version: 66.04
glider: 512
mission: 4
dive: 372
start: 11 30 113 12 29 12
data:
$ID,512
$MISSION,4
$DIVE,372
$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,-114699.87
$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,62
$R_STBD_OVSHOOT,35
$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
$GPS1,120606,2247.311,-15747.452,28,1.5,28,10.1
$_CALLS,3
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.7
$GPS2,122815,2247.348,-15747.313,21,2.2,40,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,-0.218
$KALMAN_X,103860.9,-95.8,-162.6,-81846.9,750.2
$KALMAN_Y,-49404.2,-388.5,-183.0,56023.1,1824.8
$MHEAD_RNG_PITCHd_Wd,147.7,22959,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,89,0.00,0.00,-68.57,0.000,2,0.000,0.000,7,2515,2867
$GC,95,-0.54,-126.5,2.2,-1.4,8,124,9.60,1.60,-12.10,0.000,4,0.196,0.055,2509,3560,3370
$GC,149,-0.54,-126.5,14.5,-24.7,14,158,0.00,1.55,0.00,0.000,6,0.000,0.020,2509,2481,3371
$GC,431,-0.54,-126.5,81.2,-22.7,44,435,0.00,1.65,0.00,0.000,4,0.000,0.041,2502,3570,3371
$GC,505,-0.54,-126.5,97.1,-20.0,50,509,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2508,3371
$GC,778,-0.54,-126.5,141.5,-16.3,75,781,0.00,1.60,0.00,0.000,4,0.000,0.041,2501,3572,3373
$GC,873,-0.54,-126.5,157.7,-16.2,83,877,0.00,1.42,0.00,0.000,6,0.000,0.018,2506,2561,3373
$GC,1144,-0.54,-126.5,199.9,-15.7,108,1148,0.00,1.52,0.00,0.000,4,0.000,0.041,2500,3555,3373
$GC,1196,-0.54,-126.5,208.4,-14.6,110,1200,0.00,1.35,0.00,0.000,6,0.000,0.019,2504,2594,3373
$GC,1485,-0.54,-126.5,246.5,-13.2,117,1488,0.00,1.48,0.00,0.000,4,0.000,0.042,2499,3554,3372
$GC,1521,-0.54,-126.5,251.8,-13.3,117,1524,0.00,1.30,0.00,0.000,6,0.000,0.019,2504,2623,3372
$GC,1782,-0.54,-126.5,282.7,-11.9,124,1786,0.00,1.60,0.00,0.000,4,0.000,0.020,2513,1441,3372
$GC,1832,-0.54,-126.5,288.6,-10.3,125,1836,0.00,1.75,0.00,0.000,6,0.000,0.038,2506,2613,3371
$GC,2126,-0.54,-126.5,323.6,-12.1,132,2129,0.00,1.42,0.00,0.000,4,0.000,0.046,2498,3556,3370
$GC,2207,-0.54,-126.5,333.9,-11.5,133,2211,0.00,1.30,0.00,0.000,6,0.000,0.020,2503,2630,3370
$GC,2468,-0.54,-126.5,363.1,-11.0,140,2471,0.00,1.60,0.00,0.000,4,0.000,0.021,2512,1449,3368
$GC,2497,-0.54,-126.5,366.7,-10.8,140,2501,0.00,1.77,0.00,0.000,6,0.000,0.038,2506,2613,3368
$GC,2763,-0.54,-126.5,394.6,-10.7,147,2765,0.00,0.00,-0.08,0.000,6,0.000,0.000,2506,2613,3388
$GC,3007,-0.54,-126.5,421.1,-10.9,153,3011,0.00,1.62,0.00,0.000,4,0.000,0.022,2512,1457,3386
$GC,3072,-0.54,-126.5,428.6,-10.6,154,3075,0.00,1.73,0.00,0.000,6,0.000,0.041,2506,2604,3386
$GC,3349,-0.54,-126.5,458.0,-10.7,161,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2604,3383
