version: 66.04
glider: 512
mission: 4
dive: 380
start: 12 2 113 4 22 11
data:
$ID,512
$MISSION,4
$DIVE,380
$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,-114905.17
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,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,68
$R_STBD_OVSHOOT,46
$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
$GPS1,035506,2240.726,-15738.444,31,1.4,31,10.1
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-81.8
$GPS2,042113,2240.908,-15738.398,12,1.9,12,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.009,0.235
$KALMAN_X,109029.0,-6.8,-149.7,-71885.3,704.5
$KALMAN_Y,-45195.4,-578.5,73.4,39835.6,-3.5
$MHEAD_RNG_PITCHd_Wd,347.7,45698,-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,-126.5,0.0,0.0,0,123,0.00,0.00,-102.80,0.000,2,0.000,0.000,6,2535,2948
$GC,129,-0.54,-126.5,2.2,-1.5,12,158,9.80,1.58,-9.57,0.000,4,0.206,0.060,2509,3549,3374
$GC,352,-0.54,-126.5,57.1,-21.0,37,361,0.00,1.52,0.00,0.000,6,0.000,0.020,2509,2490,3375
$GC,618,-0.54,-126.5,107.6,-17.3,62,622,0.00,1.62,0.00,0.000,4,0.000,0.041,2502,3543,3375
$GC,703,-0.54,-126.5,121.6,-16.3,69,707,0.00,1.45,0.00,0.000,6,0.000,0.019,2507,2510,3375
$GC,976,-0.54,-126.5,164.9,-15.4,94,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2502,3375
$GC,1263,-0.54,-126.5,206.9,-13.9,118,1266,0.00,1.60,0.00,0.000,4,0.000,0.042,2501,3568,3375
$GC,1348,-0.54,-126.5,219.9,-14.3,119,1356,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2516,3374
$GC,1602,-0.54,-126.5,254.7,-14.1,126,1606,0.00,1.45,0.00,0.000,4,0.000,0.020,2508,1449,3374
$GC,1654,-0.54,-126.5,261.1,-12.6,127,1658,0.00,1.62,0.00,0.000,6,0.000,0.038,2502,2518,3374
$GC,1948,-0.54,-126.5,297.0,-11.8,134,1952,0.00,1.58,0.00,0.000,4,0.000,0.046,2494,3555,3374
$GC,2068,-0.54,-126.5,311.7,-12.1,136,2072,0.00,1.45,0.00,0.000,6,0.000,0.019,2499,2525,3373
$GC,2334,-0.54,-126.5,343.0,-12.0,143,2338,0.00,1.60,0.00,0.000,4,0.000,0.044,2493,3556,3371
$GC,2392,-0.54,-126.5,350.6,-12.1,144,2396,0.00,1.42,0.00,0.000,6,0.000,0.020,2498,2548,3370
$GC,2676,-0.54,-126.5,382.7,-11.5,151,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2539,3369
$GC,2920,-0.54,-126.5,409.8,-11.1,157,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2539,3366
$GC,3164,-0.54,-126.5,436.5,-10.8,163,3166,0.00,0.00,-0.08,0.000,6,0.000,0.000,2498,2539,3389
$GC,3407,-0.54,-126.5,460.9,-9.9,169,3411,0.00,1.60,0.00,0.000,4,0.000,0.048,2493,3558,3386
$GC,3470,-0.54,-126.5,467.6,-9.5,170,3473,0.00,1.45,0.00,0.000,6,0.000,0.022,2499,2552,3386
$GC,3747,-0.54,-126.5,493.2,-9.3,177,3751,0.00,1.52,0.00,0.000,4,0.000,0.023,2505,1458,3384
$GC,3801,-0.54,-126.5,498.3,-8.6,178,3804,0.00,1.62,0.00,0.000,6,0.000,0.041,2500,2539,3383
$GC,4089,-0.54,-126.5,526.1,-10.1,185,4092,0.00,1.58,0.00,0.000,4,0.000,0.051,2492,3555,3380
$GC,4197,-0.54,-126.5,538.1,-10.8,187,4201,0.00,1.45,0.00,0.000,6,0.000,0.024,2496,2551,3379
$GC,4475,-0.54,-126.5,566.6,-10.3,194,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2542,3378
$GC,4718,-0.54,-126.5,591.8,-10.2,200,4722,0.00,1.60,0.00,0.000,4,0.000,0.051,2491,3576,3375
$GC,4768,-0.54,-126.5,597.1,-9.3,201,4772,0.00,1.48,0.00,0.000,6,0.000,0.025,2496,2565,3375
$GC,5064,-0.54,-126.5,623.3,-8.5,208,5067,0.00,1.55,0.00,0.000,4,0.000,0.025,2505,1459,3373
