version: 66.04
glider: 512
mission: 4
dive: 306
start: 11 15 113 16 47 11
data:
$ID,512
$MISSION,4
$DIVE,306
$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,-113381.22
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2680
$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,63
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2898
$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
$GPS1,162636,2241.014,-15735.688,39,1.5,39,10.1
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-81.3
$GPS2,164613,2240.887,-15735.899,12,1.6,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,0.227
$KALMAN_X,44305.6,-20.9,-138.1,-2899.4,-1250.1
$KALMAN_Y,62888.0,169.6,215.5,-69183.4,-3374.6
$MHEAD_RNG_PITCHd_Wd,5.6,45461,-17.1,-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,-0.47,-126.5,0.0,0.0,0,89,0.00,0.00,-68.60,0.000,2,0.000,0.000,8,2566,2662
$GC,95,-0.47,-126.5,2.0,-1.0,8,133,9.62,1.58,-22.38,0.000,4,0.199,0.036,2521,1431,3415
$GC,157,-0.47,-126.5,10.2,-15.8,15,166,0.00,1.65,0.00,0.000,6,0.000,0.037,2515,2503,3415
$GC,436,-0.47,-126.5,82.8,-25.2,46,440,0.00,1.62,0.00,0.000,4,0.000,0.045,2507,3566,3415
$GC,600,-0.47,-126.5,115.9,-18.9,60,603,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2503,3415
$GC,872,-0.47,-126.5,167.4,-17.6,85,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2494,3415
$GC,1144,-0.47,-126.5,212.3,-15.3,105,1148,0.00,1.62,0.00,0.000,4,0.000,0.041,2499,3560,3415
$GC,1209,-0.47,-126.5,222.4,-13.9,106,1213,0.00,1.45,0.00,0.000,6,0.000,0.018,2504,2527,3415
$GC,1486,-0.47,-126.5,256.6,-12.3,113,1490,0.00,1.60,0.00,0.000,4,0.000,0.041,2498,3564,3415
$GC,1527,-0.47,-126.5,262.3,-12.3,113,1536,0.00,1.45,0.00,0.000,6,0.000,0.019,2504,2529,3414
$GC,1782,-0.47,-126.5,296.4,-14.1,120,1785,0.00,1.48,0.00,0.000,4,0.000,0.019,2510,1452,3414
$GC,1806,-0.47,-126.5,300.3,-13.9,120,1809,0.00,1.60,0.00,0.000,6,0.000,0.036,2505,2530,3414
$GC,2079,-0.47,-126.5,335.2,-13.1,127,2083,0.00,1.58,0.00,0.000,4,0.000,0.046,2497,3565,3412
$GC,2148,-0.47,-126.5,344.8,-13.1,128,2151,0.00,1.42,0.00,0.000,6,0.000,0.019,2502,2559,3411
$GC,2419,-0.47,-126.5,379.1,-12.9,135,2423,0.00,1.52,0.00,0.000,4,0.000,0.021,2510,1452,3410
$GC,2489,-0.47,-126.5,387.7,-11.2,136,2492,0.00,1.65,0.00,0.000,6,0.000,0.038,2504,2557,3409
$GC,2761,-0.47,-126.5,419.6,-12.0,143,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2557,3407
$GC,3004,-0.47,-126.5,447.2,-11.2,149,3008,0.00,1.58,-0.08,0.000,4,0.000,0.038,2508,1446,3428
$GC,3054,-0.47,-126.5,452.3,-8.9,150,3057,0.00,1.67,0.00,0.000,6,0.000,0.039,2502,2538,3428
$GC,3349,-0.47,-126.5,482.8,-10.4,157,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2538,3426
$GC,3592,-0.47,-126.5,509.4,-11.0,163,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2538,3423
$GC,3836,-0.47,-126.5,536.1,-11.0,169,3839,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3555,3421
$GC,3943,-0.47,-126.5,548.2,-10.4,171,3947,0.00,1.48,0.00,0.000,6,0.000,0.025,2500,2538,3420
$GC,4222,-0.47,-126.5,575.5,-9.8,178,4225,0.00,1.60,0.00,0.000,4,0.000,0.049,2494,3568,3418
$GC,4246,-0.47,-126.5,578.4,-10.0,178,4250,0.00,1.50,0.00,0.000,6,0.000,0.024,2500,2538,3417
$GC,4517,-0.47,-126.5,605.1,-10.1,185,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2529,3415
$GC,4761,-0.47,-126.5,630.3,-10.3,191,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2529,3413
$GC,5005,-0.47,-126.5,656.8,-11.0,197,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2529,3411
