version: 66.04
glider: 512
mission: 4
dive: 375
start: 12 1 113 3 41 42
data:
$ID,512
$MISSION,4
$DIVE,375
$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,-114754.03
$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,70
$R_STBD_OVSHOOT,38
$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
$GPS1,031024,2242.555,-15742.312,40,1.8,40,10.1
$_CALLS,5
$_XMS_NAKs,24
$_XMS_TOUTs,3
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.3
$GPS2,034048,2242.746,-15742.280,10,1.9,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,-0.194
$KALMAN_X,106349.8,115.5,-96.5,-76013.8,781.6
$KALMAN_Y,-46010.8,-14.1,314.7,43235.3,413.5
$MHEAD_RNG_PITCHd_Wd,135.5,10849,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,84,0.00,0.00,-59.80,0.000,2,0.000,0.000,8,2511,2655
$GC,90,-0.54,-126.5,2.0,-1.0,7,128,9.73,1.52,-19.85,0.000,4,0.201,0.040,2512,1452,3374
$GC,159,-0.54,-126.5,13.4,-21.3,15,168,0.00,1.60,0.00,0.000,6,0.000,0.036,2507,2501,3374
$GC,442,-0.54,-126.5,83.9,-24.7,45,445,0.00,1.60,0.00,0.000,4,0.000,0.043,2498,3579,3374
$GC,549,-0.54,-126.5,104.9,-19.1,54,553,0.00,1.52,0.00,0.000,6,0.000,0.018,2504,2508,3373
$GC,821,-0.54,-126.5,154.2,-17.4,79,824,0.00,1.60,0.00,0.000,4,0.000,0.041,2498,3570,3374
$GC,882,-0.54,-126.5,164.3,-15.8,84,886,0.00,1.42,0.00,0.000,6,0.000,0.018,2503,2548,3374
$GC,1161,-0.54,-126.5,207.6,-15.3,107,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2540,3374
$GC,1405,-0.54,-126.5,243.0,-14.4,113,1409,0.00,1.50,0.00,0.000,4,0.000,0.020,2510,1446,3374
$GC,1462,-0.54,-126.5,250.6,-12.0,114,1466,0.00,1.67,0.00,0.000,6,0.000,0.038,2504,2575,3374
$GC,1746,-0.54,-126.5,282.7,-11.4,121,1750,0.00,1.50,0.00,0.000,4,0.000,0.045,2497,3565,3373
$GC,1826,-0.54,-126.5,292.8,-11.5,122,1829,0.00,1.38,0.00,0.000,6,0.000,0.018,2502,2587,3373
$GC,2086,-0.54,-126.5,323.7,-12.1,129,2090,0.00,1.55,0.00,0.000,4,0.000,0.021,2510,1453,3371
$GC,2147,-0.54,-126.5,330.3,-9.9,130,2150,0.00,1.70,0.00,0.000,6,0.000,0.038,2504,2595,3371
$GC,2429,-0.54,-126.5,359.8,-10.3,137,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2595,3370
$GC,2673,-0.54,-126.5,386.2,-11.0,143,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2595,3368
$GC,2917,-0.54,-126.5,411.7,-10.4,149,2919,0.00,0.00,-0.08,0.000,6,0.000,0.000,2504,2595,3389
$GC,3160,-0.54,-126.5,437.1,-10.4,155,3164,0.00,1.62,0.00,0.000,4,0.000,0.022,2510,1461,3388
$GC,3196,-0.54,-126.5,441.0,-9.7,155,3199,0.00,1.70,0.00,0.000,6,0.000,0.040,2504,2590,3387
$GC,3456,-0.54,-126.5,465.7,-9.6,162,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2590,3385
$GC,3700,-0.54,-126.5,488.4,-9.2,168,3704,0.00,1.50,0.00,0.000,4,0.000,0.051,2497,3557,3382
$GC,3753,-0.54,-126.5,493.7,-9.0,169,3756,0.00,1.40,0.00,0.000,6,0.000,0.024,2502,2580,3382
$GC,4041,-0.54,-126.5,520.8,-9.6,176,4045,0.00,1.58,0.00,0.000,4,0.000,0.024,2510,1452,3380
$GC,4093,-0.54,-126.5,526.2,-9.3,177,4097,0.00,1.70,0.00,0.000,6,0.000,0.043,2504,2556,3379
$GC,4383,-0.54,-126.5,553.5,-9.6,184,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2556,3377
$GC,4626,-0.54,-126.5,577.2,-9.7,190,4629,0.00,1.58,0.00,0.000,4,0.000,0.025,2510,1456,3375
$GC,4661,-0.54,-126.5,580.9,-9.4,190,4665,0.00,1.70,0.00,0.000,6,0.000,0.043,2504,2554,3375
$GC,4922,-0.54,-126.5,605.0,-9.5,197,4925,0.00,1.55,0.00,0.000,4,0.000,0.053,2496,3551,3372
$GC,5008,-0.54,-126.5,613.5,-9.3,198,5015,0.00,1.40,0.00,0.000,6,0.000,0.025,2502,2570,3372
