version: 66.04
glider: 512
mission: 4
dive: 381
start: 12 2 113 9 4 35
data:
$ID,512
$MISSION,4
$DIVE,381
$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,-114926.55
$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,57
$R_STBD_OVSHOOT,42
$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
$GPS1,085006,2242.844,-15737.913,33,0.9,33,10.1
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-81.6
$GPS2,090342,2242.875,-15737.828,15,1.1,20,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.004,0.235
$KALMAN_X,109961.2,-185.0,256.4,-72078.5,518.8
$KALMAN_Y,-46313.8,-324.4,-155.1,44565.7,-165.2
$MHEAD_RNG_PITCHd_Wd,349.0,41972,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.54,-126.5,0.0,0.0,0,93,0.00,0.00,-69.20,0.000,2,0.000,0.000,10,2533,2873
$GC,99,-0.54,-126.5,2.2,-1.5,8,128,9.60,1.58,-12.20,0.000,4,0.199,0.061,2507,3545,3375
$GC,299,-0.54,-126.5,50.1,-23.2,32,308,0.00,1.52,0.00,0.000,6,0.000,0.020,2508,2487,3376
$GC,566,-0.54,-126.5,108.1,-17.9,57,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2479,3376
$GC,832,-0.54,-126.5,154.9,-16.0,82,836,0.00,1.62,0.00,0.000,4,0.000,0.044,2502,3554,3377
$GC,905,-0.54,-126.5,165.9,-15.1,88,908,0.00,1.50,0.00,0.000,6,0.000,0.019,2507,2479,3377
$GC,1185,-0.54,-126.5,206.5,-13.6,111,1189,0.00,1.65,0.00,0.000,4,0.000,0.044,2501,3545,3378
$GC,1246,-0.54,-126.5,215.8,-14.8,112,1249,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2495,3378
$GC,1529,-0.54,-126.5,253.1,-13.0,119,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2488,3378
$GC,1772,-0.54,-126.5,282.1,-11.8,125,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2488,3378
$GC,2015,-0.54,-126.5,309.1,-11.0,131,2019,0.00,1.65,0.00,0.000,4,0.000,0.046,2500,3554,3376
$GC,2079,-0.54,-126.5,316.7,-10.9,132,2082,0.00,1.50,0.00,0.000,6,0.000,0.020,2505,2495,3375
$GC,2357,-0.54,-126.5,346.9,-11.1,139,2361,0.00,1.62,0.00,0.000,4,0.000,0.047,2499,3555,3374
$GC,2452,-0.54,-126.5,357.5,-10.8,141,2455,0.00,1.48,0.00,0.000,6,0.000,0.020,2505,2519,3373
$GC,2747,-0.54,-126.5,387.5,-10.1,148,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2512,3372
$GC,2990,-0.54,-126.5,410.8,-9.3,154,2993,0.00,1.62,0.00,0.000,4,0.000,0.048,2499,3569,3370
$GC,3042,-0.54,-126.5,416.5,-9.9,155,3046,0.00,1.50,0.00,0.000,6,0.000,0.021,2504,2516,3370
$GC,3330,-0.54,-126.5,445.6,-10.3,162,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2509,3367
$GC,3574,-0.54,-126.5,471.2,-10.5,168,3578,0.00,1.50,-0.08,0.000,4,0.000,0.041,2508,1440,3390
$GC,3626,-0.54,-126.5,476.0,-8.9,169,3630,0.00,1.62,0.00,0.000,6,0.000,0.040,2502,2517,3390
$GC,3920,-0.54,-126.5,505.3,-10.1,176,3924,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3565,3387
$GC,4016,-0.54,-126.5,515.0,-10.5,178,4019,0.00,1.52,0.00,0.000,6,0.000,0.022,2499,2512,3387
$GC,4310,-0.54,-126.5,542.7,-9.2,185,4314,0.00,1.65,0.00,0.000,4,0.000,0.052,2494,3565,3385
$GC,4385,-0.54,-126.5,550.0,-9.0,186,4388,0.00,1.50,0.00,0.000,6,0.000,0.022,2500,2530,3384
$GC,4652,-0.54,-126.5,573.5,-8.9,193,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2521,3382
$GC,4896,-0.54,-126.5,595.2,-8.9,199,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2522,3380
$GC,5140,-0.54,-126.5,616.6,-8.7,205,5143,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1445,3379
$GC,5190,-0.54,-126.5,620.9,-8.3,206,5193,0.00,1.67,0.00,0.000,6,0.000,0.044,2502,2538,3379
$GC,5484,-0.54,-126.5,646.1,-8.7,213,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2537,3377
