version: 66.04
glider: 512
mission: 4
dive: 369
start: 11 29 113 21 34 36
data:
$ID,512
$MISSION,4
$DIVE,369
$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,603.18286
$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,-114624.3
$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,55
$R_STBD_OVSHOOT,47
$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
$GPS1,205514,2252.381,-15752.798,45,2.2,64,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.4
$GPS2,213339,2252.437,-15752.765,10,3.7,29,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,-0.202
$KALMAN_X,102840.8,-27.0,-66.4,-90301.1,644.7
$KALMAN_Y,-51885.4,315.3,-211.0,67259.4,1000.5
$MHEAD_RNG_PITCHd_Wd,139.3,36212,-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,18,-0.54,-126.5,0.0,0.0,0,89,0.00,0.00,-68.65,0.000,2,0.000,0.000,5,2548,2871
$GC,95,-0.54,-126.5,2.2,-1.4,8,123,9.77,1.60,-12.02,0.000,4,0.204,0.038,2521,1395,3373
$GC,154,-0.54,-126.5,16.3,-25.9,15,164,0.00,1.67,0.00,0.000,6,0.000,0.036,2515,2491,3374
$GC,431,-0.54,-126.5,80.3,-22.7,44,435,0.00,1.62,0.00,0.000,4,0.000,0.046,2506,3579,3374
$GC,528,-0.54,-126.5,98.4,-15.2,52,531,0.00,1.52,0.00,0.000,6,0.000,0.019,2507,2504,3374
$GC,801,-0.54,-126.5,147.0,-15.4,77,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2496,3374
$GC,1066,-0.54,-126.5,189.1,-15.0,102,1070,0.00,1.62,0.00,0.000,4,0.000,0.042,2499,3559,3375
$GC,1095,-0.54,-126.5,193.2,-14.6,104,1099,0.00,1.42,0.00,0.000,6,0.000,0.019,2505,2545,3374
$GC,1357,-0.54,-126.5,226.9,-12.7,114,1361,0.00,1.58,0.00,0.000,4,0.000,0.043,2499,3563,3374
$GC,1416,-0.54,-126.5,235.2,-12.9,115,1419,0.00,1.38,0.00,0.000,6,0.000,0.018,2504,2580,3374
$GC,1699,-0.54,-126.5,271.2,-13.2,122,1702,0.00,1.52,0.00,0.000,4,0.000,0.044,2498,3562,3372
$GC,1740,-0.54,-126.5,277.3,-13.1,122,1748,0.00,1.33,0.00,0.000,6,0.000,0.020,2504,2601,3372
$GC,1995,-0.54,-126.5,305.6,-10.4,129,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2601,3371
$GC,2238,-0.54,-126.5,330.1,-10.3,135,2242,0.00,1.58,0.00,0.000,4,0.000,0.021,2511,1466,3369
$GC,2308,-0.54,-126.5,338.2,-11.2,136,2312,0.00,1.75,0.00,0.000,6,0.000,0.039,2505,2635,3369
$GC,2580,-0.54,-126.5,369.9,-11.9,143,2584,0.00,1.65,0.00,0.000,4,0.000,0.023,2508,1457,3366
$GC,2630,-0.54,-126.5,375.6,-10.6,144,2634,0.00,1.75,0.00,0.000,6,0.000,0.041,2501,2597,3366
$GC,2925,-0.54,-126.5,409.8,-11.6,151,2929,0.00,1.48,-0.08,0.000,4,0.000,0.067,2494,3563,3386
$GC,2982,-0.54,-126.5,417.2,-12.1,152,2986,0.00,1.38,0.00,0.000,6,0.000,0.021,2499,2596,3386
$GC,3265,-0.54,-126.5,448.5,-10.9,159,3268,0.00,1.60,0.00,0.000,4,0.000,0.023,2507,1452,3384