$GC,5158,-0.54,-126.5,630.2,-6.8,210,5162,0.00,1.70,0.00,0.000,6,0.000,0.043,2499,2551,3372
$GC,5453,-0.54,-126.5,652.9,-7.9,217,5456,0.00,1.58,0.00,0.000,4,0.000,0.054,2491,3555,3371
$GC,5528,-0.54,-126.5,659.5,-8.3,218,5531,0.00,1.45,0.00,0.000,6,0.000,0.025,2496,2559,3370
$GC,5794,-0.54,-126.5,680.8,-8.1,225,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2549,3369
$GC,6037,-0.54,-126.5,701.2,-8.3,231,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2549,3367
$GC,6281,-0.54,-126.5,721.6,-8.3,237,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2549,3365
$GC,6526,-0.54,-126.5,741.1,-8.0,243,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2549,3364
$GC,6769,-0.54,-126.5,759.9,-7.6,249,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2549,3363
$GC,7012,-0.54,-126.5,778.2,-7.5,255,7016,0.00,1.60,0.00,0.000,4,0.000,0.054,2491,3569,3362
$GC,7048,-0.54,-126.5,781.3,-8.4,255,7052,0.00,1.48,0.00,0.000,6,0.000,0.026,2496,2566,3361
$GC,7311,-0.54,-126.5,801.2,-7.8,262,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2557,3360
$GC,7554,-0.54,-126.5,821.0,-8.3,268,7557,0.00,1.58,0.00,0.000,4,0.000,0.027,2505,1455,3360
$GC,7589,-0.54,-126.5,824.3,-8.2,268,7593,0.00,1.70,0.00,0.000,6,0.000,0.045,2499,2541,3359
$GC,7850,-0.54,-126.5,845.6,-8.4,275,7853,0.00,1.62,0.00,0.000,4,0.000,0.057,2491,3581,3358
$GC,7892,-0.54,-126.5,849.7,-9.0,275,7900,0.00,1.50,0.00,0.000,6,0.000,0.028,2497,2558,3358
$GC,8147,-0.54,-126.5,871.3,-8.5,282,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2558,3358
$GC,8391,-0.54,-126.5,892.9,-8.8,288,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2559,3356
$STATE,8466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8466,begin apogee
$GC,8479,-0.20,0.0,900.3,9.0,290,8594,0.40,0.00,112.35,1.256,6,0.101,0.000,2634,2230,2858
$STATE,8594,end apogee,CONTROL_FINISHED_OK
$STATE,8594,begin climb
$GC,8600,0.54,126.5,905.0,0.0,293,8750,0.65,1.67,127.43,1.171,4,0.044,0.028,2885,1191,2341
$GC,8827,0.54,126.5,884.7,15.5,298,8831,0.00,1.65,0.00,0.000,6,0.000,0.041,2880,2228,2335
$GC,9122,0.54,126.5,836.0,16.7,305,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2227,2330
$GC,9365,0.54,126.5,793.6,17.3,311,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2228,2329
$GC,9609,0.54,126.5,751.1,17.4,317,9612,0.00,1.62,0.00,0.000,4,0.000,0.049,2875,3283,2328
$GC,9674,0.54,126.5,739.1,18.0,318,9678,0.00,1.58,0.00,0.000,6,0.000,0.028,2881,2232,2327
$GC,9952,0.54,126.5,690.8,17.2,325,9955,0.00,1.55,0.00,0.000,4,0.000,0.030,2889,1163,2326
$GC,10002,0.54,126.5,681.9,17.2,326,10005,0.00,1.65,0.00,0.000,6,0.000,0.043,2889,2233,2325
$GC,10296,0.54,126.5,631.4,16.9,333,10299,0.00,1.62,0.00,0.000,4,0.000,0.049,2889,3296,2325
$GC,10326,0.54,126.5,625.8,17.0,333,10329,0.00,1.60,0.00,0.000,6,0.000,0.027,2897,2201,2325
$GC,10593,0.54,126.5,583.3,16.0,340,10596,0.00,1.50,0.00,0.000,4,0.000,0.029,2905,1168,2325
$GC,10617,0.54,126.5,578.7,15.7,340,10621,0.00,1.62,0.00,0.000,6,0.000,0.041,2904,2210,2325
$GC,10889,0.54,126.5,537.4,15.4,347,10892,0.00,1.67,0.00,0.000,4,0.000,0.049,2904,3284,2324
$GC,10946,0.54,126.5,527.2,17.0,348,10950,0.15,1.58,0.00,0.000,6,0.170,0.028,2874,2225,2323
$GC,11229,0.54,126.5,490.7,12.8,355,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2220,2323
