version: 66.04
glider: 512
mission: 4
dive: 248
start: 11 3 113 0 17 24
data:
$ID,512
$MISSION,4
$DIVE,248
$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,-111326.17
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2696
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$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,56
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,235006,2306.966,-15733.916,43,1.0,43,10.1
$_CALLS,4
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-81.1
$GPS2,001630,2306.757,-15733.936,16,1.4,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.211,0.024
$KALMAN_X,34135.7,-130.1,34.0,10569.7,972.4
$KALMAN_Y,60622.7,417.8,155.1,-19216.2,-2843.1
$MHEAD_RNG_PITCHd_Wd,266.4,3524,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.52,-101.0,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,2,0.000,0.000,10,2528,2725
$GC,85,-0.53,-126.5,2.3,-1.4,7,123,9.43,1.58,-16.75,0.000,4,0.195,0.057,2512,3546,3417
$GC,382,-0.53,-126.5,78.4,-22.6,38,391,0.00,1.52,0.00,0.000,6,0.000,0.020,2512,2490,3417
$GC,649,-0.53,-126.5,132.2,-19.0,63,653,0.00,1.45,0.00,0.000,4,0.000,0.021,2514,1436,3418
$GC,700,-0.53,-126.5,141.2,-15.9,67,703,0.00,1.58,0.00,0.000,6,0.000,0.036,2509,2478,3418
$GC,971,-0.53,-126.5,188.7,-17.7,92,975,0.00,1.65,0.00,0.000,4,0.000,0.044,2500,3563,3418
$GC,1079,-0.53,-126.5,208.2,-17.6,99,1082,0.00,1.50,0.00,0.000,6,0.000,0.018,2507,2500,3418
$GC,1356,-0.53,-126.5,250.5,-15.3,106,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2493,3418
$GC,1601,-0.53,-126.5,285.2,-14.0,112,1604,0.00,1.62,0.00,0.000,4,0.000,0.041,2499,3573,3417
$GC,1630,-0.53,-126.5,289.8,-13.7,112,1634,0.00,1.50,0.00,0.000,6,0.000,0.019,2505,2510,3417
$GC,1897,-0.53,-126.5,322.9,-12.7,119,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2502,3416
$GC,2140,-0.53,-126.5,352.6,-12.1,125,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2502,3414
$GC,2384,-0.53,-126.5,380.4,-11.4,131,2387,0.00,1.62,0.00,0.000,4,0.000,0.044,2499,3572,3412
$GC,2425,-0.53,-126.5,385.8,-12.3,131,2433,0.00,1.50,0.00,0.000,6,0.000,0.021,2504,2509,3412
$GC,2679,-0.53,-126.5,416.3,-12.2,138,2683,0.00,1.45,0.00,0.000,4,0.000,0.021,2512,1467,3410
$GC,2738,-0.53,-126.5,423.7,-11.4,139,2741,0.00,1.60,0.00,0.000,6,0.000,0.039,2510,2532,3410
$GC,3020,-0.53,-126.5,455.4,-11.2,146,3022,0.00,0.00,-0.08,0.000,6,0.000,0.000,2510,2532,3432
$GC,3264,-0.53,-126.5,481.2,-10.5,152,3268,0.00,1.60,0.00,0.000,4,0.000,0.048,2502,3566,3429
$GC,3367,-0.53,-126.5,492.7,-10.6,154,3371,0.00,1.48,0.00,0.000,6,0.000,0.023,2508,2538,3428
$GC,3650,-0.53,-126.5,522.9,-11.0,161,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2531,3426
$GC,3893,-0.53,-126.5,549.2,-10.8,167,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2530,3423
$GC,4137,-0.53,-126.5,573.8,-9.9,173,4141,0.00,1.60,0.00,0.000,4,0.000,0.048,2502,3568,3421
$GC,4187,-0.53,-126.5,579.0,-10.3,174,4191,0.00,1.52,0.00,0.000,6,0.000,0.024,2507,2519,3420
$GC,4482,-0.53,-126.5,607.3,-9.6,181,4486,0.00,1.50,0.00,0.000,4,0.000,0.025,2508,1453,3419
$GC,4519,-0.53,-126.5,611.2,-9.4,181,4523,0.00,1.62,0.00,0.000,6,0.000,0.041,2502,2524,3418
$GC,4779,-0.53,-126.5,635.0,-9.1,188,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2524,3416
