version: 66.04
glider: 512
mission: 4
dive: 379
start: 12 1 113 23 15 53
data:
$ID,512
$MISSION,4
$DIVE,379
$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,603.18286
$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,-114891.95
$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,59
$R_STBD_OVSHOOT,51
$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
$GPS1,224023,2238.692,-15738.538,42,1.8,42,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-81.1
$GPS2,231455,2238.675,-15738.377,36,1.8,36,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.006,0.235
$KALMAN_X,108724.2,169.3,-80.4,-71792.7,758.0
$KALMAN_Y,-43977.6,-362.3,-720.5,35063.8,1596.2
$MHEAD_RNG_PITCHd_Wd,348.5,49805,-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,18,-0.54,-126.5,0.0,0.0,0,71,0.00,0.00,-51.15,0.000,2,0.000,0.000,6,2531,2468
$GC,77,-0.54,-126.5,2.0,-0.7,6,133,9.75,1.55,-35.55,0.000,4,0.202,0.058,2506,3539,3375
$GC,371,-0.54,-126.5,55.7,-24.0,41,380,0.00,1.50,0.00,0.000,6,0.000,0.020,2508,2488,3375
$GC,636,-0.54,-126.5,109.4,-17.2,66,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2481,3375
$GC,903,-0.54,-126.5,153.4,-16.1,91,907,0.00,1.60,0.00,0.000,4,0.000,0.041,2502,3552,3375
$GC,943,-0.54,-126.5,160.1,-17.1,94,946,0.00,1.48,0.00,0.000,6,0.000,0.019,2507,2496,3375
$GC,1244,-0.54,-126.5,205.8,-14.0,119,1248,0.00,1.42,0.00,0.000,4,0.000,0.021,2514,1449,3375
$GC,1279,-0.54,-126.5,211.0,-13.8,119,1283,0.00,1.58,0.00,0.000,6,0.000,0.040,2509,2483,3375
$GC,1540,-0.54,-126.5,241.3,-11.8,126,1543,0.00,1.62,0.00,0.000,4,0.000,0.047,2500,3569,3375
$GC,1751,-0.54,-126.5,267.7,-11.1,130,1754,0.00,1.45,0.00,0.000,6,0.000,0.019,2506,2543,3374
$GC,2017,-0.54,-126.5,299.3,-12.4,137,2021,0.00,1.58,0.00,0.000,4,0.000,0.044,2499,3559,3373
$GC,2047,-0.54,-126.5,303.3,-11.9,137,2050,0.00,1.42,0.00,0.000,6,0.000,0.020,2505,2549,3372
$GC,2313,-0.54,-126.5,334.0,-11.6,144,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2542,3371
$GC,2556,-0.54,-126.5,360.4,-10.5,150,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2541,3370
$GC,2800,-0.54,-126.5,385.8,-10.6,156,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2541,3367
$GC,3044,-0.54,-126.5,411.6,-10.6,162,3048,0.00,1.60,-0.08,0.000,4,0.000,0.064,2499,3571,3388
$GC,3079,-0.54,-126.5,415.7,-10.5,162,3082,0.00,1.45,0.00,0.000,6,0.000,0.021,2504,2552,3388
$GC,3340,-0.54,-126.5,440.9,-9.6,169,3343,0.00,1.60,0.00,0.000,4,0.000,0.048,2498,3562,3386
$GC,3397,-0.54,-126.5,446.9,-9.4,170,3401,0.00,1.45,0.00,0.000,6,0.000,0.022,2504,2547,3385
$GC,3680,-0.54,-126.5,472.7,-9.2,177,3684,0.00,1.60,0.00,0.000,4,0.000,0.050,2498,3556,3383
$GC,3721,-0.54,-126.5,476.9,-10.0,177,3729,0.00,1.42,0.00,0.000,6,0.000,0.022,2504,2552,3382
$GC,3977,-0.54,-126.5,499.3,-9.0,184,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2552,3380
$GC,4221,-0.54,-126.5,520.6,-8.8,190,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2552,3378
$GC,4465,-0.54,-126.5,542.1,-9.0,196,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2552,3376
$GC,4708,-0.54,-126.5,564.7,-9.3,202,4711,0.00,1.60,0.00,0.000,4,0.000,0.053,2498,3579,3374
$GC,4771,-0.54,-126.5,571.1,-9.3,203,4775,0.00,1.48,0.00,0.000,6,0.000,0.025,2503,2562,3373
$GC,5048,-0.54,-126.5,597.0,-9.4,210,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2555,3371
$GC,5291,-0.54,-126.5,619.6,-9.1,216,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2555,3370