$GC,3295,-0.54,-126.5,451.8,-10.1,159,3298,0.00,1.73,0.00,0.000,6,0.000,0.042,2501,2593,3384
$GC,3562,-0.54,-126.5,476.5,-9.3,166,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2593,3381
$GC,3806,-0.54,-126.5,500.4,-9.9,172,3809,0.00,1.48,0.00,0.000,4,0.000,0.051,2494,3552,3379
$GC,3836,-0.54,-126.5,504.0,-9.9,172,3839,0.00,1.35,0.00,0.000,6,0.000,0.024,2499,2607,3379
$GC,4102,-0.54,-126.5,527.7,-8.8,179,4106,0.00,1.60,0.00,0.000,4,0.000,0.024,2507,1442,3377
$GC,4172,-0.54,-126.5,533.3,-7.2,180,4175,0.00,1.75,0.00,0.000,6,0.000,0.043,2501,2595,3377
$GC,4445,-0.54,-126.5,556.2,-8.6,187,4448,0.00,1.50,0.00,0.000,4,0.000,0.053,2493,3559,3374
$GC,4464,-0.54,-126.5,558.3,-8.6,187,4467,0.00,1.38,0.00,0.000,6,0.000,0.025,2499,2604,3373
$GC,4741,-0.54,-126.5,583.2,-9.2,194,4744,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1464,3372
$GC,4821,-0.54,-126.5,590.7,-8.3,195,4825,0.00,1.73,0.00,0.000,6,0.000,0.044,2501,2577,3371
$GC,5083,-0.54,-126.5,614.2,-9.2,202,5086,0.00,1.52,0.00,0.000,4,0.000,0.054,2493,3555,3370
$GC,5163,-0.54,-126.5,622.3,-9.6,203,5166,0.00,1.38,0.00,0.000,6,0.000,0.025,2497,2604,3369
$GC,5423,-0.54,-126.5,646.1,-9.2,210,5427,0.00,1.52,0.00,0.000,4,0.000,0.053,2493,3556,3367
$GC,5458,-0.54,-126.5,649.7,-9.8,210,5461,0.00,1.35,0.00,0.000,6,0.000,0.026,2498,2623,3367
$GC,5720,-0.54,-126.5,673.2,-9.2,217,5723,0.00,1.50,0.00,0.000,4,0.000,0.053,2493,3558,3365
$GC,5749,-0.54,-126.5,676.3,-9.5,217,5753,0.00,1.35,0.00,0.000,6,0.000,0.027,2498,2628,3365
$GC,6016,-0.54,-126.5,698.7,-8.5,224,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2620,3364
$GC,6259,-0.54,-126.5,719.4,-8.5,230,6263,0.00,1.62,0.00,0.000,4,0.000,0.026,2506,1457,3363
$GC,6310,-0.54,-126.5,723.6,-7.7,231,6313,0.00,1.80,0.00,0.000,6,0.000,0.046,2500,2603,3362
$GC,6605,-0.54,-126.5,748.7,-8.7,238,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2602,3360
$GC,6849,-0.54,-126.5,770.5,-8.9,244,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2602,3359
$GC,7092,-0.54,-126.5,791.3,-8.5,250,7096,0.00,1.50,0.00,0.000,4,0.000,0.057,2493,3554,3358
$GC,7122,-0.54,-126.5,794.4,-10.0,250,7126,0.00,1.40,0.00,0.000,6,0.000,0.028,2498,2599,3358
$GC,7388,-0.54,-126.5,815.7,-8.1,257,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2589,3357
$GC,7632,-0.54,-126.5,835.1,-8.0,263,7636,0.00,1.55,0.00,0.000,4,0.000,0.055,2492,3554,3355
$GC,7707,-0.54,-126.5,841.8,-8.5,264,7710,0.00,1.38,0.00,0.000,6,0.000,0.028,2498,2616,3355
$GC,7974,-0.54,-126.5,862.4,-7.8,271,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2609,3354
$GC,8218,-0.54,-126.5,880.5,-7.4,277,8222,0.00,1.52,0.00,0.000,4,0.000,0.058,2492,3550,3353