$GC,5729,-0.54,-126.5,667.4,-8.9,219,5733,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3576,3376
$GC,5799,-0.54,-126.5,674.1,-9.3,220,5802,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2550,3374
$GC,6071,-0.54,-126.5,697.4,-8.6,227,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2542,3373
$GC,6315,-0.54,-126.5,717.7,-8.3,233,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2541,3372
$GC,6559,-0.54,-126.5,738.1,-8.5,239,6562,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3560,3371
$GC,6594,-0.54,-126.5,741.7,-9.5,239,6598,0.00,1.50,0.00,0.000,6,0.000,0.027,2499,2538,3371
$GC,6855,-0.54,-126.5,763.4,-8.4,246,6859,0.00,1.55,0.00,0.000,4,0.000,0.026,2507,1443,3370
$GC,6885,-0.54,-126.5,766.1,-8.7,246,6888,0.00,1.70,0.00,0.000,6,0.000,0.046,2503,2548,3370
$GC,7153,-0.54,-126.5,788.5,-8.6,253,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2548,3369
$GC,7396,-0.54,-126.5,810.0,-9.0,259,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2548,3368
$GC,7640,-0.54,-126.5,831.9,-9.0,265,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2548,3366
$GC,7883,-0.54,-126.5,853.0,-8.5,271,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2548,3366
$GC,8128,-0.54,-126.5,872.7,-7.9,277,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2548,3365
$GC,8371,-0.54,-126.5,890.9,-7.4,283,8375,0.00,1.60,0.00,0.000,4,0.000,0.058,2494,3554,3364
$GC,8457,-0.54,-126.5,898.2,-7.8,284,8465,0.00,1.50,0.00,0.000,6,0.000,0.028,2500,2531,3364
$STATE,8504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8505,begin apogee
$GC,8517,-0.20,0.0,901.6,7.2,286,8634,0.40,0.00,114.55,1.260,6,0.114,0.000,2637,2218,2858
$STATE,8635,end apogee,CONTROL_FINISHED_OK
$STATE,8635,begin climb
$GC,8640,0.54,126.5,904.8,0.0,289,8805,0.62,1.62,133.15,1.140,4,0.041,0.028,2885,1185,2341
$GC,8822,0.54,126.5,890.3,14.2,293,8826,0.00,1.73,0.00,0.000,6,0.000,0.041,2879,2233,2338
$GC,9110,0.54,126.5,843.6,16.2,300,9114,0.00,1.65,0.00,0.000,4,0.000,0.049,2876,3292,2332
$GC,9151,0.54,126.5,835.9,18.1,300,9161,0.00,1.60,0.00,0.000,6,0.000,0.027,2882,2230,2331
$GC,9407,0.54,126.5,794.5,16.4,307,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2223,2329
$GC,9651,0.54,126.5,754.0,16.6,313,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2223,2328
$GC,9895,0.54,126.5,715.4,15.6,319,9898,0.00,1.70,0.00,0.000,4,0.000,0.050,2876,3286,2327
$GC,9963,0.54,126.5,703.6,16.0,320,9967,0.00,1.60,0.00,0.000,6,0.000,0.028,2882,2197,2327
$GC,10235,0.54,126.5,663.1,15.0,327,10239,0.00,1.73,0.00,0.000,4,0.000,0.049,2876,3292,2326
$GC,10277,0.54,126.5,656.2,16.4,327,10286,0.00,1.58,0.00,0.000,6,0.000,0.027,2882,2233,2326
$GC,10532,0.54,126.5,617.6,15.3,334,10536,0.00,1.55,0.00,0.000,4,0.000,0.028,2889,1165,2325
$GC,10575,0.54,126.5,611.1,14.4,334,10583,0.00,1.65,0.00,0.000,6,0.000,0.042,2889,2218,2325
$GC,10829,0.54,126.5,573.6,14.7,341,10833,0.00,1.67,0.00,0.000,4,0.000,0.051,2889,3282,2324
$GC,10871,0.54,126.5,566.9,16.0,341,10879,0.00,1.55,0.00,0.000,6,0.000,0.027,2896,2234,2324
$GC,11125,0.54,126.5,529.8,14.4,348,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2228,2324
$GC,11369,0.54,126.5,496.3,13.5,354,11372,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3282,2323
$GC,11450,0.54,126.5,483.8,14.8,355,11454,0.00,1.55,0.00,0.000,6,0.000,0.028,2897,2241,2324
$GC,11711,0.54,126.5,447.1,13.9,362,11714,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1153,2323