$GC,5536,-0.54,-126.5,641.3,-8.9,222,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2554,3369
$GC,5779,-0.54,-126.5,662.3,-8.5,228,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2554,3368
$GC,6024,-0.54,-126.5,682.2,-8.2,234,6027,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1464,3366
$GC,6055,-0.54,-126.5,685.0,-8.6,234,6059,0.00,1.70,0.00,0.000,6,0.000,0.045,2502,2575,3366
$GC,6323,-0.54,-126.5,706.5,-8.2,241,6326,0.00,1.55,0.00,0.000,4,0.000,0.054,2494,3560,3364
$GC,6417,-0.54,-126.5,715.0,-9.3,243,6421,0.00,1.45,0.00,0.000,6,0.000,0.027,2500,2575,3364
$GC,6713,-0.54,-126.5,741.2,-9.0,250,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2567,3362
$GC,6956,-0.54,-126.5,762.5,-8.6,256,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2567,3362
$GC,7199,-0.54,-126.5,782.5,-8.1,262,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2567,3360
$GC,7443,-0.54,-126.5,802.2,-8.2,268,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2567,3359
$GC,7687,-0.54,-126.5,822.2,-8.3,274,7691,0.00,1.58,0.00,0.000,4,0.000,0.055,2494,3551,3358
$GC,7723,-0.54,-126.5,825.7,-9.4,274,7726,0.00,1.42,0.00,0.000,6,0.000,0.027,2500,2580,3358
$GC,7983,-0.54,-126.5,847.5,-8.5,281,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2571,3357
$GC,8227,-0.54,-126.5,867.8,-8.4,287,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2571,3356
$GC,8471,-0.54,-126.5,887.3,-7.9,293,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2571,3355
$STATE,8627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8627,begin apogee
$GC,8639,-0.20,0.0,900.1,7.9,297,8755,0.40,0.00,113.38,1.255,6,0.097,0.000,2641,2207,2858
$STATE,8756,end apogee,CONTROL_FINISHED_OK
$STATE,8756,begin climb
$GC,8761,0.54,126.5,903.1,0.0,300,8984,0.62,1.60,144.90,1.055,4,0.038,0.028,2891,1184,2341
$GC,9020,0.54,126.5,875.5,16.5,305,9023,0.00,1.67,0.00,0.000,6,0.000,0.041,2891,2232,2338
$GC,9280,0.54,126.5,829.8,17.8,312,9283,0.00,1.65,0.00,0.000,4,0.000,0.050,2891,3272,2333
$GC,9345,0.54,126.5,817.3,18.3,313,9348,0.00,1.50,0.00,0.000,6,0.000,0.026,2896,2268,2332
$GC,9622,0.54,126.5,768.8,17.6,320,9626,0.00,1.62,0.00,0.000,4,0.000,0.048,2891,3280,2331
$GC,9640,0.54,126.5,765.0,17.0,320,9644,0.00,1.52,0.00,0.000,6,0.000,0.027,2897,2253,2330
$GC,9918,0.54,126.5,718.7,16.8,327,9921,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3286,2330
$GC,9969,0.54,126.5,710.1,17.9,328,9973,0.00,1.52,0.00,0.000,6,0.000,0.028,2897,2266,2330
$GC,10263,0.54,126.5,662.9,16.0,335,10267,0.00,1.60,0.00,0.000,4,0.000,0.029,2905,1160,2329
$GC,10304,0.54,126.5,656.0,15.5,335,10312,0.00,1.73,0.00,0.000,6,0.000,0.044,2905,2259,2328
$GC,10559,0.54,126.5,617.8,15.3,342,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2260,2328
$GC,10802,0.54,126.5,583.2,14.2,348,10806,0.00,1.60,0.00,0.000,4,0.000,0.050,2905,3283,2327
$GC,10853,0.54,126.5,575.3,16.4,349,10857,0.10,1.52,0.00,0.000,6,0.171,0.028,2882,2258,2327
$GC,11147,0.54,126.5,534.6,13.6,356,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2251,2326
$GC,11391,0.54,126.5,502.4,13.4,362,11395,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3293,2326
$GC,11427,0.54,126.5,496.7,15.0,362,11431,0.00,1.55,0.00,0.000,6,0.000,0.027,2883,2244,2325
$GC,11687,0.54,126.5,462.3,13.0,369,11691,0.00,1.62,0.00,0.000,4,0.000,0.048,2878,3282,2326
$GC,11711,0.54,126.5,458.8,12.2,369,11715,0.00,1.52,0.00,0.000,6,0.000,0.027,2883,2248,2325
