version: 66.04
glider: 512
mission: 4
dive: 377
start: 12 1 113 13 40 47
data:
$ID,512
$MISSION,4
$DIVE,377
$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,-114807.05
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,131229,2239.065,-15739.310,64,1.2,64,10.1
$_CALLS,3
$_XMS_NAKs,41
$_XMS_TOUTs,2
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.9
$GPS2,133955,2239.030,-15739.302,20,1.5,20,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,-0.207
$KALMAN_X,107751.1,-312.7,-284.1,-71711.6,1757.3
$KALMAN_Y,-43621.9,-253.5,-446.7,34975.4,2631.2
$MHEAD_RNG_PITCHd_Wd,157.0,2682,-19.5,-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,-0.60,-101.0,0.0,0.0,0,93,0.00,0.00,-68.50,0.000,2,0.000,0.000,6,2532,2864
$GC,99,-0.61,-126.5,2.1,-1.6,8,128,9.65,1.58,-12.25,0.000,4,0.200,0.036,2499,1403,3375
$GC,321,-0.61,-126.5,49.4,-20.1,34,325,0.00,1.65,0.00,0.000,6,0.000,0.038,2493,2500,3375
$GC,594,-0.61,-126.5,108.7,-19.2,59,598,0.00,1.62,0.00,0.000,4,0.000,0.044,2485,3569,3376
$GC,701,-0.61,-126.5,130.6,-20.3,68,705,0.00,1.50,0.00,0.000,6,0.000,0.018,2490,2506,3376
$GC,973,-0.61,-126.5,181.6,-18.1,93,976,0.00,1.60,0.00,0.000,4,0.000,0.041,2484,3565,3376
$GC,1058,-0.61,-126.5,196.4,-16.6,100,1061,0.00,1.42,0.00,0.000,6,0.000,0.018,2489,2553,3376
$GC,1329,-0.61,-126.5,236.6,-14.5,108,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2544,3376
$GC,1572,-0.61,-126.5,274.8,-15.5,114,1576,0.00,1.55,0.00,0.000,4,0.000,0.043,2483,3559,3375
$GC,1608,-0.61,-126.5,280.3,-14.2,114,1611,0.00,1.40,0.00,0.000,6,0.000,0.020,2488,2562,3375
$GC,1870,-0.61,-126.5,312.7,-12.3,121,1873,0.00,1.55,0.00,0.000,4,0.000,0.044,2483,3560,3374
$GC,1933,-0.61,-126.5,321.7,-13.1,122,1936,0.00,1.38,0.00,0.000,6,0.000,0.019,2488,2586,3374
$GC,2209,-0.61,-126.5,356.4,-12.8,129,2213,0.00,1.52,0.00,0.000,4,0.000,0.044,2482,3566,3372
$GC,2291,-0.61,-126.5,367.3,-12.9,130,2294,0.00,1.38,0.00,0.000,6,0.000,0.020,2487,2589,3371
$GC,2551,-0.61,-126.5,398.9,-12.2,137,2555,0.00,1.52,0.00,0.000,4,0.000,0.045,2481,3566,3369
$GC,2575,-0.61,-126.5,402.2,-11.9,137,2579,0.00,1.35,0.00,0.000,6,0.000,0.020,2486,2602,3369
$GC,2846,-0.61,-126.5,433.7,-11.7,144,2849,0.00,1.58,0.00,0.000,4,0.000,0.021,2494,1462,3367
$GC,2897,-0.61,-126.5,438.8,-9.6,145,2901,0.00,1.70,0.00,0.000,6,0.000,0.042,2487,2590,3367
$GC,3191,-0.61,-126.5,470.1,-10.6,152,3195,0.00,1.50,-0.08,0.000,4,0.000,0.068,2480,3561,3389
$GC,3260,-0.61,-126.5,478.2,-11.1,153,3264,0.00,1.35,0.00,0.000,6,0.000,0.022,2480,2614,3389
$GC,3533,-0.61,-126.5,510.0,-12.2,160,3537,0.00,1.60,0.00,0.000,4,0.000,0.024,2481,1446,3386
$GC,3557,-0.61,-126.5,513.8,-13.3,160,3561,0.00,1.77,0.00,0.000,6,0.000,0.044,2480,2594,3386
$GC,3829,-0.61,-126.5,546.3,-12.1,167,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2594,3384
$GC,4072,-0.61,-126.5,573.0,-10.8,173,4076,0.00,1.50,0.00,0.000,4,0.000,0.052,2473,3562,3381
$GC,4136,-0.61,-126.5,580.0,-10.4,174,4140,0.08,1.35,0.00,0.000,6,0.128,0.024,2498,2617,3380
$GC,4414,-0.61,-126.5,603.0,-8.3,181,4417,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1460,3379
$GC,4509,-0.61,-126.5,610.9,-8.1,183,4513,0.00,1.77,0.00,0.000,6,0.000,0.042,2501,2603,3378
$GC,4805,-0.61,-126.5,636.4,-8.9,190,4808,0.00,1.62,0.00,0.000,4,0.000,0.024,2507,1454,3376