$GC,5023,-0.53,-126.5,656.2,-8.6,194,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2524,3414
$GC,5266,-0.53,-126.5,678.3,-9.2,200,5270,0.00,1.62,0.00,0.000,4,0.000,0.053,2493,3561,3412
$GC,5318,-0.53,-126.5,684.0,-10.1,201,5322,0.00,1.55,0.00,0.000,6,0.000,0.025,2500,2509,3412
$GC,5608,-0.53,-126.5,713.9,-10.8,208,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2502,3410
$GC,5851,-0.53,-126.5,741.2,-11.2,214,5855,0.00,1.65,0.00,0.000,4,0.000,0.050,2494,3567,3409
$GC,5914,-0.53,-126.5,748.8,-11.9,215,5918,0.00,1.55,0.00,0.000,6,0.000,0.025,2500,2504,3408
$GC,6190,-0.53,-126.5,778.3,-10.6,222,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2498,3408
$GC,6434,-0.53,-126.5,802.7,-9.8,228,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2498,3406
$GC,6678,-0.53,-126.5,824.8,-8.9,234,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2498,3404
$GC,6922,-0.53,-126.5,845.0,-8.1,240,6925,0.00,1.67,0.00,0.000,4,0.000,0.054,2494,3562,3403
$GC,6974,-0.53,-126.5,849.2,-8.7,241,6977,0.00,1.55,0.00,0.000,6,0.000,0.027,2500,2517,3403
$GC,7268,-0.53,-126.5,871.9,-7.5,248,7271,0.00,1.52,0.00,0.000,4,0.000,0.027,2508,1449,3401
$GC,7309,-0.53,-126.5,875.4,-6.9,248,7317,0.00,1.67,0.00,0.000,6,0.000,0.046,2502,2514,3401
$GC,7564,-0.53,-126.5,895.1,-8.0,255,7568,0.00,1.62,0.00,0.000,4,0.000,0.056,2494,3559,3400
$STATE,7612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7612,begin apogee
$GC,7626,-0.17,0.0,900.1,8.8,256,7745,0.38,0.00,108.45,1.256,6,0.107,0.000,2635,2213,2898
$STATE,7745,end apogee,CONTROL_FINISHED_OK
$STATE,7745,begin climb
$GC,7751,0.53,126.5,903.2,0.0,259,7902,0.60,1.67,124.93,1.157,4,0.032,0.028,2890,1166,2384
$GC,7964,0.53,126.5,882.2,18.3,263,7973,0.00,1.73,0.00,0.000,6,0.000,0.041,2890,2220,2378
$GC,8219,0.53,126.5,834.6,19.2,270,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2220,2374
$GC,8462,0.53,126.5,787.5,19.5,276,8466,0.00,1.65,0.00,0.000,4,0.000,0.049,2890,3283,2371
$GC,8514,0.53,126.5,777.2,21.3,277,8518,0.12,1.60,0.00,0.000,6,0.180,0.027,2869,2226,2371
$GC,8808,0.53,126.5,725.6,16.9,284,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2220,2369
$GC,9051,0.53,126.5,685.6,16.4,290,9055,0.00,1.67,0.00,0.000,4,0.000,0.049,2863,3290,2368
$GC,9087,0.53,126.5,678.9,18.1,290,9090,0.00,1.60,0.00,0.000,6,0.000,0.026,2869,2201,2368
$GC,9347,0.53,126.5,637.4,15.9,297,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2196,2367
$GC,9590,0.53,126.5,598.8,15.9,303,9594,0.00,1.73,0.00,0.000,4,0.000,0.049,2870,3293,2367
$GC,9631,0.53,126.5,591.7,16.8,303,9641,0.00,1.58,0.00,0.000,6,0.000,0.028,2877,2234,2366
$GC,9887,0.53,126.5,551.7,15.8,310,9891,0.00,1.67,0.00,0.000,4,0.000,0.049,2877,3277,2366
$GC,9928,0.53,126.5,544.6,16.2,310,9936,0.00,1.52,0.00,0.000,6,0.000,0.028,2883,2259,2366
$GC,10182,0.53,126.5,508.5,13.7,317,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2253,2365
$GC,10426,0.53,126.5,476.6,13.0,323,10430,0.00,1.65,0.00,0.000,4,0.000,0.048,2884,3286,2365
$GC,10568,0.53,126.5,456.6,14.9,326,10572,0.00,1.55,0.00,0.000,6,0.000,0.027,2890,2248,2364
$GC,10862,0.53,126.5,414.7,14.3,333,10865,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3296,2364
$GC,10880,0.53,126.5,411.7,14.1,333,10885,0.08,1.55,0.00,0.000,6,0.170,0.026,2874,2254,2364
