version: 66.04
glider: 512
mission: 4
dive: 309
start: 11 16 113 9 1 55
data:
$ID,512
$MISSION,4
$DIVE,309
$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,-113429.13
$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,65
$R_STBD_OVSHOOT,45
$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
$GPS1,083524,2244.493,-15735.135,39,2.0,39,10.1
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.1
$GPS2,090101,2244.199,-15735.269,16,2.0,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,0.183
$KALMAN_X,42030.5,309.9,382.4,-401.8,-2001.3
$KALMAN_Y,55380.7,-46.6,293.0,-55411.0,-3247.2
$MHEAD_RNG_PITCHd_Wd,18.6,39320,-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,-101.0,0.0,0.0,0,114,0.00,0.00,-94.20,0.000,2,0.000,0.000,7,2529,2766
$GC,120,-0.53,-126.5,2.2,-1.1,11,158,9.62,1.60,-16.17,0.000,4,0.199,0.058,2511,3547,3415
$GC,264,-0.53,-126.5,37.1,-27.1,30,273,0.00,1.52,0.00,0.000,6,0.000,0.020,2511,2476,3415
$GC,531,-0.53,-126.5,100.7,-18.3,55,534,0.00,1.62,0.00,0.000,4,0.000,0.041,2505,3547,3415
$GC,592,-0.53,-126.5,113.3,-19.1,60,595,0.00,1.48,0.00,0.000,6,0.000,0.019,2509,2496,3415
$GC,864,-0.53,-126.5,163.3,-18.1,85,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2488,3415
$GC,1128,-0.53,-126.5,207.6,-15.4,107,1132,0.00,1.62,0.00,0.000,4,0.000,0.041,2504,3549,3415
$GC,1164,-0.53,-126.5,213.7,-15.4,107,1167,0.00,1.50,0.00,0.000,6,0.000,0.019,2509,2488,3415
$GC,1424,-0.53,-126.5,248.6,-13.1,114,1427,0.00,1.42,0.00,0.000,4,0.000,0.019,2515,1437,3415
$GC,1477,-0.53,-126.5,255.5,-11.1,115,1480,0.00,1.55,0.00,0.000,6,0.000,0.037,2510,2459,3415
$GC,1765,-0.53,-126.5,289.6,-12.0,122,1769,0.00,1.65,0.00,0.000,4,0.000,0.046,2501,3573,3413
$GC,1874,-0.53,-126.5,303.1,-11.6,124,1877,0.00,1.55,0.00,0.000,6,0.000,0.021,2507,2477,3412
$GC,2151,-0.53,-126.5,334.6,-11.5,131,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2469,3410
$GC,2395,-0.53,-126.5,361.0,-10.7,137,2399,0.00,1.67,0.00,0.000,4,0.000,0.044,2500,3572,3409
$GC,2436,-0.53,-126.5,365.8,-10.9,137,2444,0.00,1.52,0.00,0.000,6,0.000,0.021,2506,2503,3409
$GC,2690,-0.53,-126.5,393.1,-10.9,144,2694,0.00,1.62,0.00,0.000,4,0.000,0.044,2499,3568,3406
$GC,2766,-0.53,-126.5,402.0,-11.3,145,2769,0.00,1.50,0.00,0.000,6,0.000,0.021,2505,2521,3405
$GC,3032,-0.53,-126.5,428.8,-10.0,152,3036,0.00,1.62,-0.08,0.000,4,0.000,0.064,2499,3560,3425
$GC,3111,-0.53,-126.5,436.8,-9.5,153,3115,0.00,1.50,0.00,0.000,6,0.000,0.022,2503,2522,3425
$GC,3373,-0.53,-126.5,458.7,-8.3,160,3376,0.00,1.62,0.00,0.000,4,0.000,0.048,2498,3567,3423
$GC,3425,-0.53,-126.5,463.4,-8.1,161,3429,0.00,1.50,0.00,0.000,6,0.000,0.022,2503,2527,3422
$GC,3714,-0.53,-126.5,488.2,-8.9,168,3717,0.00,1.50,0.00,0.000,4,0.000,0.023,2510,1450,3420
$GC,3755,-0.53,-126.5,492.3,-8.6,168,3764,0.00,1.65,0.00,0.000,6,0.000,0.041,2505,2521,3419
$GC,4011,-0.53,-126.5,516.1,-9.8,175,4015,0.00,1.60,0.00,0.000,4,0.000,0.051,2497,3555,3418
$GC,4079,-0.53,-126.5,523.4,-9.6,176,4083,0.00,1.48,0.00,0.000,6,0.000,0.025,2502,2542,3417
$GC,4351,-0.53,-126.5,550.5,-10.1,183,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2533,3414
$GC,4594,-0.53,-126.5,573.9,-9.6,189,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2533,3413
$GC,4838,-0.53,-126.5,597.2,-9.5,195,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2532,3412
$GC,5082,-0.53,-126.5,620.8,-9.8,201,5085,0.00,1.60,0.00,0.000,4,0.000,0.051,2497,3563,3409
