version: 66.04
glider: 512
mission: 4
dive: 376
start: 12 1 113 8 36 55
data:
$ID,512
$MISSION,4
$DIVE,376
$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,-114785.72
$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,54
$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
$GPS1,081754,2241.237,-15740.355,44,1.1,44,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.4
$GPS2,083602,2241.236,-15740.302,11,1.6,30,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,-0.221
$KALMAN_X,107163.9,-229.4,154.8,-73357.4,607.5
$KALMAN_Y,-44277.5,-312.6,-27.8,39342.3,1832.7
$MHEAD_RNG_PITCHd_Wd,149.6,6496,-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,17,-0.54,-126.5,0.0,0.0,0,114,0.00,0.00,-94.43,0.000,2,0.000,0.000,6,2551,2741
$GC,120,-0.54,-126.5,2.1,-1.0,11,158,9.77,1.60,-17.27,0.000,4,0.202,0.040,2520,1436,3375
$GC,177,-0.54,-126.5,11.1,-18.0,17,186,0.00,1.60,0.00,0.000,6,0.000,0.035,2514,2485,3375
$GC,455,-0.54,-126.5,78.4,-24.3,47,458,0.00,1.62,0.00,0.000,4,0.000,0.044,2505,3575,3375
$GC,576,-0.54,-126.5,102.1,-17.7,57,579,0.00,1.52,0.00,0.000,6,0.000,0.019,2511,2501,3375
$GC,847,-0.54,-126.5,146.7,-15.7,82,851,0.00,1.62,0.00,0.000,4,0.000,0.041,2504,3576,3376
$GC,889,-0.54,-126.5,153.8,-16.2,85,897,0.00,1.48,0.00,0.000,6,0.000,0.019,2510,2524,3376
$GC,1156,-0.54,-126.5,191.2,-12.7,110,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2516,3375
$GC,1433,-0.54,-126.5,226.7,-12.2,122,1437,0.00,1.60,0.00,0.000,4,0.000,0.041,2504,3582,3375
$GC,1457,-0.54,-126.5,230.4,-13.2,122,1461,0.00,1.45,0.00,0.000,6,0.000,0.019,2509,2546,3375
$GC,1729,-0.54,-126.5,265.1,-12.4,129,1733,0.00,1.58,0.00,0.000,4,0.000,0.043,2502,3566,3374
$GC,1780,-0.54,-126.5,271.4,-12.3,130,1784,0.00,1.42,0.00,0.000,6,0.000,0.019,2508,2556,3374
$GC,2074,-0.54,-126.5,304.7,-11.2,137,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2548,3373
$GC,2318,-0.54,-126.5,330.5,-10.6,143,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2549,3371
$GC,2562,-0.54,-126.5,358.2,-11.4,149,2565,0.00,1.52,0.00,0.000,4,0.000,0.021,2515,1450,3370
$GC,2592,-0.54,-126.5,362.0,-10.7,149,2595,0.00,1.70,0.00,0.000,6,0.000,0.038,2510,2566,3370
$GC,2857,-0.54,-126.5,389.5,-10.3,156,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2566,3366
$GC,3101,-0.54,-126.5,412.6,-9.2,162,3103,0.00,0.00,-0.08,0.000,6,0.000,0.000,2510,2567,3387
$GC,3345,-0.54,-126.5,434.5,-9.0,168,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2567,3386
$GC,3589,-0.54,-126.5,456.5,-9.1,174,3592,0.00,1.58,0.00,0.000,4,0.000,0.022,2515,1466,3384
$GC,3613,-0.54,-126.5,458.9,-8.8,174,3617,0.00,1.67,0.00,0.000,6,0.000,0.041,2510,2555,3383
$GC,3885,-0.54,-126.5,483.7,-9.4,181,3889,0.00,1.55,0.00,0.000,4,0.000,0.051,2503,3556,3381
$GC,3928,-0.54,-126.5,488.1,-10.2,181,3936,0.00,1.42,0.00,0.000,6,0.000,0.023,2508,2556,3381
$GC,4183,-0.54,-126.5,512.4,-9.7,188,4187,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1458,3378
$GC,4224,-0.54,-126.5,516.8,-8.8,188,4233,0.00,1.67,0.00,0.000,6,0.000,0.041,2502,2548,3378
$GC,4479,-0.54,-126.5,541.3,-9.7,195,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2548,3376
$GC,4723,-0.54,-126.5,564.3,-9.5,201,4726,0.00,1.58,0.00,0.000,4,0.000,0.052,2494,3558,3374
$GC,4826,-0.54,-126.5,574.6,-10.1,203,4829,0.00,1.42,0.00,0.000,6,0.000,0.025,2500,2577,3373
$GC,5109,-0.54,-126.5,598.7,-8.3,210,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2568,3371
