version: 66.04
glider: 512
mission: 4
dive: 371
start: 11 30 113 7 31 59
data:
$ID,512
$MISSION,4
$DIVE,371
$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,-114657.68
$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,56
$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
$GPS1,071024,2249.041,-15749.064,48,1.7,48,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.3
$GPS2,073105,2249.040,-15749.048,10,1.6,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.152,-0.180
$KALMAN_X,103539.6,29.9,109.1,-84886.8,132.3
$KALMAN_Y,-50348.2,-170.0,87.7,59611.7,395.4
$MHEAD_RNG_PITCHd_Wd,129.7,27271,-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,-126.5,0.0,0.0,0,114,0.00,0.00,-94.32,0.000,2,0.000,0.000,7,2539,2759
$GC,120,-0.54,-126.5,2.2,-1.6,11,150,9.55,1.62,-15.73,0.000,4,0.196,0.038,2517,1424,3374
$GC,279,-0.54,-126.5,29.6,-17.5,34,288,0.00,1.60,0.00,0.000,6,0.000,0.037,2511,2474,3374
$GC,546,-0.54,-126.5,88.6,-18.4,59,549,0.00,1.62,0.00,0.000,4,0.000,0.045,2503,3563,3375
$GC,665,-0.54,-126.5,108.3,-15.3,69,668,0.00,1.45,0.00,0.000,6,0.000,0.018,2508,2531,3375
$GC,938,-0.54,-126.5,152.4,-16.8,94,941,0.00,1.60,0.00,0.000,4,0.000,0.041,2502,3568,3375
$GC,1012,-0.54,-126.5,166.2,-16.8,100,1020,0.00,1.38,0.00,0.000,6,0.000,0.018,2506,2582,3375
$GC,1287,-0.54,-126.5,206.9,-13.8,123,1290,0.00,1.50,0.00,0.000,4,0.000,0.041,2501,3559,3375
$GC,1328,-0.54,-126.5,213.5,-14.1,123,1337,0.00,1.35,0.00,0.000,6,0.000,0.018,2506,2593,3375
$GC,1583,-0.54,-126.5,245.5,-12.6,130,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2591,3374
$GC,1827,-0.54,-126.5,276.6,-12.9,136,1831,0.00,1.58,0.00,0.000,4,0.000,0.021,2508,1420,3373
$GC,1890,-0.54,-126.5,284.8,-11.9,137,1894,0.00,1.85,0.00,0.000,6,0.000,0.039,2501,2632,3373
$GC,2167,-0.54,-126.5,318.1,-11.9,144,2171,0.00,1.40,0.00,0.000,4,0.000,0.047,2494,3561,3371
$GC,2197,-0.54,-126.5,322.0,-11.8,144,2200,0.00,1.30,0.00,0.000,6,0.000,0.021,2498,2629,3371
$GC,2464,-0.54,-126.5,352.7,-11.8,151,2468,0.00,1.45,0.00,0.000,4,0.000,0.044,2494,3561,3370
$GC,2522,-0.54,-126.5,359.9,-11.0,152,2525,0.00,1.27,0.00,0.000,6,0.000,0.021,2498,2648,3369
$GC,2804,-0.54,-126.5,390.2,-10.9,159,2808,0.00,1.62,0.00,0.000,4,0.000,0.021,2507,1451,3367
$GC,2874,-0.54,-126.5,397.5,-9.6,160,2878,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,2632,3366
$GC,3146,-0.54,-126.5,425.8,-10.8,167,3148,0.00,0.00,-0.08,0.000,6,0.000,0.000,2500,2632,3387
$GC,3389,-0.54,-126.5,450.0,-9.8,173,3393,0.00,1.65,0.00,0.000,4,0.000,0.022,2506,1460,3386
$GC,3419,-0.54,-126.5,453.3,-9.9,173,3423,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,2631,3386