$GC,5263,-0.54,-126.5,636.1,-8.8,205,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2570,3371
$GC,5507,-0.54,-126.5,656.7,-8.5,211,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2570,3370
$GC,5751,-0.54,-126.5,677.8,-8.7,217,5755,0.00,1.58,0.00,0.000,4,0.000,0.025,2510,1457,3368
$GC,5802,-0.54,-126.5,682.0,-7.9,218,5806,0.00,1.70,0.00,0.000,6,0.000,0.044,2504,2570,3367
$GC,6096,-0.54,-126.5,707.0,-8.7,225,6100,0.00,1.55,0.00,0.000,4,0.000,0.054,2496,3558,3366
$GC,6121,-0.54,-126.5,709.5,-8.9,225,6124,0.00,1.40,0.00,0.000,6,0.000,0.026,2502,2596,3365
$GC,6394,-0.54,-126.5,733.1,-8.8,232,6398,0.00,1.60,0.00,0.000,4,0.000,0.026,2509,1443,3364
$GC,6435,-0.54,-126.5,736.9,-8.0,232,6442,0.00,1.73,0.00,0.000,6,0.000,0.044,2504,2548,3364
$GC,6690,-0.54,-126.5,756.6,-7.8,239,6694,0.00,1.60,0.00,0.000,4,0.000,0.055,2496,3562,3362
$GC,6732,-0.54,-126.5,760.5,-8.4,239,6740,0.00,1.45,0.00,0.000,6,0.000,0.026,2502,2564,3362
$GC,6987,-0.54,-126.5,779.8,-7.6,246,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2564,3361
$GC,7230,-0.54,-126.5,797.6,-7.3,252,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2564,3360
$GC,7474,-0.54,-126.5,815.8,-7.4,258,7478,0.00,1.60,0.00,0.000,4,0.000,0.054,2496,3585,3359
$GC,7500,-0.54,-126.5,818.1,-8.2,258,7503,0.00,1.48,0.00,0.000,6,0.000,0.027,2501,2585,3359
$GC,7772,-0.54,-126.5,837.7,-7.3,265,7776,0.00,1.60,0.00,0.000,4,0.000,0.026,2510,1437,3358
$GC,7808,-0.54,-126.5,840.4,-6.5,265,7812,0.00,1.77,0.00,0.000,6,0.000,0.046,2504,2565,3358
$GC,8069,-0.54,-126.5,858.2,-6.9,272,8073,0.00,1.58,0.00,0.000,4,0.000,0.057,2496,3559,3357
$GC,8120,-0.54,-126.5,861.9,-7.4,273,8124,0.00,1.45,0.00,0.000,6,0.000,0.028,2501,2577,3357
$GC,8415,-0.54,-126.5,882.0,-6.8,280,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2568,3355
$GC,8659,-0.54,-126.5,898.5,-6.7,286,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2568,3355
$STATE,8694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8694,begin apogee
$GC,8707,-0.20,0.0,901.2,6.7,287,8823,0.40,0.00,113.12,1.250,6,0.099,0.000,2641,2219,2859
$STATE,8823,end apogee,CONTROL_FINISHED_OK
$STATE,8823,begin climb
$GC,8829,0.54,126.5,903.8,0.0,290,9031,0.62,1.58,141.23,1.074,4,0.038,0.027,2891,1182,2342
$GC,9074,0.54,126.5,878.1,16.8,295,9078,0.00,1.67,0.00,0.000,6,0.000,0.043,2891,2221,2337
$GC,9340,0.54,126.5,831.6,17.8,302,9344,0.00,1.67,0.00,0.000,4,0.000,0.051,2891,3295,2332
$GC,9405,0.54,126.5,819.5,18.0,303,9408,0.00,1.55,0.00,0.000,6,0.000,0.026,2898,2259,2331
$GC,9683,0.54,126.5,770.4,17.9,310,9687,0.00,1.60,0.00,0.000,4,0.000,0.029,2907,1160,2330
$GC,9713,0.54,126.5,764.2,17.8,310,9717,0.00,1.70,0.00,0.000,6,0.000,0.044,2905,2238,2330
$GC,9978,0.54,126.5,716.4,18.2,317,9982,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3275,2329
$GC,10030,0.54,126.5,706.1,19.3,318,10035,0.08,1.52,0.00,0.000,6,0.178,0.027,2879,2252,2329
$GC,10320,0.54,126.5,660.5,15.9,325,10324,0.00,1.60,0.00,0.000,4,0.000,0.029,2885,1159,2328
$GC,10372,0.54,126.5,651.3,16.5,326,10375,0.00,1.70,0.00,0.000,6,0.000,0.044,2880,2260,2327
$GC,10660,0.54,126.5,607.9,14.9,333,10663,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3280,2327
$GC,10701,0.54,126.5,601.1,15.3,333,10711,0.00,1.52,0.00,0.000,6,0.000,0.026,2881,2246,2326
$GC,10957,0.54,126.5,566.3,13.7,340,10961,0.00,1.67,0.00,0.000,4,0.000,0.051,2877,3286,2326
$GC,11015,0.54,126.5,557.9,13.8,341,11018,0.00,1.48,0.00,0.000,6,0.000,0.028,2882,2289,2325
$GC,11298,0.54,126.5,520.6,13.4,348,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2284,2325