$GC,3593,-0.54,-126.5,481.9,-9.6,167,3596,0.00,1.60,0.00,0.000,4,0.000,0.022,2511,1461,3381
$GC,3634,-0.54,-126.5,485.9,-8.4,167,3642,0.00,1.75,0.00,0.000,6,0.000,0.042,2505,2596,3381
$GC,3889,-0.54,-126.5,508.5,-9.2,174,3892,0.00,1.60,0.00,0.000,4,0.000,0.023,2508,1459,3379
$GC,3918,-0.54,-126.5,511.8,-10.2,174,3922,0.00,1.70,0.00,0.000,6,0.000,0.042,2502,2582,3379
$GC,4186,-0.54,-126.5,540.3,-11.1,181,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2583,3376
$GC,4429,-0.54,-126.5,566.8,-10.8,187,4432,0.00,1.50,0.00,0.000,4,0.000,0.053,2494,3548,3375
$GC,4479,-0.54,-126.5,572.2,-10.4,188,4482,0.00,1.38,0.00,0.000,6,0.000,0.024,2499,2592,3374
$GC,4773,-0.54,-126.5,601.3,-9.6,195,4776,0.00,1.52,0.00,0.000,4,0.000,0.050,2494,3550,3372
$GC,4791,-0.54,-126.5,603.4,-9.3,195,4795,0.00,1.35,0.00,0.000,6,0.000,0.025,2499,2609,3372
$GC,5070,-0.54,-126.5,629.8,-9.5,202,5073,0.00,1.60,0.00,0.000,4,0.000,0.024,2508,1447,3370
$GC,5149,-0.54,-126.5,637.3,-9.2,203,5153,0.00,1.75,0.00,0.000,6,0.000,0.044,2501,2596,3370
$GC,5410,-0.54,-126.5,659.9,-8.8,210,5414,0.00,1.50,0.00,0.000,4,0.000,0.054,2494,3554,3368
$GC,5429,-0.54,-126.5,661.8,-8.5,210,5433,0.00,1.38,0.00,0.000,6,0.000,0.025,2499,2604,3368
$GC,5708,-0.54,-126.5,684.2,-8.1,217,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2596,3366
$GC,5951,-0.54,-126.5,703.5,-7.9,223,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2596,3364
$GC,6195,-0.54,-126.5,722.8,-8.0,229,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2596,3363
$GC,6439,-0.54,-126.5,741.9,-7.9,235,6443,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1471,3362
$GC,6492,-0.54,-126.5,746.3,-7.2,236,6495,0.00,1.75,0.00,0.000,6,0.000,0.047,2501,2608,3362
$GC,6780,-0.54,-126.5,767.9,-7.6,243,6784,0.00,1.62,0.00,0.000,4,0.000,0.025,2507,1470,3360
$GC,6805,-0.54,-126.5,770.1,-7.6,243,6809,0.00,1.77,0.00,0.000,6,0.000,0.048,2501,2598,3360
$GC,7078,-0.54,-126.5,790.5,-7.7,250,7082,0.00,1.50,0.00,0.000,4,0.000,0.056,2494,3549,3359
$GC,7114,-0.54,-126.5,793.7,-8.1,250,7118,0.00,1.35,0.00,0.000,6,0.000,0.026,2499,2622,3358
$GC,7375,-0.54,-126.5,814.0,-7.9,257,7378,0.00,1.62,0.00,0.000,4,0.000,0.027,2507,1461,3357
$GC,7416,-0.54,-126.5,817.7,-7.8,257,7423,0.00,1.75,0.00,0.000,6,0.000,0.046,2500,2577,3357
$GC,7671,-0.54,-126.5,838.2,-8.4,264,7675,0.00,1.52,0.00,0.000,4,0.000,0.055,2493,3545,3356
$GC,7701,-0.54,-126.5,841.2,-9.4,264,7705,0.08,1.38,0.00,0.000,6,0.121,0.026,2522,2595,3356
$GC,7968,-0.54,-126.5,860.3,-7.2,271,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2590,3355
$GC,8212,-0.54,-126.5,877.3,-7.0,277,8215,0.00,1.60,0.00,0.000,4,0.000,0.026,2522,1455,3353