$GC,3685,-0.54,-126.5,478.3,-9.7,180,3688,0.00,1.65,0.00,0.000,4,0.000,0.022,2505,1463,3383
$GC,3703,-0.54,-126.5,480.6,-9.8,180,3707,0.00,1.75,0.00,0.000,6,0.000,0.041,2500,2620,3383
$GC,3981,-0.54,-126.5,506.3,-9.2,187,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2619,3381
$GC,4225,-0.54,-126.5,528.8,-9.4,193,4228,0.00,1.45,0.00,0.000,4,0.000,0.051,2493,3562,3379
$GC,4255,-0.54,-126.5,532.3,-10.2,193,4259,0.00,1.38,0.00,0.000,6,0.000,0.024,2497,2606,3379
$GC,4521,-0.54,-126.5,557.1,-9.4,200,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2598,3376
$GC,4765,-0.54,-126.5,581.1,-9.9,206,4768,0.00,1.60,0.00,0.000,4,0.000,0.024,2506,1445,3374
$GC,4829,-0.54,-126.5,587.4,-9.2,207,4833,0.00,1.77,0.00,0.000,6,0.000,0.044,2499,2610,3374
$GC,5108,-0.54,-126.5,614.4,-9.9,214,5111,0.00,1.62,0.00,0.000,4,0.000,0.025,2505,1464,3371
$GC,5149,-0.54,-126.5,618.9,-9.6,214,5156,0.00,1.75,0.00,0.000,6,0.000,0.044,2499,2592,3371
$GC,5404,-0.54,-126.5,642.1,-9.4,221,5408,0.00,1.62,0.00,0.000,4,0.000,0.025,2504,1462,3371
$GC,5434,-0.54,-126.5,645.4,-9.4,221,5437,0.00,1.73,0.00,0.000,6,0.000,0.045,2499,2592,3370
$GC,5700,-0.54,-126.5,669.2,-9.0,228,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2592,3368
$GC,5944,-0.54,-126.5,690.0,-8.4,234,5947,0.00,1.60,0.00,0.000,4,0.000,0.025,2505,1464,3367
$GC,5980,-0.54,-126.5,693.3,-7.6,234,5983,0.00,1.75,0.00,0.000,6,0.000,0.047,2499,2603,3367
$GC,6241,-0.54,-126.5,713.8,-8.1,241,6245,0.00,1.50,0.00,0.000,4,0.000,0.055,2491,3557,3365
$GC,6272,-0.54,-126.5,716.9,-8.8,241,6277,0.05,1.38,0.00,0.000,6,0.140,0.027,2518,2602,3364
$GC,6537,-0.54,-126.5,734.6,-6.6,248,6541,0.00,1.60,0.00,0.000,4,0.000,0.025,2518,1472,3363
$GC,6579,-0.54,-126.5,737.7,-6.7,248,6587,0.00,1.75,0.00,0.000,6,0.000,0.046,2512,2591,3363
$GC,6834,-0.54,-126.5,756.3,-7.4,255,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2591,3362
$GC,7077,-0.54,-126.5,774.9,-7.7,261,7081,0.00,1.52,0.00,0.000,4,0.000,0.059,2510,3552,3360
$GC,7119,-0.54,-126.5,778.3,-7.6,261,7128,0.00,1.40,0.00,0.000,6,0.000,0.028,2510,2587,3360
$GC,7375,-0.54,-126.5,797.3,-7.5,268,7379,0.00,1.60,0.00,0.000,4,0.000,0.028,2510,1474,3359
$GC,7411,-0.54,-126.5,800.4,-7.7,268,7415,0.00,1.70,0.00,0.000,6,0.000,0.049,2510,2571,3359
$GC,7672,-0.54,-126.5,819.0,-7.1,275,7675,0.00,1.58,0.00,0.000,4,0.000,0.060,2510,3556,3357
$GC,7708,-0.54,-126.5,821.9,-7.5,275,7711,0.00,1.40,0.00,0.000,6,0.000,0.028,2510,2602,3358
$GC,7968,-0.54,-126.5,840.6,-7.3,282,7972,0.00,1.60,0.00,0.000,4,0.000,0.027,2509,1459,3356
$GC,8022,-0.54,-126.5,844.9,-8.0,283,8026,0.00,1.73,0.00,0.000,6,0.000,0.046,2502,2578,3356
$GC,8311,-0.54,-126.5,867.6,-8.1,290,8315,0.00,1.55,0.00,0.000,4,0.000,0.057,2495,3555,3354