$GC,4846,-0.61,-126.5,640.5,-8.4,190,4854,0.00,1.75,0.00,0.000,6,0.000,0.043,2501,2584,3375
$GC,5100,-0.61,-126.5,663.6,-9.4,197,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2584,3374
$GC,5344,-0.61,-126.5,686.4,-9.4,203,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2584,3372
$GC,5589,-0.61,-126.5,707.6,-8.6,209,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2584,3371
$GC,5832,-0.61,-126.5,727.0,-7.8,215,5836,0.00,1.62,0.00,0.000,4,0.000,0.025,2507,1464,3370
$GC,5856,-0.61,-126.5,729.1,-7.9,215,5860,0.00,1.70,0.00,0.000,6,0.000,0.045,2501,2576,3369
$GC,6128,-0.61,-126.5,748.5,-7.0,222,6132,0.00,1.55,0.00,0.000,4,0.000,0.054,2493,3561,3367
$GC,6225,-0.61,-126.5,755.4,-7.3,224,6228,0.00,1.40,0.00,0.000,6,0.000,0.026,2498,2604,3367
$GC,6519,-0.61,-126.5,776.5,-7.3,231,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3366
$GC,6763,-0.61,-126.5,794.7,-7.5,237,6766,0.00,1.60,0.00,0.000,4,0.000,0.025,2506,1457,3364
$GC,6815,-0.61,-126.5,798.6,-7.2,238,6818,0.00,1.77,0.00,0.000,6,0.000,0.045,2500,2605,3364
$GC,7109,-0.61,-126.5,822.7,-8.3,245,7112,0.00,1.50,0.00,0.000,4,0.000,0.056,2492,3556,3363
$GC,7159,-0.61,-126.5,827.1,-8.7,246,7163,0.00,1.38,0.00,0.000,6,0.000,0.028,2497,2618,3362
$GC,7455,-0.61,-126.5,850.9,-7.9,253,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2610,3362
$GC,7698,-0.61,-126.5,870.1,-7.9,259,7701,0.00,1.62,0.00,0.000,4,0.000,0.028,2505,1457,3360
$GC,7722,-0.61,-126.5,872.5,-8.0,259,7726,0.00,1.77,0.00,0.000,6,0.000,0.045,2500,2610,3360
$GC,7994,-0.61,-126.5,893.8,-8.0,266,7998,0.00,1.50,0.00,0.000,4,0.000,0.057,2492,3557,3359
$GC,8031,-0.61,-126.5,897.0,-8.4,266,8034,0.00,1.35,0.00,0.000,6,0.000,0.028,2497,2637,3359
$STATE,8084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8084,begin apogee
$GC,8096,-0.20,0.0,901.5,8.2,268,8212,0.40,0.00,113.90,1.251,6,0.098,0.000,2636,2214,2858
$STATE,8213,end apogee,CONTROL_FINISHED_OK
$STATE,8213,begin climb
$GC,8218,0.61,126.5,904.5,0.0,271,8439,0.70,1.60,144.93,1.049,4,0.041,0.027,2904,1192,2341
$GC,8491,0.61,126.5,873.0,17.7,277,8495,0.00,1.65,0.00,0.000,6,0.000,0.040,2904,2232,2338
$GC,8785,0.61,126.5,816.1,19.3,284,8789,0.00,1.65,0.00,0.000,4,0.000,0.049,2905,3279,2333
$GC,8859,0.61,126.5,800.7,19.7,285,8863,0.00,1.52,0.00,0.000,6,0.000,0.026,2910,2255,2332
$GC,9127,0.61,126.5,748.7,19.8,292,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2250,2331
$GC,9370,0.61,126.5,701.8,19.1,298,9374,0.00,1.62,0.00,0.000,4,0.000,0.047,2905,3274,2330
$GC,9405,0.61,126.5,694.1,20.8,298,9409,0.00,1.50,0.00,0.000,6,0.000,0.026,2911,2262,2329
$GC,9666,0.61,126.5,646.2,18.5,305,9669,0.00,1.60,0.00,0.000,4,0.000,0.028,2919,1162,2328
$GC,9707,0.61,126.5,638.6,16.4,305,9714,0.00,1.73,0.00,0.000,6,0.000,0.041,2918,2264,2328
$GC,9961,0.61,126.5,595.0,17.4,312,9964,0.00,1.62,0.00,0.000,4,0.000,0.029,2924,1149,2328
$GC,10025,0.61,126.5,583.7,17.3,313,10029,0.00,1.67,0.00,0.000,6,0.000,0.042,2918,2240,2327
$GC,10303,0.61,126.5,536.9,17.0,320,10306,0.00,1.62,0.00,0.000,4,0.000,0.051,2918,3300,2327
$GC,10398,0.61,126.5,518.9,19.4,322,10402,0.00,1.52,0.00,0.000,6,0.000,0.026,2924,2269,2327
$GC,10692,0.61,126.5,467.9,16.6,329,10696,0.00,1.60,0.00,0.000,4,0.000,0.029,2932,1167,2326