$GC,11473,0.54,126.5,460.3,12.3,361,11476,0.00,1.55,0.00,0.000,4,0.000,0.030,2880,1161,2323
$GC,11531,0.54,126.5,452.8,11.8,362,11534,0.00,1.70,0.00,0.000,6,0.000,0.043,2876,2247,2323
$GC,11813,0.54,126.5,417.3,13.0,369,11817,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3284,2323
$GC,11895,0.54,126.5,406.1,13.7,370,11898,0.00,1.52,0.00,0.000,6,0.000,0.028,2881,2256,2322
$GC,12155,0.54,126.5,375.3,11.4,377,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2250,2322
$GC,12398,0.54,126.5,346.5,11.8,383,12402,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1165,2322
$GC,12422,0.54,126.5,343.2,12.3,383,12425,0.00,1.70,0.00,0.000,6,0.000,0.042,2889,2274,2322
$GC,12693,0.54,126.5,311.6,11.6,390,12697,0.00,1.58,0.00,0.000,4,0.000,0.049,2889,3284,2322
$GC,12834,0.54,126.5,293.0,13.5,393,12838,0.00,1.48,0.00,0.000,6,0.000,0.027,2896,2286,2322
$GC,13129,0.54,126.5,258.8,11.1,400,13133,0.00,1.58,0.00,0.000,4,0.000,0.047,2891,3278,2322
$GC,13172,0.54,126.5,253.9,10.2,400,13180,0.00,1.45,0.00,0.000,6,0.000,0.025,2897,2283,2322
$GC,13427,0.54,126.5,228.6,10.0,407,13431,0.00,1.62,0.00,0.000,4,0.000,0.027,2904,1160,2322
$GC,13507,0.54,128.4,220.6,8.9,408,13511,0.00,1.73,0.00,0.000,6,0.000,0.040,2904,2293,2322
$GC,13771,0.54,128.4,195.0,10.6,418,13775,0.00,1.67,0.00,0.000,4,0.000,0.027,2910,1155,2322
$GC,13844,0.54,130.5,188.2,8.9,424,13848,0.10,1.75,0.00,0.000,6,0.135,0.040,2879,2279,2322
$GC,14121,0.56,164.5,169.4,7.4,449,14173,0.00,1.58,35.05,0.671,4,0.000,0.044,2878,3287,2188
$GC,14192,0.56,164.5,162.8,9.8,454,14200,0.00,1.50,0.00,0.000,6,0.000,0.024,2883,2275,2186
$GC,14460,0.56,164.5,137.4,9.7,479,14463,0.00,1.60,0.00,0.000,4,0.000,0.047,2884,3301,2184
$GC,14533,0.56,164.5,130.1,9.9,485,14537,0.00,1.50,0.00,0.000,6,0.000,0.023,2891,2280,2184
$GC,14805,0.57,202.1,107.0,7.2,510,14843,0.00,0.00,32.85,0.655,6,0.000,0.000,2891,2274,2035
$GC,15105,0.58,219.8,80.4,8.2,538,15125,0.00,1.65,16.17,0.611,4,0.000,0.023,2898,1159,1962
$GC,15169,0.60,260.3,75.7,7.1,542,15208,0.00,1.80,34.85,0.616,6,0.000,0.037,2899,2314,1796
$GC,15469,0.60,260.3,47.1,10.5,569,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2315,1791
$GC,15765,0.60,260.3,16.4,10.9,603,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2314,1791
$STATE,15879,end climb,SURFACE_DEPTH_REACHED
$STATE,15879,begin surface coast
$FINISH,0.4,1.005639
$STATE,15912,end surface coast,CONTROL_FINISHED_OK
$STATE,15912,begin surface
$SM_CCo,15938,53.50,0.545,0,0,1267,390.02
$SM_GC,1.43,0.00,0.00,53.50,0.000,0.000,0.545,33,2534,1267,-8.33,0.96,390.02
$IRIDIUM_FIX,2234.68,-15735.92,260203,040442
$TT8_MAMPS,0.023777
$HUMID,2262
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,9
$24V_AH,23.1,63.863
$10V_AH,10.6,78.735
$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,18.300,98.625,358.700,53.500,0.000,106.731,154.222,898.099,2.250,0.000,0.000,12.592,1292.139,10765.876,464.046,3203.906,1830.369,33.371,1466.490,0.000,3205.946,0.000,0.545,0.000
$DEVICE_MAMPS,205.556,59.826,1256.346,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,426.262,2062.347,2141.137,1405.823,1395.103,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54085,626
$CAP_FILE_SIZE,135650,0
$CFSIZE,260165632,232833024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,021213,085006,2242.844,-15737.913,33,0.9,33,10.1