$GC,5196,-0.53,-126.5,633.3,-10.6,203,5200,0.00,1.50,0.00,0.000,6,0.000,0.025,2502,2541,3408
$GC,5468,-0.53,-126.5,661.2,-10.5,210,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2534,3407
$GC,5711,-0.53,-126.5,685.7,-9.9,216,5715,0.00,1.60,0.00,0.000,4,0.000,0.054,2497,3559,3405
$GC,5743,-0.53,-126.5,688.8,-10.2,216,5746,0.00,1.50,0.00,0.000,6,0.000,0.027,2502,2542,3404
$GC,6010,-0.53,-126.5,712.8,-8.8,223,6013,0.00,1.55,0.00,0.000,4,0.000,0.026,2510,1450,3402
$GC,6060,-0.53,-126.5,717.0,-7.0,224,6064,0.00,1.67,0.00,0.000,6,0.000,0.046,2506,2535,3403
$GC,6354,-0.53,-126.5,740.4,-7.8,231,6358,0.00,1.60,0.00,0.000,4,0.000,0.054,2498,3572,3400
$GC,6430,-0.53,-126.5,747.0,-8.0,232,6434,0.00,1.52,0.00,0.000,6,0.000,0.027,2502,2540,3400
$GC,6697,-0.53,-126.5,768.0,-7.9,239,6700,0.00,1.55,0.00,0.000,4,0.000,0.026,2508,1451,3399
$GC,6733,-0.53,-126.5,771.2,-7.7,239,6736,0.00,1.67,0.00,0.000,6,0.000,0.045,2502,2540,3399
$GC,6993,-0.53,-126.5,792.4,-8.4,246,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2540,3398
$GC,7237,-0.53,-126.5,812.4,-8.1,252,7241,0.00,1.60,0.00,0.000,4,0.000,0.056,2495,3568,3397
$GC,7313,-0.53,-126.5,819.3,-8.2,253,7317,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2556,3397
$GC,7580,-0.53,-126.5,840.3,-7.9,260,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2547,3395
$GC,7823,-0.53,-126.5,859.4,-7.7,266,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2546,3395
$GC,8067,-0.53,-126.5,877.2,-7.1,272,8070,0.00,1.62,0.00,0.000,4,0.000,0.055,2495,3573,3393
$GC,8092,-0.53,-126.5,879.2,-7.4,272,8096,0.00,1.50,0.00,0.000,6,0.000,0.028,2500,2559,3393
$GC,8363,-0.53,-126.5,898.0,-6.9,279,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2551,3393
$STATE,8400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8400,begin apogee
$GC,8412,-0.17,0.0,900.7,6.9,280,8524,0.40,0.00,110.07,1.256,6,0.100,0.000,2638,2201,2898
$STATE,8525,end apogee,CONTROL_FINISHED_OK
$STATE,8525,begin climb
$GC,8531,0.53,126.5,903.0,0.0,283,8685,0.60,1.58,128.38,1.155,4,0.036,0.027,2886,1203,2381
$GC,8736,0.53,126.5,884.1,18.3,287,8740,0.00,1.67,0.00,0.000,6,0.000,0.040,2887,2228,2376
$GC,9002,0.53,126.5,836.0,18.3,294,9006,0.00,1.67,0.00,0.000,4,0.000,0.049,2886,3282,2371
$GC,9038,0.53,126.5,828.5,19.4,294,9041,0.00,1.58,0.00,0.000,6,0.000,0.028,2894,2242,2370
$GC,9299,0.53,126.5,781.2,18.2,301,9303,0.00,1.67,0.00,0.000,4,0.000,0.048,2891,3281,2369
$GC,9328,0.53,126.5,774.8,19.8,301,9332,0.08,1.55,0.00,0.000,6,0.165,0.028,2866,2253,2368
$GC,9595,0.53,126.5,733.6,15.3,308,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2246,2367
$GC,9838,0.53,126.5,695.3,15.8,314,9841,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3282,2366
$GC,9888,0.53,126.5,686.9,16.9,315,9892,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2233,2366
$GC,10182,0.53,126.5,641.3,15.4,322,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2227,2366
$GC,10426,0.53,126.5,604.5,15.1,328,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2227,2365
$GC,10670,0.53,126.5,570.4,13.9,334,10673,0.00,1.67,0.00,0.000,4,0.000,0.051,2863,3294,2365
$GC,10777,0.53,126.5,554.0,15.7,336,10781,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2254,2364
$GC,11055,0.53,126.5,516.6,13.4,343,11059,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1160,2364
$GC,11097,0.53,126.5,510.6,13.4,343,11105,0.00,1.70,0.00,0.000,6,0.000,0.042,2876,2246,2363
$GC,11351,0.53,126.5,478.8,12.4,350,11355,0.00,1.62,0.00,0.000,4,0.000,0.052,2876,3278,2362