$GC,10761,0.61,126.5,456.8,14.3,330,10765,0.12,1.67,0.00,0.000,6,0.173,0.041,2901,2260,2325
$GC,11034,0.61,126.5,423.3,12.1,337,11037,0.00,1.58,0.00,0.000,4,0.000,0.049,2901,3269,2325
$GC,11084,0.61,126.5,416.5,14.0,338,11088,0.00,1.50,0.00,0.000,6,0.000,0.026,2906,2254,2324
$GC,11377,0.61,126.5,377.3,13.6,345,11381,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3271,2324
$GC,11438,0.61,126.5,368.3,15.1,346,11441,0.00,1.50,0.00,0.000,6,0.000,0.025,2910,2249,2325
$GC,11721,0.61,126.5,330.3,13.3,353,11725,0.00,1.58,0.00,0.000,4,0.000,0.029,2915,1168,2324
$GC,11751,0.61,126.5,326.2,12.0,353,11754,0.00,1.73,0.00,0.000,6,0.000,0.041,2916,2299,2325
$GC,12016,0.61,126.5,296.0,11.3,360,12020,0.00,1.52,0.00,0.000,4,0.000,0.048,2915,3281,2324
$GC,12120,0.61,126.5,282.5,12.9,362,12123,0.00,1.42,0.00,0.000,6,0.000,0.025,2922,2305,2324
$GC,12403,0.61,126.5,249.8,11.6,369,12407,0.00,1.62,0.00,0.000,4,0.000,0.027,2931,1156,2324
$GC,12484,0.61,126.5,241.0,10.6,370,12488,0.12,1.77,0.00,0.000,6,0.163,0.041,2900,2316,2324
$GC,12745,0.61,126.5,216.1,9.5,377,12748,0.00,1.50,0.00,0.000,4,0.000,0.049,2900,3277,2324
$GC,12854,0.61,126.5,204.6,9.8,379,12857,0.00,1.33,0.00,0.000,6,0.000,0.024,2905,2358,2324
$GC,13119,0.61,132.3,180.9,8.7,399,13123,0.00,1.45,0.00,0.000,4,0.000,0.044,2905,3280,2324
$GC,13159,0.61,134.3,177.2,8.9,402,13173,0.00,1.27,5.32,0.585,6,0.000,0.023,2910,2394,2311
$GC,13435,0.61,137.4,153.9,8.8,427,13448,0.00,1.77,5.30,0.563,4,0.000,0.025,2915,1176,2296
$GC,13511,0.61,137.4,146.7,9.0,433,13515,0.00,1.88,0.00,0.000,6,0.000,0.039,2915,2409,2296
$GC,13784,0.62,157.3,123.0,7.8,458,13811,0.00,1.85,19.17,0.659,4,0.000,0.025,2915,1171,2215
$GC,13865,0.63,181.0,116.3,7.6,464,13891,0.00,1.88,21.65,0.647,6,0.000,0.038,2915,2378,2119
$GC,14152,0.63,181.0,85.6,10.6,490,14156,0.00,1.38,0.00,0.000,4,0.000,0.044,2915,3280,2115
$GC,14203,0.63,181.0,80.4,10.4,494,14207,0.00,1.33,0.00,0.000,6,0.000,0.021,2915,2362,2115
$GC,14477,0.63,181.0,55.4,10.1,519,14480,0.00,1.73,0.00,0.000,4,0.000,0.026,2915,1167,2115
$GC,14506,0.63,181.0,52.3,10.2,521,14509,0.00,1.85,0.00,0.000,6,0.000,0.036,2915,2394,2115
$GC,14777,0.63,181.0,26.8,10.2,547,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2394,2115
$STATE,15007,end climb,SURFACE_DEPTH_REACHED
$STATE,15007,begin surface coast
$FINISH,0.5,1.023600
$STATE,15040,end surface coast,CONTROL_FINISHED_OK
$STATE,15040,begin surface
$SM_CCo,15066,86.05,0.545,0,0,1267,390.02
$SM_GC,1.19,0.00,0.00,86.05,0.000,0.000,0.545,31,2553,1267,-8.32,1.50,390.02
$IRIDIUM_FIX,2232.34,-15738.08,250203,131339
$TT8_MAMPS,0.023777
$HUMID,2230
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,8
$24V_AH,23.4,63.284
$10V_AH,10.5,78.064
$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,18.425,117.225,310.275,86.050,0.000,75.322,113.956,1114.603,2.000,0.000,0.000,20.698,1270.639,9934.178,478.386,3149.095,1958.630,33.371,1457.907,0.000,3139.380,0.000,0.545,0.000
$DEVICE_MAMPS,200.187,68.263,1250.977,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,401.657,1935.997,2020.470,1323.419,1363.004,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50883,588
$CAP_FILE_SIZE,139082,0
$CFSIZE,260165632,233033728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,011213,175523,2237.499,-15738.190,74,1.3,74,10.1