$GC,8369,-0.54,-126.5,872.8,-8.4,291,8373,0.00,1.40,0.00,0.000,6,0.000,0.028,2499,2601,3354
$GC,8653,-0.54,-126.5,894.9,-7.9,298,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2592,3354
$STATE,8727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8727,begin apogee
$GC,8738,-0.20,0.0,901.4,7.9,300,8854,0.40,0.00,113.07,1.257,6,0.101,0.000,2638,2230,2858
$STATE,8855,end apogee,CONTROL_FINISHED_OK
$STATE,8855,begin climb
$GC,8860,0.54,126.5,905.4,0.0,303,9011,0.62,1.62,129.40,1.165,4,0.041,0.025,2887,1206,2342
$GC,9041,0.54,126.5,891.6,14.9,307,9044,0.00,1.67,0.00,0.000,6,0.000,0.041,2887,2228,2337
$GC,9329,0.54,126.5,843.5,16.6,314,9333,0.00,1.65,0.00,0.000,4,0.000,0.050,2887,3288,2332
$GC,9399,0.54,126.5,830.4,18.6,315,9402,0.00,1.55,0.00,0.000,6,0.000,0.027,2893,2255,2331
$GC,9671,0.54,126.5,783.1,17.6,322,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2249,2329
$GC,9915,0.54,126.5,742.5,16.3,328,9918,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3285,2328
$GC,9964,0.54,126.5,733.8,17.5,329,9968,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2233,2327
$GC,10259,0.54,126.5,684.8,16.9,336,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2227,2327
$GC,10502,0.54,126.5,643.5,16.9,342,10505,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3286,2326
$GC,10553,0.54,126.5,634.7,18.2,343,10556,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2232,2326
$GC,10847,0.54,126.5,586.2,16.2,350,10851,0.00,1.55,0.00,0.000,4,0.000,0.029,2905,1160,2326
$GC,10927,0.54,126.5,573.7,14.3,351,10931,0.00,1.60,0.00,0.000,6,0.000,0.041,2904,2202,2325
$GC,11188,0.54,126.5,532.7,16.2,358,11192,0.00,1.65,0.00,0.000,4,0.000,0.051,2905,3278,2325
$GC,11301,0.54,126.5,512.9,16.7,360,11306,0.15,1.58,0.00,0.000,6,0.183,0.027,2875,2213,2325
$GC,11574,0.54,126.5,477.6,12.9,367,11577,0.00,1.67,0.00,0.000,4,0.000,0.050,2875,3279,2323
$GC,11626,0.54,126.5,470.3,13.2,368,11629,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2229,2323
$GC,11914,0.54,126.5,433.2,12.9,375,11918,0.00,1.67,0.00,0.000,4,0.000,0.051,2876,3271,2323
$GC,11950,0.54,126.5,428.3,12.4,375,11953,0.00,1.50,0.00,0.000,6,0.000,0.026,2881,2251,2323
$GC,12211,0.54,126.5,398.4,11.4,382,12215,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1164,2323
$GC,12247,0.54,126.5,393.8,11.3,382,12250,0.00,1.67,0.00,0.000,6,0.000,0.042,2888,2257,2323
$GC,12507,0.54,126.5,363.0,12.0,389,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2257,2323
$GC,12750,0.54,126.5,335.0,11.4,395,12754,0.00,1.60,0.00,0.000,4,0.000,0.027,2894,1164,2323
$GC,12791,0.54,126.5,330.0,10.8,395,12799,0.00,1.67,0.00,0.000,6,0.000,0.041,2891,2237,2322