$GC,5353,-0.54,-126.5,617.8,-7.7,216,5357,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1459,3370
$GC,5404,-0.54,-126.5,621.7,-7.5,217,5408,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2558,3370
$GC,5699,-0.54,-126.5,646.0,-8.5,224,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2557,3368
$GC,5942,-0.54,-126.5,667.8,-9.0,230,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2557,3366
$GC,6186,-0.54,-126.5,691.1,-9.6,236,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2557,3365
$GC,6430,-0.54,-126.5,714.2,-9.3,242,6433,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1468,3364
$GC,6471,-0.54,-126.5,718.1,-7.9,242,6479,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2556,3363
$GC,6726,-0.54,-126.5,739.9,-8.6,249,6729,0.00,1.58,0.00,0.000,4,0.000,0.054,2494,3558,3362
$GC,6790,-0.54,-126.5,746.2,-9.2,250,6794,0.00,1.45,0.00,0.000,6,0.000,0.027,2499,2569,3362
$GC,7068,-0.54,-126.5,770.0,-8.6,257,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3361
$GC,7312,-0.54,-126.5,790.9,-8.5,263,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2559,3360
$GC,7555,-0.54,-126.5,811.0,-8.1,269,7559,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3579,3359
$GC,7587,-0.54,-126.5,813.8,-8.8,269,7591,0.00,1.48,0.00,0.000,6,0.000,0.027,2499,2575,3359
$GC,7853,-0.54,-126.5,834.0,-7.5,276,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2566,3357
$GC,8097,-0.54,-126.5,851.4,-7.0,282,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2566,3357
$GC,8341,-0.54,-126.5,868.1,-6.9,288,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2566,3356
$GC,8585,-0.54,-126.5,884.8,-6.9,294,8588,0.00,1.58,0.00,0.000,4,0.000,0.027,2507,1469,3355
$GC,8615,-0.54,-126.5,887.2,-7.3,294,8619,0.00,1.73,0.00,0.000,6,0.000,0.048,2502,2563,3355
$STATE,8794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8794,begin apogee
$GC,8806,-0.20,0.0,900.1,7.2,299,8922,0.40,0.00,113.12,1.253,6,0.100,0.000,2637,2238,2858
$STATE,8923,end apogee,CONTROL_FINISHED_OK
$STATE,8923,begin climb
$GC,8928,0.54,126.5,903.5,0.0,302,9153,0.65,1.67,147.50,1.037,4,0.040,0.028,2891,1174,2342
$GC,9243,0.54,126.5,868.0,16.7,309,9246,0.00,1.67,0.00,0.000,6,0.000,0.042,2891,2232,2337
$GC,9538,0.54,126.5,816.1,17.5,316,9542,0.00,1.65,0.00,0.000,4,0.000,0.051,2891,3274,2333
$GC,9607,0.54,126.5,803.0,17.6,317,9611,0.00,1.52,0.00,0.000,6,0.000,0.026,2897,2254,2333
$GC,9879,0.54,126.5,757.3,16.8,324,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2248,2331
$GC,10123,0.54,126.5,716.8,16.6,330,10126,0.00,1.62,0.00,0.000,4,0.000,0.048,2892,3288,2330
$GC,10174,0.54,126.5,708.0,16.7,331,10177,0.00,1.55,0.00,0.000,6,0.000,0.027,2897,2251,2330
$GC,10468,0.54,126.5,657.9,16.9,338,10471,0.00,1.58,0.00,0.000,4,0.000,0.029,2905,1163,2329
$GC,10548,0.54,126.5,644.8,16.1,339,10551,0.00,1.67,0.00,0.000,6,0.000,0.044,2905,2250,2328
$GC,10809,0.54,126.5,602.1,16.3,346,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2251,2328
$GC,11053,0.54,126.5,563.6,15.8,352,11056,0.00,1.62,0.00,0.000,4,0.000,0.051,2905,3306,2328
$GC,11088,0.54,126.5,556.8,17.1,352,11093,0.10,1.58,0.00,0.000,6,0.166,0.028,2881,2250,2328
$GC,11348,0.54,126.5,521.7,13.6,359,11352,0.00,1.65,0.00,0.000,4,0.000,0.051,2877,3292,2327
$GC,11413,0.54,126.5,512.4,13.4,360,11417,0.00,1.52,0.00,0.000,6,0.000,0.027,2883,2264,2327
$GC,11691,0.54,126.5,477.4,12.3,367,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2258,2327