$GC,8243,-0.54,-126.5,882.9,-8.2,277,8246,0.00,1.35,0.00,0.000,6,0.000,0.028,2497,2626,3353
$STATE,8469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8469,begin apogee
$GC,8481,-0.20,0.0,900.1,7.5,283,8596,0.40,0.00,112.53,1.249,6,0.104,0.000,2635,2222,2858
$STATE,8597,end apogee,CONTROL_FINISHED_OK
$STATE,8597,begin climb
$GC,8602,0.54,126.5,903.8,0.0,286,8752,0.65,1.62,128.50,1.166,4,0.051,0.028,2889,1188,2341
$GC,8816,0.54,126.5,884.0,15.8,290,8824,0.00,1.70,0.00,0.000,6,0.000,0.041,2889,2223,2335
$GC,9070,0.54,126.5,842.2,16.7,297,9074,0.00,1.67,0.00,0.000,4,0.000,0.051,2889,3279,2330
$GC,9131,0.54,126.5,831.5,17.0,298,9134,0.00,1.55,0.00,0.000,6,0.000,0.028,2896,2250,2329
$GC,9413,0.54,126.5,782.7,17.5,305,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2244,2328
$GC,9657,0.54,126.5,738.1,18.3,311,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2244,2327
$GC,9901,0.54,126.5,693.4,18.4,317,9904,0.00,1.67,0.00,0.000,4,0.000,0.051,2891,3289,2327
$GC,9925,0.54,126.5,688.7,16.7,317,9929,0.00,1.58,0.00,0.000,6,0.000,0.028,2896,2232,2326
$GC,10197,0.54,126.5,644.8,16.0,324,10200,0.00,1.67,0.00,0.000,4,0.000,0.050,2891,3297,2326
$GC,10238,0.54,126.5,637.1,17.6,324,10247,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2238,2325
$GC,10494,0.54,126.5,597.2,15.7,331,10498,0.00,1.65,0.00,0.000,4,0.000,0.048,2891,3291,2325
$GC,10579,0.54,126.5,582.4,16.8,332,10587,0.00,1.50,0.00,0.000,6,0.000,0.027,2896,2281,2324
$GC,10834,0.54,126.5,543.2,15.4,339,10837,0.00,1.62,0.00,0.000,4,0.000,0.030,2905,1148,2323
$GC,10885,0.54,126.5,536.2,14.2,340,10889,0.00,1.73,0.00,0.000,6,0.000,0.044,2905,2265,2323
$GC,11179,0.54,126.5,491.5,14.9,347,11183,0.00,1.62,0.00,0.000,4,0.000,0.030,2910,1148,2323
$GC,11198,0.54,126.5,488.3,14.5,347,11202,0.08,1.75,0.00,0.000,6,0.153,0.043,2880,2264,2323
$GC,11474,0.54,126.5,455.6,11.5,354,11478,0.00,1.60,0.00,0.000,4,0.000,0.053,2877,3280,2323
$GC,11510,0.54,126.5,450.9,12.9,354,11514,0.00,1.50,0.00,0.000,6,0.000,0.026,2882,2262,2322
$GC,11771,0.54,126.5,420.2,11.7,361,11775,0.00,1.60,0.00,0.000,4,0.000,0.029,2891,1135,2322
$GC,11836,0.54,126.5,412.0,11.2,362,11840,0.00,1.75,0.00,0.000,6,0.000,0.044,2891,2269,2322
$GC,12113,0.54,126.5,377.8,12.2,369,12117,0.00,1.60,0.00,0.000,4,0.000,0.052,2891,3287,2322
$GC,12178,0.54,126.5,368.8,13.7,370,12181,0.00,1.52,0.00,0.000,6,0.000,0.027,2897,2257,2321
$GC,12455,0.54,126.5,333.0,12.7,377,12459,0.00,1.60,0.00,0.000,4,0.000,0.030,2902,1159,2321
$GC,12505,0.54,126.5,327.3,11.2,378,12508,0.00,1.70,0.00,0.000,6,0.000,0.042,2902,2263,2321