$GC,13046,0.54,126.5,303.0,10.6,402,13049,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3300,2322
$GC,13133,0.54,126.5,292.4,11.2,403,13141,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2276,2322
$GC,13388,0.54,126.5,266.5,10.1,410,13391,0.00,1.60,0.00,0.000,4,0.000,0.028,2903,1172,2323
$GC,13586,0.54,126.5,246.6,9.5,414,13590,0.00,1.62,0.00,0.000,6,0.000,0.040,2902,2238,2322
$GC,13865,0.55,135.6,221.3,8.6,421,13874,0.00,1.58,5.90,0.649,4,0.000,0.047,2902,3280,2306
$GC,13971,0.55,135.6,210.1,10.1,423,13975,0.08,1.50,0.00,0.000,6,0.151,0.024,2876,2254,2306
$GC,14238,0.56,160.8,190.9,7.8,438,14276,0.00,1.62,26.17,0.703,4,0.000,0.046,2875,3269,2203
$GC,14374,0.56,160.8,177.3,10.2,449,14382,0.00,1.42,0.00,0.000,6,0.000,0.024,2881,2291,2200
$GC,14640,0.56,167.2,151.9,8.7,474,14650,0.00,0.00,7.00,0.614,6,0.000,0.000,2881,2289,2176
$GC,14907,0.56,172.5,127.7,8.8,499,14921,0.00,1.65,5.90,0.566,4,0.000,0.025,2885,1158,2156
$GC,14949,0.56,177.8,123.7,8.8,502,14964,0.00,1.77,7.00,0.582,6,0.000,0.039,2886,2296,2132
$GC,15225,0.56,177.8,97.0,9.8,527,15229,0.00,1.50,0.00,0.000,4,0.000,0.044,2886,3272,2131
$GC,15344,0.56,177.8,84.9,9.8,537,15347,0.00,1.35,0.00,0.000,6,0.000,0.021,2892,2332,2130
$GC,15617,0.59,245.0,64.0,5.8,562,15681,0.00,1.52,56.80,0.612,4,0.000,0.043,2891,3283,1857
$GC,15734,0.60,262.5,55.6,8.2,571,15753,0.00,1.38,15.68,0.574,6,0.000,0.021,2897,2334,1788
$GC,16021,0.60,262.5,28.5,10.5,597,16030,0.00,1.70,0.00,0.000,4,0.000,0.025,2898,1166,1782
$GC,16096,0.61,303.5,23.1,7.0,607,16140,0.00,1.83,33.95,0.563,6,0.000,0.035,2899,2351,1619
$STATE,16281,end climb,SURFACE_DEPTH_REACHED
$STATE,16282,begin surface coast
$FINISH,0.5,1.023566
$STATE,16308,end surface coast,CONTROL_FINISHED_OK
$STATE,16308,begin surface
$SM_CCo,16334,35.30,0.534,0,0,1267,390.02
$SM_GC,1.39,0.00,0.00,35.30,0.000,0.000,0.534,21,2516,1267,-8.36,0.45,390.02
$IRIDIUM_FIX,2239.35,-15751.94,240203,070722
$TT8_MAMPS,0.023777
$HUMID,2263
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,8
$24V_AH,23.1,62.210
$10V_AH,10.6,76.736
$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,18.200,127.300,400.875,35.300,0.000,57.074,69.672,846.212,2.000,0.000,0.000,15.036,1339.714,10837.997,480.315,3302.746,1642.779,33.375,1560.393,0.000,3285.018,0.000,0.544,0.000
$DEVICE_MAMPS,195.585,59.826,1257.113,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,434.111,2099.520,2163.304,1497.962,1428.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54294,638
$CAP_FILE_SIZE,142254,0
$CFSIZE,260165632,233439232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,301113,120606,2247.311,-15747.452,28,1.5,28,10.1