version: 66.04
glider: 512
mission: 4
dive: 374
start: 11 30 113 22 34 52
data:
$ID,512
$MISSION,4
$DIVE,374
$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,-114737.55
$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,63
$R_STBD_OVSHOOT,51
$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
$GPS1,220444,2244.286,-15743.663,43,2.1,62,10.1
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.2
$GPS2,223400,2244.270,-15743.581,15,1.7,20,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,-0.218
$KALMAN_X,105731.3,224.9,-48.5,-77781.7,909.4
$KALMAN_Y,-47206.7,374.8,-409.5,47593.7,1515.5
$MHEAD_RNG_PITCHd_Wd,148.0,14424,-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,-68.70,0.000,2,0.000,0.000,6,2540,2872
$GC,95,-0.54,-126.5,2.3,-1.3,8,124,9.75,1.58,-11.77,0.000,4,0.202,0.039,2524,1440,3372
$GC,136,-0.54,-126.5,11.4,-17.7,12,144,0.00,1.58,0.00,0.000,6,0.000,0.035,2518,2479,3372
$GC,420,-0.54,-126.5,72.7,-22.0,43,423,0.00,1.60,0.00,0.000,4,0.000,0.041,2510,3560,3373
$GC,589,-0.54,-126.5,104.0,-15.0,57,597,0.00,1.42,0.00,0.000,6,0.000,0.018,2514,2551,3373
$GC,855,-0.54,-126.5,146.8,-15.8,82,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2543,3373
$GC,1121,-0.54,-126.5,186.9,-14.7,107,1125,0.00,1.52,0.00,0.000,4,0.000,0.019,2516,1432,3373
$GC,1149,-0.54,-126.5,190.6,-13.6,109,1152,0.00,1.67,0.00,0.000,6,0.000,0.035,2510,2562,3373
$GC,1422,-0.54,-126.5,227.5,-13.4,120,1425,0.00,1.50,0.00,0.000,4,0.000,0.044,2502,3561,3373
$GC,1497,-0.54,-126.5,238.2,-12.5,121,1500,0.00,1.42,0.00,0.000,6,0.000,0.018,2507,2540,3373
$GC,1763,-0.54,-126.5,271.2,-12.4,128,1767,0.00,1.58,0.00,0.000,4,0.000,0.042,2501,3563,3373
$GC,1813,-0.54,-126.5,277.2,-11.3,129,1817,0.00,1.35,0.00,0.000,6,0.000,0.019,2506,2602,3372
$GC,2108,-0.54,-126.5,310.7,-11.7,136,2111,0.00,1.58,0.00,0.000,4,0.000,0.021,2514,1455,3371
$GC,2248,-0.54,-126.5,325.1,-9.7,139,2252,0.00,1.70,0.00,0.000,6,0.000,0.037,2508,2596,3370
$GC,2542,-0.54,-126.5,355.5,-10.0,146,2546,0.00,1.60,0.00,0.000,4,0.000,0.020,2514,1440,3368
$GC,2607,-0.54,-126.5,361.8,-9.0,147,2611,0.00,1.67,0.00,0.000,6,0.000,0.038,2508,2564,3368
$GC,2886,-0.54,-126.5,389.6,-10.2,154,2890,0.00,1.52,-0.08,0.000,4,0.000,0.066,2501,3563,3388
$GC,2950,-0.54,-126.5,397.0,-10.9,155,2954,0.00,1.40,0.00,0.000,6,0.000,0.021,2506,2583,3388
$GC,3227,-0.54,-126.5,426.6,-10.6,162,3231,0.00,1.55,0.00,0.000,4,0.000,0.022,2514,1464,3385
$GC,3268,-0.54,-126.5,430.8,-9.0,162,3277,0.00,1.67,0.00,0.000,6,0.000,0.039,2510,2558,3385
$GC,3524,-0.54,-126.5,453.8,-9.2,169,3528,0.00,1.52,0.00,0.000,4,0.000,0.049,2500,3548,3383
$GC,3554,-0.54,-126.5,457.1,-9.8,169,3557,0.00,1.38,0.00,0.000,6,0.000,0.021,2506,2577,3382