$GC,11542,0.54,126.5,486.3,14.1,354,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2283,2324
$GC,11785,0.54,126.5,453.1,13.5,360,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2283,2324
$GC,12029,0.54,126.5,420.8,13.1,366,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2283,2324
$GC,12272,0.54,126.5,389.6,12.6,372,12276,0.00,1.62,0.00,0.000,4,0.000,0.028,2890,1152,2324
$GC,12348,0.54,126.5,379.8,11.6,373,12351,0.00,1.73,0.00,0.000,6,0.000,0.043,2890,2271,2323
$GC,12614,0.54,126.5,348.2,11.8,380,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2272,2323
$GC,12857,0.54,126.5,319.1,12.2,386,12861,0.00,1.58,0.00,0.000,4,0.000,0.051,2891,3278,2323
$GC,12915,0.54,126.5,311.6,12.0,387,12919,0.00,1.52,0.00,0.000,6,0.000,0.026,2897,2238,2323
$GC,13199,0.54,126.5,279.1,11.9,394,13202,0.00,1.55,0.00,0.000,4,0.000,0.028,2902,1170,2323
$GC,13284,0.54,126.5,269.2,11.0,395,13290,0.00,1.62,0.00,0.000,6,0.000,0.041,2902,2212,2323
$GC,13539,0.54,126.5,244.7,9.5,402,13542,0.00,1.65,0.00,0.000,4,0.000,0.049,2902,3291,2323
$GC,13597,0.54,126.5,238.3,11.4,403,13602,0.15,1.60,0.00,0.000,6,0.154,0.025,2872,2180,2323
$GC,13881,0.54,132.0,213.6,8.7,410,13884,0.00,1.73,0.00,0.000,4,0.000,0.049,2872,3284,2323
$GC,14032,0.54,132.0,198.7,9.6,414,14035,0.00,1.52,0.00,0.000,6,0.000,0.025,2878,2241,2324
$GC,14308,0.56,165.6,175.8,7.4,439,14353,0.00,1.65,34.72,0.703,4,0.000,0.046,2878,3286,2181
$GC,14427,0.56,165.6,164.2,9.6,448,14435,0.00,1.50,0.00,0.000,6,0.000,0.024,2883,2274,2179
$GC,14695,0.56,172.9,138.8,8.7,473,14708,0.00,1.58,7.38,0.613,4,0.000,0.048,2884,3285,2153
$GC,14749,0.56,179.7,133.9,8.7,477,14762,0.00,1.45,7.78,0.609,6,0.000,0.024,2891,2290,2125
$GC,15025,0.57,189.0,109.9,8.6,502,15040,0.00,1.52,9.68,0.611,4,0.000,0.045,2891,3283,2087
$GC,15057,0.57,203.9,106.9,8.3,504,15075,0.00,1.40,14.55,0.624,6,0.000,0.022,2897,2319,2026
$GC,15342,0.57,203.9,79.9,10.8,529,15345,0.00,1.65,0.00,0.000,4,0.000,0.025,2900,1160,2023
$GC,15384,0.58,220.9,75.8,8.2,532,15404,0.00,1.80,15.60,0.604,6,0.000,0.038,2899,2323,1957
$GC,15669,0.58,220.9,51.0,9.2,557,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2322,1954
$GC,15942,0.58,220.9,27.3,10.2,584,15951,0.00,1.48,0.00,0.000,4,0.000,0.044,2899,3291,1954
$GC,15982,0.58,220.9,23.7,9.3,589,15991,0.00,1.42,0.00,0.000,6,0.000,0.021,2903,2305,1953
$STATE,16225,end climb,SURFACE_DEPTH_REACHED
$STATE,16225,begin surface coast
$FINISH,0.5,1.015768
$STATE,16276,end surface coast,CONTROL_FINISHED_OK
$STATE,16276,begin surface
$SM_CCo,16301,176.07,0.538,0,0,398,603.18
$SM_GC,1.27,0.00,0.00,176.07,0.000,0.000,0.538,28,2554,398,-8.30,1.53,603.18
$IRIDIUM_FIX,2237.01,-15742.40,250203,030317
$TT8_MAMPS,0.023777
$HUMID,2166
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.70
$XPDR_PINGS,9
$24V_AH,23.4,62.942
$10V_AH,10.5,77.632
$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,18.350,111.250,344.050,176.075,0.000,143.705,202.336,989.015,2.250,0.000,0.000,15.853,1323.181,11115.011,595.918,3216.294,2044.935,33.374,1588.333,0.000,3210.058,0.000,0.544,0.000
$DEVICE_MAMPS,200.954,56.758,1250.210,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,433.342,2085.780,2158.069,1499.860,1436.594,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54160,635
$CAP_FILE_SIZE,143588,0
$CFSIZE,260165632,233132032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,011213,081754,2241.237,-15740.355,44,1.1,44,10.1