$GC,12800,0.54,126.5,293.8,11.1,385,12803,0.00,1.62,0.00,0.000,4,0.000,0.028,2910,1142,2321
$GC,12818,0.54,126.5,291.4,9.9,385,12822,0.00,1.73,0.00,0.000,6,0.000,0.041,2905,2266,2322
$GC,13096,0.54,126.5,262.3,10.7,392,13099,0.00,1.58,0.00,0.000,4,0.000,0.050,2905,3275,2321
$GC,13153,0.54,126.5,254.7,13.9,393,13157,0.10,1.52,0.00,0.000,6,0.157,0.025,2881,2239,2321
$GC,13437,0.55,146.8,229.9,8.0,400,13466,0.00,1.60,17.88,0.704,4,0.000,0.027,2887,1157,2259
$GC,13484,0.56,169.6,226.1,7.9,401,13510,0.00,1.70,21.67,0.760,6,0.000,0.041,2887,2258,2166
$GC,13771,0.56,169.6,196.8,10.8,408,13774,0.00,1.60,0.00,0.000,4,0.000,0.048,2887,3283,2160
$GC,13855,0.56,169.6,187.4,11.3,415,13859,0.00,1.55,0.00,0.000,6,0.000,0.024,2894,2232,2160
$GC,14127,0.56,169.6,159.4,10.4,440,14134,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2226,2160
$GC,14394,0.56,169.6,132.5,10.2,465,14398,0.00,1.65,0.00,0.000,4,0.000,0.044,2891,3281,2160
$GC,14491,0.56,169.6,121.7,11.0,473,14495,0.00,1.50,0.00,0.000,6,0.000,0.022,2896,2243,2160
$GC,14763,0.56,169.6,95.3,10.1,498,14767,0.00,1.52,0.00,0.000,4,0.000,0.026,2899,1176,2160
$GC,14813,0.56,181.9,90.6,8.4,502,14829,0.00,1.67,11.60,0.608,6,0.000,0.037,2899,2262,2116
$GC,15090,0.58,213.2,68.0,7.5,527,15121,0.00,1.55,28.05,0.612,4,0.000,0.044,2899,3282,1987
$GC,15159,0.58,230.1,62.0,8.2,532,15178,0.00,1.50,15.43,0.582,6,0.000,0.022,2902,2256,1920
$GC,15440,0.58,230.1,35.8,9.9,557,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2256,1916
$GC,15744,0.58,230.1,3.5,12.0,601,15752,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2255,1916
$STATE,15759,end climb,SURFACE_DEPTH_REACHED
$STATE,15759,begin surface coast
$FINISH,0.4,1.010327
$STATE,15798,end surface coast,CONTROL_FINISHED_OK
$STATE,15798,begin surface
$SM_CCo,15823,172.68,0.541,0,0,398,603.18
$SM_GC,1.29,0.00,0.00,172.68,0.000,0.000,0.541,17,2530,398,-8.34,0.85,603.18
$IRIDIUM_FIX,2244.02,-15751.06,230203,212110
$TT8_MAMPS,0.02301
$HUMID,2184
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,23.2,61.833
$10V_AH,10.6,76.284
$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,18.175,120.325,335.650,172.675,0.000,142.091,225.161,1438.710,1.750,0.000,0.000,30.024,1295.982,10788.384,563.584,3140.511,2510.669,33.375,1543.966,0.000,3119.717,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,66.729,1249.443,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,416.094,2006.337,2075.438,1400.724,1357.690,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50901,609
$CAP_FILE_SIZE,148876,0
$CFSIZE,260165632,233566208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,301113,020236,2250.609,-15751.248,34,1.6,34,10.1