2305,2324
$GC,11585,0.54,126.5,474.6,13.7,357,11588,0.00,1.52,0.00,0.000,4,0.000,0.051,2891,3281,2323
$GC,11672,0.54,126.5,461.5,14.1,358,11680,0.00,1.42,0.00,0.000,6,0.000,0.026,2896,2313,2323
$GC,11927,0.54,126.5,427.2,13.3,365,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2308,2323
$GC,12170,0.54,126.5,393.0,14.4,371,12174,0.00,1.65,0.00,0.000,4,0.000,0.028,2905,1154,2323
$GC,12273,0.54,126.5,379.5,12.2,373,12277,0.00,1.83,0.00,0.000,6,0.000,0.043,2904,2340,2323
$GC,12556,0.54,126.5,345.9,11.8,380,12560,0.00,1.73,0.00,0.000,4,0.000,0.028,2911,1158,2323
$GC,12654,0.54,126.5,334.9,10.1,382,12658,0.15,1.75,0.00,0.000,6,0.156,0.042,2874,2299,2323
$GC,12943,0.54,126.5,307.8,9.7,389,12946,0.00,1.55,0.00,0.000,4,0.000,0.051,2874,3289,2323
$GC,12974,0.54,126.5,304.0,12.0,389,12977,0.00,1.48,0.00,0.000,6,0.000,0.025,2879,2281,2322
$GC,13240,0.54,126.5,276.9,9.8,396,13244,0.00,1.60,0.00,0.000,4,0.000,0.048,2875,3284,2323
$GC,13399,0.54,126.5,259.6,11.4,399,13403,0.00,1.42,0.00,0.000,6,0.000,0.025,2881,2311,2323
$GC,13672,0.54,126.5,232.2,9.9,406,13676,0.00,1.67,0.00,0.000,4,0.000,0.027,2888,1153,2323
$GC,13791,0.54,126.5,220.5,9.2,408,13794,0.00,1.77,0.00,0.000,6,0.000,0.041,2888,2313,2323
$GC,14048,0.55,152.0,197.6,7.8,417,14080,0.00,1.55,22.83,0.700,4,0.000,0.048,2888,3288,2237
$GC,14164,0.55,152.0,186.3,10.7,426,14168,0.00,1.38,0.00,0.000,6,0.000,0.025,2893,2354,2235
$GC,14437,0.55,152.0,159.1,10.6,451,14441,0.00,1.73,0.00,0.000,4,0.000,0.026,2902,1159,2235
$GC,14591,0.55,152.0,143.9,9.3,464,14599,0.00,1.88,0.00,0.000,6,0.000,0.040,2902,2367,2234
$GC,14859,0.55,153.3,118.6,8.9,489,14862,0.00,1.42,0.00,0.000,4,0.000,0.046,2902,3298,2234
$GC,14955,0.55,153.3,109.9,9.3,497,14959,0.08,1.35,0.00,0.000,6,0.150,0.022,2885,2367,2234
$GC,15232,0.57,200.2,90.3,6.8,522,15278,0.00,1.80,42.03,0.641,4,0.000,0.024,2892,1153,2041
$GC,15330,0.57,202.4,82.4,8.9,529,15334,0.00,1.90,0.00,0.000,6,0.000,0.038,2891,2389,2037
$GC,15603,0.59,252.1,61.1,6.6,554,15658,0.00,1.42,43.55,0.607,4,0.000,0.043,2890,3291,1828
$GC,15679,0.60,272.0,55.2,8.1,559,15701,0.00,1.33,17.88,0.577,6,0.000,0.021,2896,2375,1748
$GC,15964,0.60,272.0,28.0,11.6,586,15973,0.00,1.77,0.00,0.000,4,0.000,0.024,2899,1153,1743
$GC,16059,0.61,288.2,19.8,8.2,599,16086,0.00,1.90,15.88,0.497,6,0.000,0.035,2899,2383,1683
$STATE,16228,end climb,SURFACE_DEPTH_REACHED
$STATE,16233,begin surface coast
$FINISH,0.8,1.023566
$STATE,16272,end surface coast,CONTROL_FINISHED_OK
$STATE,16272,begin surface
$SM_CCo,16298,42.47,0.539,0,0,1267,390.02
$SM_GC,1.36,0.00,0.00,42.47,0.000,0.000,0.539,33,2551,1267,-8.32,1.44,390.02
$IRIDIUM_FIX,2244.02,-15754.11,230203,161617
$TT8_MAMPS,0.023777
$HUMID,2259
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,8
$24V_AH,23.3,61.604
$10V_AH,10.6,76.058
$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,18.325,112.075,395.000,42.475,0.000,135.368,219.145,574.051,2.000,0.000,0.000,14.497,1314.375,11060.247,487.468,3241.350,1640.055,33.370,1526.465,0.000,3256.246,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,54.457,1251.744,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,429.819,2075.354,2167.870,1381.726,1424.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53998,631
$CAP_FILE_SIZE,136381,0
$CFSIZE,260165632,233656320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$GPS,291113,205514,2252.381,-15752.798,45,2.2,64,10.1