$GC,3820,-0.54,-126.5,480.3,-8.8,176,3823,0.00,1.52,0.00,0.000,4,0.000,0.048,2500,3549,3380
$GC,3862,-0.54,-126.5,484.4,-8.8,176,3870,0.00,1.38,0.00,0.000,6,0.000,0.022,2505,2571,3380
$GC,4116,-0.54,-126.5,507.3,-9.1,183,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2571,3378
$GC,4360,-0.54,-126.5,530.5,-9.5,189,4364,0.00,1.55,0.00,0.000,4,0.000,0.023,2513,1466,3376
$GC,4419,-0.54,-126.5,536.2,-8.5,190,4422,0.00,1.65,0.00,0.000,6,0.000,0.041,2507,2555,3375
$GC,4702,-0.54,-126.5,563.0,-9.6,197,4706,0.00,1.55,0.00,0.000,4,0.000,0.023,2513,1466,3373
$GC,4738,-0.54,-126.5,566.8,-9.4,197,4741,0.00,1.65,0.00,0.000,6,0.000,0.041,2507,2557,3373
$GC,4998,-0.54,-126.5,590.2,-9.0,204,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2557,3371
$GC,5242,-0.54,-126.5,610.6,-8.2,210,5245,0.00,1.55,0.00,0.000,4,0.000,0.052,2499,3550,3370
$GC,5278,-0.54,-126.5,613.9,-8.8,210,5282,0.00,1.40,0.00,0.000,6,0.000,0.024,2505,2582,3369
$GC,5540,-0.54,-126.5,635.0,-8.3,217,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2574,3367
$GC,5784,-0.54,-126.5,655.9,-8.7,223,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2574,3366
$GC,6027,-0.54,-126.5,677.6,-9.0,229,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2574,3364
$GC,6271,-0.54,-126.5,700.5,-9.4,235,6274,0.00,1.55,0.00,0.000,4,0.000,0.051,2499,3553,3363
$GC,6301,-0.54,-126.5,703.6,-9.5,235,6305,0.00,1.40,0.00,0.000,6,0.000,0.026,2504,2592,3363
$GC,6567,-0.54,-126.5,726.3,-8.6,242,6571,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1476,3362
$GC,6608,-0.54,-126.5,730.1,-8.1,242,6616,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2553,3361
$GC,6864,-0.54,-126.5,750.0,-7.8,249,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2553,3360
$GC,7107,-0.54,-126.5,769.0,-7.8,255,7110,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3554,3359
$GC,7131,-0.54,-126.5,771.3,-8.1,255,7135,0.00,1.42,0.00,0.000,6,0.000,0.026,2500,2577,3359
$GC,7405,-0.54,-126.5,791.1,-7.3,262,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2568,3358
$GC,7648,-0.54,-126.5,811.1,-8.4,268,7651,0.00,1.58,0.00,0.000,4,0.000,0.053,2495,3555,3357
$GC,7698,-0.54,-126.5,815.6,-9.2,269,7701,0.00,1.42,0.00,0.000,6,0.000,0.027,2500,2584,3356
$GC,7992,-0.54,-126.5,839.5,-7.9,276,7995,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1476,3355
$GC,8028,-0.54,-126.5,842.4,-7.7,276,8031,0.00,1.67,0.00,0.000,6,0.000,0.045,2502,2567,3355
$GC,8289,-0.54,-126.5,861.9,-7.6,283,8293,0.00,1.55,0.00,0.000,4,0.000,0.057,2495,3544,3354
$GC,8340,-0.54,-126.5,866.0,-8.4,284,8343,0.00,1.40,0.00,0.000,6,0.000,0.027,2500,2590,3354