$GC,5248,-0.47,-126.5,682.1,-10.2,203,5252,0.00,1.62,0.00,0.000,4,0.000,0.052,2494,3553,3410
$GC,5289,-0.47,-126.5,686.9,-11.0,203,5297,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2520,3410
$GC,5543,-0.47,-126.5,711.7,-9.7,210,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2520,3408
$GC,5787,-0.47,-126.5,732.9,-8.5,216,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2520,3406
$GC,6031,-0.47,-126.5,751.2,-7.3,222,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2520,3404
$GC,6275,-0.47,-126.5,769.6,-7.6,228,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2520,3403
$GC,6518,-0.47,-126.5,788.7,-7.8,234,6522,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3558,3402
$GC,6639,-0.47,-126.5,799.2,-8.3,236,6642,0.00,1.52,0.00,0.000,6,0.000,0.027,2499,2528,3401
$GC,6905,-0.47,-126.5,820.8,-8.3,243,6909,0.00,1.62,0.00,0.000,4,0.000,0.054,2494,3557,3400
$GC,6956,-0.47,-126.5,825.0,-8.6,244,6960,0.00,1.52,0.00,0.000,6,0.000,0.027,2500,2529,3400
$GC,7251,-0.47,-126.5,847.3,-7.3,251,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2521,3399
$GC,7494,-0.47,-126.5,864.5,-7.0,257,7498,0.00,1.62,0.00,0.000,4,0.000,0.055,2494,3554,3398
$GC,7559,-0.47,-126.5,869.5,-7.5,258,7562,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2538,3398
$GC,7837,-0.47,-126.5,888.9,-7.1,265,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2530,3397
$STATE,7993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7993,begin apogee
$GC,8005,-0.17,0.0,900.8,7.3,269,8118,0.38,0.00,110.35,1.260,6,0.104,0.000,2628,2199,2898
$STATE,8119,end apogee,CONTROL_FINISHED_OK
$STATE,8119,begin climb
$GC,8124,0.47,126.5,903.7,0.0,272,8306,0.55,1.62,133.68,1.115,4,0.068,0.027,2846,1187,2382
$GC,8376,0.47,126.5,882.7,14.3,277,8379,0.00,1.67,0.00,0.000,6,0.000,0.041,2846,2231,2375
$GC,8642,0.47,126.5,844.0,14.7,284,8645,0.00,1.65,0.00,0.000,4,0.000,0.048,2846,3293,2371
$GC,8678,0.47,126.5,838.2,15.9,284,8681,0.00,1.58,0.00,0.000,6,0.000,0.026,2853,2244,2370
$GC,8938,0.47,126.5,799.8,14.7,291,8942,0.00,1.65,0.00,0.000,4,0.000,0.049,2851,3285,2369
$GC,8962,0.47,126.5,795.7,14.5,291,8966,0.00,1.55,0.00,0.000,6,0.000,0.027,2857,2251,2368
$GC,9235,0.47,126.5,758.5,13.5,298,9238,0.00,1.65,0.00,0.000,4,0.000,0.049,2856,3292,2367
$GC,9284,0.47,126.5,750.9,14.7,299,9289,0.10,1.55,0.00,0.000,6,0.176,0.026,2835,2256,2366
$GC,9578,0.47,126.5,713.8,12.3,306,9582,0.00,1.60,0.00,0.000,4,0.000,0.031,2835,1168,2365
$GC,9639,0.47,126.5,706.4,11.4,307,9642,0.00,1.65,0.00,0.000,6,0.000,0.043,2835,2238,2364
$GC,9921,0.47,126.5,672.5,12.1,314,9925,0.00,1.62,0.00,0.000,4,0.000,0.050,2835,3276,2364
$GC,9972,0.47,126.5,665.9,13.6,315,9976,0.00,1.55,0.00,0.000,6,0.000,0.026,2841,2233,2364
$GC,10267,0.47,126.5,630.3,11.7,322,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2227,2364
$GC,10510,0.47,126.5,602.2,11.5,328,10514,0.00,1.65,0.00,0.000,4,0.000,0.049,2837,3281,2364
$GC,10535,0.47,126.5,598.9,11.7,328,10538,0.00,1.55,0.00,0.000,6,0.000,0.028,2842,2239,2363
$GC,10806,0.47,126.5,567.2,11.8,335,10810,0.00,1.55,0.00,0.000,4,0.000,0.028,2847,1171,2364
$GC,10824,0.47,126.5,564.7,12.0,335,10828,0.00,1.65,0.00,0.000,6,0.000,0.041,2847,2249,2363
$GC,11101,0.47,126.5,530.0,12.8,342,11105,0.00,1.62,0.00,0.000,4,0.000,0.051,2847,3306,2363
$GC,11210,0.47,126.5,514.4,13.6,344,11214,0.00,1.55,0.00,0.000,6,0.000,0.027,2854,2259,2363
$GC,11488,0.47,126.5,479.5,12.2,351,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2253,2362