$GC,11791,0.54,126.5,436.0,12.9,363,11794,0.00,1.65,0.00,0.000,6,0.000,0.042,2905,2229,2323
$GC,12052,0.54,126.5,401.2,13.7,370,12055,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3286,2322
$GC,12127,0.54,126.5,390.1,14.8,371,12131,0.08,1.55,0.00,0.000,6,0.148,0.027,2878,2245,2322
$GC,12392,0.54,126.5,358.8,11.6,378,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2238,2322
$GC,12636,0.54,126.5,328.9,12.3,384,12639,0.00,1.58,0.00,0.000,4,0.000,0.029,2885,1156,2322
$GC,12666,0.54,126.5,325.0,11.5,384,12669,0.00,1.67,0.00,0.000,6,0.000,0.042,2879,2247,2322
$GC,12933,0.54,126.5,296.2,10.5,391,12937,0.00,1.62,0.00,0.000,4,0.000,0.051,2876,3302,2322
$GC,12998,0.54,126.5,287.8,12.9,392,13001,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2200,2322
$GC,13276,0.55,134.9,262.8,8.6,399,13285,0.00,1.70,5.30,0.659,4,0.000,0.048,2876,3279,2309
$GC,13356,0.55,134.9,254.7,9.8,400,13360,0.00,1.50,0.00,0.000,6,0.000,0.025,2882,2256,2308
$GC,13617,0.55,134.9,230.1,9.7,407,13620,0.00,1.58,0.00,0.000,4,0.000,0.027,2889,1165,2308
$GC,13669,0.55,141.7,225.0,8.7,408,13683,0.00,1.73,8.25,0.718,6,0.000,0.041,2889,2271,2280
$GC,13957,0.55,141.7,197.6,9.7,415,13961,0.00,1.58,0.00,0.000,4,0.000,0.049,2889,3282,2279
$GC,14064,0.55,141.7,186.4,11.1,424,14067,0.00,1.45,0.00,0.000,6,0.000,0.025,2896,2297,2279
$GC,14336,0.55,147.5,162.9,8.7,449,14348,0.00,1.60,6.57,0.629,4,0.000,0.027,2900,1173,2259
$GC,14420,0.55,147.5,155.0,9.2,456,14424,0.00,1.75,0.00,0.000,6,0.000,0.040,2899,2311,2258
$GC,14693,0.55,147.5,129.8,9.1,481,14697,0.00,1.50,0.00,0.000,4,0.000,0.047,2900,3282,2257
$GC,14766,0.55,147.5,122.8,9.3,487,14770,0.00,1.45,0.00,0.000,6,0.000,0.023,2907,2290,2257
$GC,15038,0.55,156.4,98.9,8.6,512,15054,0.00,1.65,10.18,0.614,4,0.000,0.025,2912,1163,2220
$GC,15129,0.56,175.6,91.7,8.1,519,15157,0.12,1.73,17.73,0.632,6,0.133,0.038,2879,2298,2142
$GC,15414,0.60,267.0,73.5,4.6,545,15497,0.00,1.67,76.95,0.624,4,0.000,0.022,2883,1168,1767
$GC,15516,0.63,342.1,68.2,5.4,553,15586,0.00,1.73,61.38,0.606,6,0.000,0.035,2883,2282,1461
$GC,15842,0.63,342.9,45.6,9.0,582,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2281,1456
$GC,16120,0.65,386.8,24.7,6.9,613,16163,0.00,1.67,35.88,0.564,4,0.000,0.023,2883,1162,1281
$GC,16195,0.68,458.7,20.0,5.6,622,16266,0.00,1.70,59.00,0.555,6,0.000,0.031,2883,2270,985
$STATE,16371,end climb,SURFACE_DEPTH_REACHED
$STATE,16376,begin surface coast
$FINISH,0.5,1.013360
$STATE,16409,end surface coast,CONTROL_FINISHED_OK
$STATE,16409,begin surface
$SM_CCo,16494,0.00,0.000,0,0,981,460.42
$SM_GC,1.46,7.30,0.00,0.00,0.023,0.000,0.000,36,2532,981,-8.24,0.85,460.42
$IRIDIUM_FIX,2232.34,-15738.08,260203,040446
$TT8_MAMPS,0.023777
$HUMID,2232
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.60
$XPDR_PINGS,7
$24V_AH,23.0,64.030
$10V_AH,10.6,78.956
$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,18.125,106.300,528.925,0.000,0.000,25.204,43.247,538.643,1.750,0.000,0.000,20.741,1315.694,10917.344,496.063,3288.482,1280.338,33.375,1573.138,0.000,3290.508,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,60.593,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,442.709,2144.448,2224.348,1500.129,1491.028,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53996,652
$CAP_FILE_SIZE,129361,0
$CFSIZE,260165632,232771584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,021213,134054,2244.653,-15737.982,41,1.4,41,10.1