$GC,8634,-0.54,-126.5,888.6,-7.8,291,8638,0.00,1.60,0.00,0.000,4,0.000,0.027,2507,1467,3353
$GC,8659,-0.54,-126.5,890.8,-8.0,291,8662,0.00,1.70,0.00,0.000,6,0.000,0.046,2502,2568,3353
$STATE,8805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8805,begin apogee
$GC,8816,-0.20,0.0,901.6,7.4,295,8931,0.40,0.00,111.65,1.260,6,0.102,0.000,2637,2225,2858
$STATE,8932,end apogee,CONTROL_FINISHED_OK
$STATE,8932,begin climb
$GC,8937,0.54,126.5,904.9,0.0,298,9161,0.65,1.60,147.12,1.041,4,0.048,0.027,2891,1179,2342
$GC,9226,0.54,126.5,874.1,16.0,304,9229,0.00,1.65,0.00,0.000,6,0.000,0.043,2891,2213,2338
$GC,9498,0.54,126.5,827.9,17.0,311,9501,0.00,1.67,0.00,0.000,4,0.000,0.051,2891,3289,2334
$GC,9566,0.54,126.5,814.9,17.1,312,9570,0.00,1.55,0.00,0.000,6,0.000,0.026,2896,2247,2333
$GC,9839,0.54,126.5,767.9,17.3,319,9842,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3293,2332
$GC,9913,0.54,126.5,753.9,18.7,320,9917,0.00,1.52,0.00,0.000,6,0.000,0.026,2897,2265,2331
$GC,10179,0.54,126.5,710.8,16.3,327,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2258,2330
$GC,10422,0.54,126.5,671.1,16.5,333,10426,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3300,2330
$GC,10452,0.54,126.5,665.5,18.4,333,10456,0.00,1.55,0.00,0.000,6,0.000,0.026,2896,2256,2329
$GC,10719,0.54,126.5,623.4,15.8,340,10723,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3288,2329
$GC,10784,0.54,126.5,612.6,16.0,341,10787,0.00,1.50,0.00,0.000,6,0.000,0.027,2896,2279,2328
$GC,11061,0.54,126.5,570.1,15.4,348,11065,0.00,1.62,0.00,0.000,4,0.000,0.029,2904,1161,2328
$GC,11142,0.54,126.5,558.2,14.4,349,11146,0.00,1.67,0.00,0.000,6,0.000,0.042,2905,2252,2328
$GC,11403,0.54,126.5,520.4,14.5,356,11407,0.00,1.62,0.00,0.000,4,0.000,0.029,2910,1151,2327
$GC,11453,0.54,126.5,512.8,15.1,357,11456,0.00,1.67,0.00,0.000,6,0.000,0.042,2905,2239,2327
$GC,11748,0.54,126.5,471.0,14.2,364,11751,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3293,2327
$GC,11828,0.54,126.5,458.3,14.8,365,11832,0.08,1.52,0.00,0.000,6,0.179,0.026,2879,2260,2326
$GC,12088,0.54,126.5,423.6,13.5,372,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2254,2326
$GC,12332,0.54,126.5,394.1,12.2,378,12335,0.00,1.60,0.00,0.000,4,0.000,0.028,2886,1159,2326
$GC,12367,0.54,126.5,389.6,11.0,378,12371,0.00,1.73,0.00,0.000,6,0.000,0.042,2886,2281,2325
$GC,12629,0.54,126.5,361.6,10.8,385,12632,0.00,1.55,0.00,0.000,4,0.000,0.050,2886,3274,2325
$GC,12698,0.54,126.5,352.0,12.7,386,12701,0.00,1.48,0.00,0.000,6,0.000,0.025,2892,2270,2325
$GC,12969,0.54,126.5,321.9,11.0,393,12973,0.00,1.60,0.00,0.000,4,0.000,0.028,2900,1173,2325
$GC,13021,0.54,126.5,316.2,10.8,394,13025,0.00,1.73,0.00,0.000,6,0.000,0.042,2900,2272,2325