$GC,11731,0.47,126.5,452.5,10.9,357,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2253,2362
$GC,11975,0.47,126.5,428.6,9.8,363,11978,0.00,1.62,0.00,0.000,4,0.000,0.048,2851,3299,2362
$GC,12027,0.47,126.5,423.2,10.4,364,12030,0.00,1.58,0.00,0.000,6,0.000,0.026,2856,2240,2362
$GC,12321,0.47,126.5,392.9,10.3,371,12324,0.00,1.65,0.00,0.000,4,0.000,0.048,2857,3291,2362
$GC,12400,0.47,126.5,382.9,12.8,372,12404,0.08,1.52,0.00,0.000,6,0.160,0.026,2830,2262,2362
$GC,12662,0.47,132.7,359.5,8.7,379,12666,0.00,1.58,0.00,0.000,4,0.000,0.028,2833,1170,2361
$GC,12704,0.49,171.0,355.8,7.2,379,12753,0.00,1.70,38.90,0.865,6,0.000,0.041,2833,2260,2199
$GC,12999,0.49,171.0,327.3,10.0,387,13000,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2259,2193
$GC,13243,0.49,171.0,304.5,9.1,393,13246,0.00,1.60,0.00,0.000,4,0.000,0.048,2833,3281,2193
$GC,13324,0.49,171.0,296.4,9.3,394,13328,0.00,1.55,0.00,0.000,6,0.000,0.025,2834,2245,2192
$GC,13585,0.49,177.5,273.7,8.7,401,13595,0.00,1.58,5.88,0.686,4,0.000,0.028,2834,1149,2174
$GC,13628,0.49,177.5,269.9,9.3,402,13632,0.00,1.70,0.00,0.000,6,0.000,0.040,2834,2232,2173
$GC,13923,0.49,188.9,244.6,8.5,409,13939,0.00,1.67,11.77,0.762,4,0.000,0.047,2834,3292,2127
$GC,14062,0.51,221.8,233.8,7.4,412,14096,0.00,1.58,29.67,0.777,6,0.000,0.024,2840,2226,1992
$GC,14352,0.51,228.6,208.8,8.7,419,14363,0.00,1.73,6.57,0.643,4,0.000,0.044,2839,3293,1966
$GC,14382,0.51,228.6,205.8,9.7,419,14385,0.00,1.55,0.00,0.000,6,0.000,0.025,2845,2251,1965
$GC,14650,0.51,233.5,182.7,8.8,438,14665,0.00,1.58,5.60,0.593,4,0.000,0.026,2846,1173,1947
$GC,14705,0.53,268.5,178.2,7.3,442,14745,0.00,1.65,30.98,0.714,6,0.000,0.037,2846,2255,1802
$GC,15002,0.53,268.5,148.2,10.9,469,15006,0.00,1.58,0.00,0.000,4,0.000,0.043,2846,3274,1799
$GC,15054,0.53,268.5,142.2,11.1,473,15058,0.00,1.50,0.00,0.000,6,0.000,0.023,2846,2264,1798
$GC,15330,0.53,280.7,116.7,8.4,498,15346,0.00,1.62,11.55,0.622,4,0.000,0.026,2847,1165,1753
$GC,15408,0.54,309.4,110.1,7.6,504,15439,0.00,1.73,25.25,0.640,6,0.000,0.035,2847,2279,1634
$GC,15706,0.57,381.5,91.0,5.6,531,15773,0.00,1.58,58.60,0.625,4,0.000,0.041,2847,3281,1342
$GC,15801,0.60,460.5,86.0,5.2,538,15870,0.00,1.50,64.68,0.611,6,0.000,0.021,2847,2265,1020
$GC,16127,0.60,460.5,51.0,11.7,567,16131,0.00,1.58,0.00,0.000,4,0.000,0.023,2847,1178,1016
$GC,16390,0.60,460.5,20.9,12.4,593,16399,0.00,1.67,0.00,0.000,6,0.000,0.033,2847,2278,1014
$STATE,16535,end climb,SURFACE_DEPTH_REACHED
$STATE,16535,begin surface coast
$FINISH,0.6,1.016809
$STATE,16566,end surface coast,CONTROL_FINISHED_OK
$STATE,16566,begin surface
$SM_CCo,16651,0.00,0.000,0,0,1014,462.14
$SM_GC,1.45,7.12,0.00,0.00,0.022,0.000,0.000,35,2509,1014,-8.18,0.25,462.14
$IRIDIUM_FIX,2232.34,-15743.29,090203,161642
$TT8_MAMPS,0.023777
$HUMID,2271
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.50
$XPDR_PINGS,9
$24V_AH,23.5,51.020
$10V_AH,10.6,61.384
$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,17.850,111.925,533.475,0.000,0.000,100.910,170.009,506.346,2.250,0.000,0.000,12.123,1295.488,11307.607,522.337,3232.077,1463.654,33.375,1594.484,0.000,3233.333,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,55.224,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,422.181,2040.957,2123.454,1312.633,1341.396,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50908,620
$CAP_FILE_SIZE,135456,0
$CFSIZE,260165632,238125056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,151113,212626,2242.179,-15735.278,40,2.8,59,10.1