version: 66.04
glider: 512
mission: 4
dive: 382
start: 12 2 113 14 15 30
data:
$ID,512
$MISSION,4
$DIVE,382
$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,-114943.87
$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,64
$R_STBD_OVSHOOT,58
$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
$GPS1,134054,2244.653,-15737.982,41,1.4,41,10.1
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,3
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-80.7
$GPS2,141437,2244.873,-15738.054,11,1.9,11,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.057,0.228
$KALMAN_X,110269.1,-171.2,-400.0,-72121.9,1621.9
$KALMAN_Y,-47721.0,187.5,-286.6,49290.8,-409.1
$MHEAD_RNG_PITCHd_Wd,336.0,38335,-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,17,-0.54,-126.5,0.0,0.0,0,96,0.00,0.00,-76.88,0.000,2,0.000,0.000,6,2535,2804
$GC,102,-0.54,-126.5,2.1,-1.5,9,132,9.75,1.58,-14.57,0.000,4,0.201,0.058,2510,3538,3376
$GC,326,-0.54,-126.5,49.0,-22.1,36,329,0.00,1.50,0.00,0.000,6,0.000,0.020,2515,2491,3376
$GC,598,-0.54,-126.5,107.5,-18.2,61,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2484,3377
$GC,864,-0.54,-126.5,150.7,-15.7,86,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2484,3377
$GC,1130,-0.54,-126.5,190.2,-14.6,111,1134,0.00,1.60,0.00,0.000,4,0.000,0.041,2509,3532,3377
$GC,1210,-0.54,-126.5,202.3,-13.8,117,1214,0.00,1.42,0.00,0.000,6,0.000,0.018,2509,2512,3377
$GC,1472,-0.54,-126.5,236.4,-13.6,124,1475,0.00,1.58,0.00,0.000,4,0.000,0.042,2503,3535,3376
$GC,1522,-0.54,-126.5,243.3,-13.7,125,1526,0.00,1.40,0.00,0.000,6,0.000,0.020,2508,2542,3376
$GC,1816,-0.54,-126.5,280.0,-12.2,132,1819,0.00,1.52,0.00,0.000,4,0.000,0.044,2502,3528,3375
$GC,1874,-0.54,-126.5,287.9,-12.9,133,1877,0.00,1.40,0.00,0.000,6,0.000,0.019,2507,2533,3375
$GC,2157,-0.54,-126.5,322.0,-12.3,140,2161,0.00,1.55,0.00,0.000,4,0.000,0.044,2501,3534,3373
$GC,2193,-0.54,-126.5,326.4,-11.3,140,2197,0.00,1.40,0.00,0.000,6,0.000,0.021,2506,2542,3373
$GC,2453,-0.54,-126.5,355.4,-11.1,147,2457,0.00,1.50,0.00,0.000,4,0.000,0.021,2508,1453,3371
$GC,2494,-0.54,-126.5,360.0,-9.8,147,2504,0.00,1.60,0.00,0.000,6,0.000,0.040,2502,2503,3371
$GC,2750,-0.54,-126.5,387.2,-11.1,154,2754,0.00,1.62,0.00,0.000,4,0.000,0.049,2494,3561,3369
$GC,2845,-0.54,-126.5,398.1,-10.7,156,2849,0.00,1.45,0.00,0.000,6,0.000,0.021,2500,2547,3368
$GC,3140,-0.54,-126.5,431.5,-11.4,163,3142,0.00,0.00,-0.08,0.000,6,0.000,0.000,2500,2540,3389
$GC,3384,-0.54,-126.5,457.5,-10.5,169,3388,0.00,1.60,0.00,0.000,4,0.000,0.048,2494,3559,3387
$GC,3453,-0.54,-126.5,465.2,-11.3,170,3457,0.00,1.45,0.00,0.000,6,0.000,0.022,2499,2548,3386
$GC,3724,-0.54,-126.5,492.0,-9.8,177,3728,0.00,1.60,0.00,0.000,4,0.000,0.049,2494,3555,3384
$GC,3754,-0.54,-126.5,495.3,-10.4,177,3758,0.00,1.45,0.00,0.000,6,0.000,0.022,2499,2546,3383
$GC,4022,-0.54,-126.5,521.7,-10.1,184,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2537,3381
$GC,4265,-0.54,-126.5,545.9,-9.9,190,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2537,3379
$GC,4509,-0.54,-126.5,568.7,-9.3,196,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2537,3378