$GC,8236,-0.54,-126.5,879.3,-6.6,277,8240,0.00,1.77,0.00,0.000,6,0.000,0.049,2522,2597,3353
$GC,8508,-0.54,-126.5,896.4,-6.4,284,8512,0.00,1.52,0.00,0.000,4,0.000,0.060,2522,3550,3353
$GC,8544,-0.54,-126.5,898.9,-6.4,284,8547,0.00,1.38,0.00,0.000,6,0.000,0.028,2522,2609,3353
$STATE,8597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8597,begin apogee
$GC,8608,-0.20,0.0,902.4,6.4,286,8724,0.35,0.00,112.93,1.250,6,0.090,0.000,2644,2217,2858
$STATE,8725,end apogee,CONTROL_FINISHED_OK
$STATE,8725,begin climb
$GC,8730,0.54,126.5,906.3,0.0,289,8951,0.65,1.80,148.25,1.042,4,0.042,0.050,2891,3273,2342
$GC,8976,0.54,126.5,882.7,19.1,295,8980,0.00,1.60,0.00,0.000,6,0.000,0.025,2897,2228,2339
$GC,9259,0.54,126.5,831.0,18.6,302,9263,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3278,2334
$GC,9345,0.54,126.5,814.0,17.9,303,9354,0.00,1.55,0.00,0.000,6,0.000,0.027,2897,2244,2333
$GC,9601,0.54,126.5,769.2,17.5,310,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2238,2332
$GC,9844,0.54,126.5,725.6,18.1,316,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2238,2331
$GC,10087,0.54,126.5,683.1,17.4,322,10091,0.00,1.62,0.00,0.000,4,0.000,0.048,2892,3275,2330
$GC,10162,0.54,126.5,669.3,17.0,323,10166,0.00,1.52,0.00,0.000,6,0.000,0.026,2897,2247,2330
$GC,10428,0.54,126.5,626.2,16.3,330,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2241,2329
$GC,10671,0.54,126.5,587.2,15.7,336,10675,0.00,1.58,0.00,0.000,4,0.000,0.029,2905,1163,2328
$GC,10701,0.54,126.5,581.9,16.4,336,10705,0.00,1.65,0.00,0.000,6,0.000,0.043,2904,2236,2327
$GC,10968,0.54,126.5,543.0,14.8,343,10971,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3296,2327
$GC,11009,0.54,126.5,535.7,17.1,343,11018,0.10,1.55,0.00,0.000,6,0.173,0.027,2882,2254,2327
$GC,11264,0.54,126.5,499.7,14.0,350,11268,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3280,2327
$GC,11344,0.54,126.5,488.0,13.5,351,11347,0.00,1.48,0.00,0.000,6,0.000,0.026,2881,2277,2327
$GC,11606,0.54,126.5,455.4,12.5,358,11610,0.00,1.60,0.00,0.000,4,0.000,0.050,2878,3272,2327
$GC,11641,0.54,126.5,450.1,13.7,358,11644,0.00,1.48,0.00,0.000,6,0.000,0.026,2883,2273,2326
$GC,11901,0.54,126.5,419.1,11.6,365,11905,0.00,1.62,0.00,0.000,4,0.000,0.028,2891,1133,2326
$GC,11951,0.54,126.5,412.9,12.5,366,11955,0.00,1.80,0.00,0.000,6,0.000,0.043,2891,2274,2326
$GC,12247,0.54,126.5,375.5,12.2,373,12250,0.00,1.58,0.00,0.000,4,0.000,0.051,2891,3279,2326
$GC,12341,0.54,126.5,363.5,12.3,375,12345,0.00,1.48,0.00,0.000,6,0.000,0.026,2897,2282,2326
$GC,12636,0.54,126.5,328.1,12.0,382,12640,0.00,1.60,0.00,0.000,4,0.000,0.048,2897,3282,2326
$GC,12661,0.54,126.5,324.6,12.3,382,12664,0.00,1.48,0.00,0.000,6,0.000,0.026,2903,2283,2326