$GC,11985,0.54,126.5,423.6,12.9,376,11988,0.00,1.62,0.00,0.000,4,0.000,0.050,2878,3282,2325
$GC,12034,0.54,126.5,416.9,12.8,377,12039,0.00,1.50,0.00,0.000,6,0.000,0.026,2882,2267,2325
$GC,12328,0.54,126.5,380.9,12.2,384,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2261,2325
$GC,12572,0.54,126.5,353.0,11.5,390,12573,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2260,2325
$GC,12815,0.54,126.5,326.1,11.2,396,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2260,2324
$GC,13060,0.54,126.5,301.3,9.7,402,13063,0.00,1.62,0.00,0.000,4,0.000,0.049,2884,3303,2324
$GC,13095,0.54,126.5,297.3,10.7,402,13099,0.00,1.52,0.00,0.000,6,0.000,0.026,2890,2269,2324
$GC,13357,0.54,126.5,271.4,10.3,409,13360,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3305,2324
$GC,13381,0.54,126.5,268.4,10.5,409,13385,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2284,2324
$GC,13653,0.54,126.5,240.1,10.3,416,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2278,2324
$GC,13896,0.54,132.1,217.6,8.7,422,13900,0.00,1.58,0.00,0.000,4,0.000,0.047,2897,3281,2324
$GC,13947,0.54,132.1,213.0,9.9,423,13956,0.00,1.48,3.40,0.466,6,0.000,0.025,2902,2285,2319
$GC,14216,0.54,132.1,190.3,9.4,436,14220,0.00,1.60,0.00,0.000,4,0.000,0.026,2910,1165,2319
$GC,14357,0.54,132.1,177.4,9.2,448,14366,0.10,1.70,0.00,0.000,6,0.138,0.038,2879,2271,2319
$GC,14629,0.55,148.2,155.3,8.2,473,14657,0.00,1.65,16.80,0.696,4,0.000,0.025,2885,1164,2252
$GC,14719,0.55,150.3,147.3,8.9,480,14723,0.00,1.70,0.00,0.000,6,0.000,0.038,2885,2256,2251
$GC,14996,0.56,162.2,124.8,8.4,505,15014,0.00,1.55,13.70,0.651,4,0.000,0.043,2885,3281,2196
$GC,15077,0.56,162.2,117.1,9.4,511,15081,0.00,1.52,0.00,0.000,6,0.000,0.023,2886,2248,2195
$GC,15350,0.57,184.6,94.6,7.9,536,15376,0.00,1.60,20.42,0.633,4,0.000,0.043,2886,3288,2105
$GC,15417,0.57,184.6,88.9,10.0,541,15421,0.00,1.50,0.00,0.000,6,0.000,0.022,2893,2261,2104
$GC,15694,0.58,231.0,66.8,6.8,566,15744,0.00,0.00,42.00,0.594,6,0.000,0.000,2894,2254,1915
$GC,16005,0.59,247.3,42.0,8.2,595,16024,0.00,1.58,14.60,0.565,4,0.000,0.041,2891,3279,1849
$GC,16054,0.59,247.3,37.4,9.3,598,16057,0.00,1.42,0.00,0.000,6,0.000,0.021,2896,2297,1848
$GC,16364,0.59,247.3,9.5,9.8,639,16372,0.00,1.60,0.00,0.000,4,0.000,0.025,2899,1177,1846
$GC,16403,0.59,258.7,6.1,8.5,644,16421,0.00,1.73,10.85,0.519,6,0.000,0.036,2899,2302,1802
$STATE,16440,end climb,SURFACE_DEPTH_REACHED
$STATE,16440,begin surface coast
$FINISH,0.3,1.011783
$STATE,16485,end surface coast,CONTROL_FINISHED_OK
$STATE,16485,begin surface
$SM_CCo,16511,160.75,0.538,0,0,399,603.18
$SM_GC,1.29,0.00,0.00,160.75,0.000,0.000,0.538,28,2532,399,-8.31,0.90,603.18
$IRIDIUM_FIX,2230.01,-15736.81,250203,232339
$TT8_MAMPS,0.023777
$HUMID,2166
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.60
$XPDR_PINGS,9
$24V_AH,23.4,63.685
$10V_AH,10.5,78.515
$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,18.325,94.525,380.050,160.750,0.000,136.321,189.839,1266.658,2.250,0.000,0.000,36.908,1315.224,11285.162,602.008,3244.353,2296.801,33.377,1580.760,0.000,3236.701,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,64.428,1254.812,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.275,2155.681,2255.051,1461.068,1516.343,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54040,656
$CAP_FILE_SIZE,142698,0
$CFSIZE,260165632,232890368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,021213,035506,2240.726,-15738.444,31,1.4,31,10.1