$GC,4752,-0.54,-126.5,592.6,-9.9,202,4756,0.00,1.52,0.00,0.000,4,0.000,0.025,2507,1455,3375
$GC,4794,-0.54,-126.5,597.2,-9.1,202,4802,0.00,1.70,0.00,0.000,6,0.000,0.043,2502,2553,3375
$GC,5048,-0.54,-126.5,623.3,-10.5,209,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2553,3373
$GC,5292,-0.54,-126.5,647.9,-9.9,215,5296,0.00,1.58,0.00,0.000,4,0.000,0.053,2494,3558,3372
$GC,5342,-0.54,-126.5,652.6,-9.4,216,5345,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2563,3371
$GC,5638,-0.54,-126.5,676.5,-7.6,223,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3370
$GC,5881,-0.54,-126.5,693.8,-7.0,229,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3368
$GC,6124,-0.54,-126.5,712.1,-7.6,235,6128,0.00,1.60,0.00,0.000,4,0.000,0.053,2494,3580,3366
$GC,6175,-0.54,-126.5,716.3,-8.4,236,6178,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2577,3366
$GC,6469,-0.54,-126.5,741.4,-8.7,243,6473,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1461,3364
$GC,6499,-0.54,-126.5,744.6,-9.9,243,6503,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2571,3364
$GC,6766,-0.54,-126.5,768.8,-9.3,250,6769,0.00,1.55,0.00,0.000,4,0.000,0.055,2495,3555,3363
$GC,6816,-0.54,-126.5,773.7,-9.6,251,6820,0.00,1.45,0.00,0.000,6,0.000,0.026,2499,2566,3363
$GC,7111,-0.54,-126.5,799.4,-8.5,258,7115,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1452,3362
$GC,7152,-0.54,-126.5,803.1,-7.9,258,7162,0.00,1.73,0.00,0.000,6,0.000,0.046,2502,2555,3361
$GC,7409,-0.54,-126.5,822.3,-7.6,265,7412,0.00,1.58,0.00,0.000,4,0.000,0.055,2494,3552,3360
$GC,7478,-0.54,-126.5,828.3,-8.5,266,7482,0.00,1.42,0.00,0.000,6,0.000,0.026,2499,2576,3360
$GC,7750,-0.54,-126.5,848.4,-7.4,273,7754,0.00,1.58,0.00,0.000,4,0.000,0.026,2507,1460,3359
$GC,7802,-0.54,-126.5,852.2,-7.2,274,7805,0.00,1.70,0.00,0.000,6,0.000,0.044,2501,2565,3359
$GC,8097,-0.54,-126.5,875.7,-8.2,281,8100,0.00,1.58,0.00,0.000,4,0.000,0.057,2494,3556,3358
$GC,8148,-0.54,-126.5,880.7,-9.4,282,8152,0.00,1.42,0.00,0.000,6,0.000,0.027,2499,2583,3358
$STATE,8391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8391,begin apogee
$GC,8403,-0.20,0.0,901.1,8.3,288,8519,0.40,0.00,113.62,1.255,6,0.100,0.000,2637,2200,2858
$STATE,8520,end apogee,CONTROL_FINISHED_OK
$STATE,8520,begin climb
$GC,8526,0.54,126.5,905.2,0.0,291,8685,0.65,1.62,130.57,1.154,4,0.044,0.028,2889,1187,2342
$GC,8707,0.54,126.5,892.4,15.4,295,8711,0.00,1.67,0.00,0.000,6,0.000,0.040,2889,2218,2338
$GC,9002,0.54,126.5,842.2,17.3,302,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2217,2332
$GC,9245,0.54,126.5,799.4,17.7,308,9249,0.00,1.65,0.00,0.000,4,0.000,0.049,2889,3287,2330
$GC,9314,0.54,126.5,786.1,18.1,309,9317,0.00,1.55,0.00,0.000,6,0.000,0.028,2895,2247,2329
$GC,9586,0.54,126.5,738.3,17.5,316,9590,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3281,2328
$GC,9605,0.54,126.5,734.1,17.9,316,9609,0.00,1.58,0.00,0.000,6,0.000,0.027,2897,2221,2327
$GC,9882,0.54,126.5,686.3,16.8,323,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2215,2327
$GC,10126,0.54,126.5,644.8,16.7,329,10130,0.00,1.70,0.00,0.000,4,0.000,0.048,2892,3286,2326
$GC,10223,0.54,126.5,629.6,15.4,331,10227,0.00,1.58,0.00,0.000,6,0.000,0.028,2897,2228,2326