$GC,12932,0.54,126.5,293.7,11.4,389,12936,0.00,1.60,0.00,0.000,4,0.000,0.048,2904,3286,2326
$GC,12982,0.54,126.5,287.0,13.2,390,12986,0.10,1.48,0.00,0.000,6,0.158,0.026,2881,2290,2326
$GC,13277,0.54,126.5,255.7,10.6,397,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2284,2326
$GC,13520,0.54,126.5,232.8,9.0,403,13524,0.00,1.58,0.00,0.000,4,0.000,0.048,2876,3279,2326
$GC,13570,0.54,132.8,228.7,8.7,404,13579,0.00,1.45,4.00,0.541,6,0.000,0.024,2882,2276,2318
$GC,13863,0.55,137.3,204.3,8.8,411,13874,0.00,1.55,6.12,0.643,4,0.000,0.044,2876,3284,2298
$GC,14003,0.55,150.6,192.0,8.4,417,14029,0.00,1.42,15.75,0.648,6,0.000,0.024,2882,2295,2244
$GC,14297,0.55,157.8,167.4,8.7,444,14310,0.00,1.67,7.97,0.644,4,0.000,0.025,2889,1154,2214
$GC,14346,0.56,174.9,162.5,8.2,448,14381,0.00,1.75,18.45,0.637,6,0.000,0.039,2889,2278,2144
$GC,14637,0.56,174.9,134.0,10.2,475,14641,0.00,1.62,0.00,0.000,4,0.000,0.024,2896,1153,2141
$GC,14665,0.56,174.9,131.1,9.8,477,14669,0.00,1.73,0.00,0.000,6,0.000,0.038,2897,2281,2141
$GC,14937,0.56,174.9,103.8,9.9,502,14940,0.00,1.52,0.00,0.000,4,0.000,0.044,2896,3276,2141
$GC,15025,0.56,174.9,94.5,9.3,509,15033,0.00,1.42,0.00,0.000,6,0.000,0.022,2899,2299,2140
$GC,15293,0.58,229.7,75.0,6.4,534,15349,0.00,1.58,46.90,0.619,4,0.000,0.041,2899,3284,1920
$GC,15402,0.59,237.6,66.4,8.6,542,15417,0.00,1.40,8.23,0.540,6,0.000,0.021,2902,2334,1888
$GC,15678,0.59,237.6,39.1,11.2,567,15687,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2327,1885
$GC,15989,0.59,237.6,4.5,11.3,608,15998,0.00,1.67,0.00,0.000,4,0.000,0.023,2910,1156,1885
$STATE,16005,end climb,SURFACE_DEPTH_REACHED
$STATE,16005,begin surface coast
$FINISH,0.8,1.023572
$STATE,16037,end surface coast,CONTROL_FINISHED_OK
$STATE,16038,begin surface
$SM_CCo,16064,61.85,0.541,0,0,1267,390.02
$SM_GC,1.45,0.00,0.00,61.85,0.000,0.000,0.541,22,2501,1267,-8.35,-0.03,390.02
$IRIDIUM_FIX,2239.35,-15744.57,240203,121212
$TT8_MAMPS,0.02301
$HUMID,2233
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,13
$24V_AH,23.4,62.377
$10V_AH,10.5,76.952
$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,18.150,126.525,368.600,61.850,0.000,80.192,113.955,768.940,3.250,0.000,0.000,41.565,1303.975,10777.238,548.306,3170.761,1651.944,33.374,1539.069,0.000,3143.910,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,59.826,1250.210,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,419.422,2024.391,2103.901,1389.265,1374.847,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51132,615
$CAP_FILE_SIZE,138857,0
$CFSIZE,260165632,233377792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,301113,165954,2246.079,-15745.748,66,1.8,66,10.1