$GC,11426,0.53,126.5,468.3,14.5,351,11429,0.00,1.48,0.00,0.000,6,0.000,0.027,2880,2282,2362
$GC,11693,0.53,126.5,434.9,12.5,358,11697,0.00,1.62,0.00,0.000,4,0.000,0.029,2889,1163,2362
$GC,11729,0.53,126.5,430.1,11.1,358,11732,0.00,1.73,0.00,0.000,6,0.000,0.042,2889,2284,2362
$GC,11989,0.53,126.5,398.9,12.2,365,11993,0.00,1.55,0.00,0.000,4,0.000,0.049,2889,3278,2361
$GC,12109,0.53,126.5,382.8,12.5,367,12112,0.00,1.48,0.00,0.000,6,0.000,0.026,2895,2280,2361
$GC,12375,0.53,126.5,348.1,13.4,374,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2274,2362
$GC,12618,0.53,126.5,318.5,11.6,380,12622,0.00,1.60,0.00,0.000,4,0.000,0.046,2891,3284,2361
$GC,12637,0.53,126.5,315.9,11.3,380,12641,0.00,1.48,0.00,0.000,6,0.000,0.027,2896,2289,2361
$GC,12914,0.53,126.5,287.1,10.4,387,12918,0.12,1.60,0.00,0.000,4,0.163,0.026,2871,1157,2361
$GC,13092,0.53,146.5,272.2,7.8,390,13112,0.00,1.75,15.60,0.805,6,0.000,0.042,2871,2280,2300
$GC,13389,0.53,146.5,244.2,9.9,398,13393,0.00,1.65,0.00,0.000,4,0.000,0.026,2879,1173,2297
$GC,13464,0.53,146.5,236.6,9.7,399,13468,0.00,1.65,0.00,0.000,6,0.000,0.039,2876,2254,2296
$GC,13732,0.54,157.2,214.5,8.4,406,13747,0.00,1.58,10.88,0.726,4,0.000,0.045,2876,3292,2256
$GC,13788,0.54,157.2,209.4,10.0,407,13791,0.00,1.55,0.00,0.000,6,0.000,0.025,2882,2239,2256
$GC,14052,0.54,157.2,185.9,9.5,424,14056,0.00,1.60,0.00,0.000,4,0.000,0.044,2876,3284,2255
$GC,14192,0.54,157.2,171.6,9.8,436,14196,0.00,1.48,0.00,0.000,6,0.000,0.025,2881,2282,2254
$GC,14465,0.54,157.2,146.0,9.0,461,14469,0.00,1.60,0.00,0.000,4,0.000,0.025,2889,1164,2254
$GC,14539,0.54,165.8,139.2,8.5,467,14553,0.00,1.70,8.98,0.629,6,0.000,0.037,2889,2291,2222
$GC,14814,0.55,176.0,115.4,8.4,492,14829,0.00,0.00,10.68,0.621,6,0.000,0.000,2889,2291,2179
$GC,15086,0.55,176.0,90.9,9.0,517,15089,0.00,1.52,0.00,0.000,4,0.000,0.044,2889,3287,2178
$GC,15348,0.55,198.6,70.5,7.7,539,15375,0.00,1.50,20.12,0.601,6,0.000,0.022,2897,2240,2090
$GC,15638,0.56,215.8,49.0,8.0,565,15658,0.00,1.67,16.05,0.571,4,0.000,0.041,2891,3297,2017
$GC,15688,0.56,215.8,44.2,9.7,568,15692,0.00,1.50,0.00,0.000,6,0.000,0.021,2896,2270,2017
$GC,15984,0.57,244.0,19.2,7.3,602,16020,0.00,1.62,24.35,0.552,4,0.000,0.025,2900,1166,1900
$GC,16056,0.57,244.0,13.2,9.3,611,16066,0.00,1.70,0.00,0.000,6,0.000,0.031,2899,2276,1900
$STATE,16159,end climb,SURFACE_DEPTH_REACHED
$STATE,16159,begin surface coast
$FINISH,0.6,1.016276
$STATE,16198,end surface coast,CONTROL_FINISHED_OK
$STATE,16202,begin surface
$SM_CCo,16228,59.25,0.533,0,0,1306,390.02
$SM_GC,1.56,0.00,0.00,59.25,0.000,0.000,0.533,30,2523,1306,-8.32,0.82,390.02
$IRIDIUM_FIX,2234.68,-15732.87,100203,080800
$TT8_MAMPS,0.023777
$HUMID,2196
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,8
$24V_AH,23.3,51.609
$10V_AH,10.6,62.084
$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,18.150,114.800,345.100,59.250,0.000,84.216,107.051,999.255,2.000,0.000,0.000,16.882,1335.421,10835.810,461.532,3311.959,1871.741,33.382,1502.024,0.000,3308.554,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,63.661,1256.346,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,431.471,2084.796,2164.922,1448.066,1447.676,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54036,633
$CAP_FILE_SIZE,139709,0
$CFSIZE,260165632,237899776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,161113,133454,2244.749,-15734.604,42,1.7,42,10.1