$GC,13315,0.54,126.5,283.4,11.2,401,13318,0.00,1.62,0.00,0.000,4,0.000,0.027,2908,1167,2325
$GC,13479,0.54,126.5,265.1,10.4,404,13483,0.00,1.62,0.00,0.000,6,0.000,0.041,2905,2230,2325
$GC,13745,0.54,126.5,239.1,9.8,411,13749,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3279,2325
$GC,13877,0.54,131.1,225.7,8.8,413,13884,0.10,1.55,0.00,0.000,6,0.156,0.024,2881,2219,2325
$GC,14132,0.55,157.8,206.1,7.7,420,14177,0.00,1.52,28.42,0.720,4,0.000,0.026,2887,1175,2213
$GC,14228,0.56,163.7,198.1,8.7,422,14242,0.00,1.65,6.60,0.636,6,0.000,0.039,2887,2248,2190
$GC,14504,0.56,163.7,173.0,9.3,447,14507,0.00,1.60,0.00,0.000,4,0.000,0.048,2886,3299,2187
$GC,14555,0.56,163.7,167.5,9.9,451,14559,0.00,1.62,0.00,0.000,6,0.000,0.023,2895,2176,2186
$GC,14826,0.56,163.7,140.7,9.4,476,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2170,2187
$GC,15093,0.56,163.7,115.4,9.6,501,15097,0.00,1.73,0.00,0.000,4,0.000,0.044,2891,3295,2186
$GC,15144,0.56,163.7,110.3,10.2,505,15148,0.00,1.60,0.00,0.000,6,0.000,0.022,2897,2193,2186
$GC,15420,0.57,184.3,84.2,8.0,530,15448,0.00,1.48,19.17,0.621,4,0.000,0.024,2899,1170,2105
$GC,15513,0.59,242.3,77.4,6.2,537,15570,0.00,1.55,49.40,0.623,6,0.000,0.036,2899,2177,1869
$GC,15827,0.59,242.3,52.8,9.0,565,15830,0.00,1.67,0.00,0.000,4,0.000,0.042,2899,3289,1864
$GC,15882,0.59,249.9,47.9,8.6,569,15896,0.00,1.65,7.18,0.515,6,0.000,0.021,2899,2168,1839
$GC,16173,0.59,249.9,18.4,10.0,603,16182,0.00,1.73,0.00,0.000,4,0.000,0.040,2900,3275,1838
$GC,16225,0.59,258.5,14.1,8.6,610,16244,0.00,1.58,8.93,0.512,6,0.000,0.020,2902,2167,1804
$STATE,16325,end climb,SURFACE_DEPTH_REACHED
$STATE,16325,begin surface coast
$FINISH,0.8,1.023554
$STATE,16362,end surface coast,CONTROL_FINISHED_OK
$STATE,16362,begin surface
$SM_CCo,16388,53.90,0.538,0,0,1267,390.02
$SM_GC,1.35,0.00,0.00,53.90,0.000,0.000,0.538,35,2515,1267,-8.32,0.42,390.02
$IRIDIUM_FIX,2234.68,-15743.29,240203,222215
$TT8_MAMPS,0.023777
$HUMID,2238
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,7
$24V_AH,23.4,62.742
$10V_AH,10.5,77.405
$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,18.300,126.950,378.475,53.900,0.000,141.001,194.301,944.101,1.750,0.000,0.000,20.195,1347.966,11010.857,514.100,3327.146,1990.456,33.378,1595.000,0.000,3311.258,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,65.962,1260.181,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,429.466,2071.927,2146.521,1432.179,1400.062,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54006,630
$CAP_FILE_SIZE,147925,0
$CFSIZE,260165632,233222144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,011213,031024,2242.555,-15742.312,40,1.8,40,10.1