$GC,11935,0.54,126.5,446.7,12.6,373,11939,0.00,1.60,0.00,0.000,4,0.000,0.028,2890,1158,2327
$GC,11992,0.54,126.5,439.2,11.7,374,11996,0.00,1.77,0.00,0.000,6,0.000,0.044,2891,2289,2326
$GC,12275,0.54,126.5,402.5,13.3,381,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2289,2326
$GC,12518,0.54,126.5,371.5,12.9,387,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2289,2326
$GC,12763,0.54,126.5,342.8,11.6,393,12766,0.00,1.65,0.00,0.000,4,0.000,0.028,2897,1157,2326
$GC,12814,0.54,126.5,336.9,11.0,394,12818,0.00,1.75,0.00,0.000,6,0.000,0.043,2891,2290,2326
$GC,13109,0.54,126.5,304.1,10.6,401,13112,0.00,1.55,0.00,0.000,4,0.000,0.051,2891,3280,2326
$GC,13150,0.54,126.5,299.6,10.6,401,13158,0.00,1.50,0.00,0.000,6,0.000,0.026,2896,2257,2326
$GC,13405,0.54,126.5,273.3,10.6,408,13408,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3299,2326
$GC,13519,0.54,126.5,260.6,10.9,410,13522,0.00,1.45,0.00,0.000,6,0.000,0.025,2896,2305,2326
$GC,13791,0.54,126.5,234.1,9.8,417,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2299,2326
$GC,14035,0.54,126.5,210.7,9.8,423,14038,0.00,1.55,0.00,0.000,4,0.000,0.047,2891,3281,2326
$GC,14066,0.54,126.5,207.3,10.6,423,14070,0.00,1.40,0.00,0.000,6,0.000,0.024,2896,2318,2326
$GC,14329,0.55,147.9,185.1,8.0,441,14359,0.00,1.67,19.85,0.678,4,0.000,0.027,2905,1167,2255
$GC,14522,0.56,162.4,168.1,8.3,457,14540,0.00,1.73,14.15,0.695,6,0.000,0.039,2905,2293,2196
$GC,14806,0.56,162.4,139.7,10.5,482,14810,0.00,1.52,0.00,0.000,4,0.000,0.047,2905,3281,2192
$GC,14848,0.56,162.4,134.2,10.9,485,14857,0.08,1.45,0.00,0.000,6,0.150,0.023,2888,2288,2192
$GC,15119,0.56,172.7,110.9,8.5,510,15134,0.00,1.65,10.40,0.620,4,0.000,0.024,2894,1159,2152
$GC,15175,0.56,181.3,105.8,8.6,514,15190,0.00,1.75,9.05,0.597,6,0.000,0.038,2891,2308,2118
$GC,15451,0.58,209.7,82.3,7.6,539,15482,0.00,1.52,25.35,0.624,4,0.000,0.044,2891,3285,2002
$GC,15533,0.58,220.1,75.0,8.5,545,15547,0.00,1.45,10.70,0.575,6,0.000,0.023,2897,2294,1959
$GC,15813,0.59,236.3,52.5,8.2,570,15832,0.00,1.62,14.60,0.574,4,0.000,0.024,2899,1160,1893
$GC,15874,0.60,265.6,47.3,7.6,574,15903,0.00,1.75,25.48,0.582,6,0.000,0.038,2899,2308,1775
$GC,16180,0.60,265.6,16.8,11.7,609,16189,0.00,1.50,0.00,0.000,4,0.000,0.043,2899,3289,1770
$GC,16214,0.60,265.6,13.0,11.6,613,16223,0.00,1.45,0.00,0.000,6,0.000,0.021,2899,2293,1769
$STATE,16310,end climb,SURFACE_DEPTH_REACHED
$STATE,16310,begin surface coast
$FINISH,0.4,1.010420
$STATE,16343,end surface coast,CONTROL_FINISHED_OK
$STATE,16343,begin surface
$SM_CCo,16369,50.70,0.540,0,0,1267,390.02
$SM_GC,1.27,0.00,0.00,50.70,0.000,0.000,0.540,29,2535,1267,-8.34,0.99,390.02
$IRIDIUM_FIX,2232.34,-15743.29,250203,080855
$TT8_MAMPS,0.023777
$HUMID,2265
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,6
$24V_AH,23.4,63.102
$10V_AH,10.5,77.850
$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,18.250,102.175,390.200,50.700,0.000,62.550,71.437,665.585,1.500,0.000,0.000,31.052,1292.128,11052.813,517.861,3169.670,1468.296,33.372,1517.467,0.000,3161.511,0.000,0.544,0.000
$DEVICE_MAMPS,202.488,54.457,1253.278,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,431.133,2085.378,2160.162,1429.659,1403.491,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54046,633
$CAP_FILE_SIZE,129648,0
$CFSIZE,260165632,233103360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,011213,131229,2239.065,-15739.310,64,1.2,64,10.1