$GC,11159,0.53,126.5,377.0,12.5,340,11162,0.00,1.62,0.00,0.000,4,0.000,0.048,2874,3286,2364
$GC,11216,0.53,126.5,369.0,13.1,341,11220,0.00,1.50,0.00,0.000,6,0.000,0.026,2880,2271,2363
$GC,11499,0.53,126.5,337.3,11.0,348,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2264,2364
$GC,11742,0.53,126.5,309.6,11.3,354,11746,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3304,2364
$GC,11851,0.53,126.5,296.9,11.0,356,11855,0.00,1.52,0.00,0.000,6,0.000,0.026,2882,2275,2363
$GC,12129,0.53,126.5,270.9,9.6,363,12132,0.00,1.60,0.00,0.000,4,0.000,0.047,2876,3278,2363
$GC,12160,0.53,126.5,267.7,9.8,363,12164,0.00,1.45,0.00,0.000,6,0.000,0.026,2881,2293,2363
$GC,12427,0.53,136.6,246.5,8.4,370,12436,0.00,0.00,6.55,0.690,6,0.000,0.000,2883,2287,2343
$GC,12671,0.53,146.5,225.6,8.4,376,12686,0.00,1.55,10.88,0.733,4,0.000,0.045,2876,3289,2301
$GC,12738,0.53,146.5,219.5,9.2,377,12742,0.00,1.45,0.00,0.000,6,0.000,0.024,2882,2298,2300
$GC,12996,0.53,146.5,196.1,9.2,386,12999,0.00,1.62,0.00,0.000,4,0.000,0.026,2890,1146,2299
$GC,13059,0.53,146.5,189.9,9.0,391,13067,0.00,1.77,0.00,0.000,6,0.000,0.038,2890,2293,2298
$GC,13325,0.53,146.5,162.1,11.5,416,13329,0.00,1.65,0.00,0.000,4,0.000,0.025,2897,1156,2299
$GC,13375,0.53,146.5,156.9,9.4,420,13379,0.00,1.75,0.00,0.000,6,0.000,0.037,2891,2288,2298
$GC,13648,0.53,146.5,130.7,9.1,445,13651,0.00,1.52,0.00,0.000,4,0.000,0.044,2891,3284,2299
$GC,13676,0.53,146.5,127.9,9.6,447,13680,0.00,1.48,0.00,0.000,6,0.000,0.021,2896,2264,2298
$GC,13952,0.54,171.9,104.7,7.5,472,13980,0.00,1.65,22.83,0.638,4,0.000,0.040,2897,3302,2198
$GC,14008,0.54,171.9,99.6,9.5,476,14013,0.10,1.48,0.00,0.000,6,0.135,0.021,2872,2294,2197
$GC,14285,0.55,190.8,75.9,7.9,501,14314,0.00,1.65,16.77,0.601,4,0.000,0.023,2879,1152,2120
$GC,14414,0.58,268.7,67.4,4.3,511,14484,0.00,1.75,63.83,0.604,6,0.000,0.036,2878,2301,1803
$GC,14741,0.60,312.7,48.3,6.4,540,14783,0.00,1.52,35.65,0.578,4,0.000,0.040,2878,3304,1625
$GC,14813,0.61,331.6,43.8,7.9,545,14841,0.00,1.52,16.33,0.550,6,0.000,0.021,2882,2273,1547
$GC,15124,0.61,331.6,14.9,9.9,584,15133,0.00,1.60,0.00,0.000,4,0.000,0.024,2886,1167,1543
$GC,15183,0.61,331.6,9.6,9.5,592,15192,0.00,1.70,0.00,0.000,6,0.000,0.032,2886,2281,1542
$STATE,15260,end climb,SURFACE_DEPTH_REACHED
$STATE,15260,begin surface coast
$FINISH,0.4,1.008015
$STATE,15305,end surface coast,CONTROL_FINISHED_OK
$STATE,15305,begin surface
$SM_CCo,15330,24.38,0.523,0,0,1309,390.02
$SM_GC,1.51,0.00,0.00,24.38,0.000,0.000,0.523,43,2574,1309,-8.29,2.09,390.02
$IRIDIUM_FIX,2255.72,-15731.46,280103,000006
$TT8_MAMPS,0.02301
$HUMID,2226
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.60
$XPDR_PINGS,6
$24V_AH,23.7,40.878
$10V_AH,10.7,47.958
$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,17.925,102.525,406.200,24.375,0.000,111.574,145.324,898.246,1.500,0.000,0.000,16.252,1254.498,10327.054,452.327,3090.959,1812.165,33.369,1433.514,0.000,3082.132,0.000,0.545,0.000
$DEVICE_MAMPS,194.818,56.758,1256.346,523.094,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,415.606,2012.894,2071.579,1479.319,1398.636,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50963,611
$CAP_FILE_SIZE,133025,0
$CFSIZE,260165632,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,031113,043453,2305.912,-15735.769,26,1.0,44,10.1