$GC,10516,0.54,126.5,585.0,14.7,338,10520,0.00,1.55,0.00,0.000,4,0.000,0.031,2904,1159,2325
$GC,10552,0.54,126.5,579.5,13.9,338,10555,0.00,1.65,0.00,0.000,6,0.000,0.044,2904,2233,2325
$GC,10812,0.54,126.5,542.5,14.3,345,10816,0.00,1.60,0.00,0.000,4,0.000,0.028,2910,1148,2325
$GC,10849,0.54,126.5,536.9,14.5,345,10852,0.00,1.62,0.00,0.000,6,0.000,0.039,2906,2216,2325
$GC,11110,0.54,126.5,498.5,15.0,352,11113,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3278,2324
$GC,11190,0.54,126.5,485.2,16.1,353,11194,0.08,1.55,0.00,0.000,6,0.155,0.026,2879,2228,2324
$GC,11450,0.54,126.5,452.2,12.6,360,11454,0.00,1.67,0.00,0.000,4,0.000,0.051,2876,3272,2323
$GC,11502,0.54,126.5,445.4,14.3,361,11506,0.00,1.52,0.00,0.000,6,0.000,0.027,2882,2242,2323
$GC,11796,0.54,126.5,407.4,12.9,368,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2236,2323
$GC,12039,0.54,126.5,377.6,11.8,374,12043,0.00,1.65,0.00,0.000,4,0.000,0.049,2877,3276,2323
$GC,12089,0.54,126.5,371.7,11.9,375,12093,0.00,1.50,0.00,0.000,6,0.000,0.025,2883,2254,2323
$GC,12384,0.54,126.5,340.3,10.5,382,12388,0.00,1.58,0.00,0.000,4,0.000,0.028,2891,1160,2323
$GC,12453,0.54,126.5,332.3,10.6,383,12457,0.00,1.75,0.00,0.000,6,0.000,0.041,2891,2283,2322
$GC,12725,0.54,126.5,301.8,11.4,390,12728,0.00,1.55,0.00,0.000,4,0.000,0.049,2891,3278,2322
$GC,12783,0.54,126.5,294.4,11.6,391,12787,0.00,1.45,0.00,0.000,6,0.000,0.025,2897,2283,2322
$GC,13066,0.54,126.5,264.9,10.2,398,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2278,2322
$GC,13310,0.54,126.5,241.7,9.7,404,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2278,2322
$GC,13554,0.54,129.5,219.6,8.9,410,13558,0.00,1.58,0.00,0.000,4,0.000,0.046,2891,3279,2322
$GC,13657,0.54,129.5,210.0,9.7,412,13661,0.00,1.45,0.00,0.000,6,0.000,0.024,2897,2278,2322
$GC,13927,0.55,158.1,187.7,7.6,429,13966,0.00,1.58,27.73,0.703,4,0.000,0.025,2905,1162,2213
$GC,14020,0.56,183.9,180.2,7.8,436,14055,0.00,1.75,23.92,0.717,6,0.000,0.038,2905,2286,2107
$GC,14312,0.56,183.9,150.6,10.4,463,14315,0.00,1.62,0.00,0.000,4,0.000,0.025,2910,1167,2102
$GC,14351,0.56,183.9,146.4,9.6,466,14355,0.00,1.70,0.00,0.000,6,0.000,0.037,2910,2260,2102
$GC,14623,0.56,183.9,115.4,12.3,491,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2260,2101
$GC,14889,0.56,183.9,85.4,9.8,516,14893,0.00,1.55,0.00,0.000,4,0.000,0.044,2911,3272,2101
$GC,14930,0.56,183.9,81.2,10.7,519,14934,0.10,1.48,0.00,0.000,6,0.143,0.021,2884,2256,2101
$GC,15207,0.58,213.4,61.8,7.6,544,15236,0.00,1.60,25.73,0.606,4,0.000,0.024,2886,1163,1986
$GC,15291,0.60,262.0,56.0,6.7,550,15337,0.00,1.65,41.20,0.598,6,0.000,0.035,2885,2252,1788
$GC,15605,0.60,262.0,31.6,10.0,578,15608,0.00,1.58,0.00,0.000,4,0.000,0.042,2885,3283,1783
$GC,15643,0.60,262.0,27.6,10.2,582,15653,0.00,1.50,0.00,0.000,6,0.000,0.021,2886,2245,1782
$GC,15960,0.60,262.0,3.2,9.8,631,15968,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2239,1782
$STATE,15975,end climb,SURFACE_DEPTH_REACHED
$STATE,15975,begin surface coast
$FINISH,0.4,0.998505
$STATE,16014,end surface coast,CONTROL_FINISHED_OK
$STATE,16014,begin surface
$SM_CCo,16040,52.17,0.539,0,0,1267,390.02
$SM_GC,1.39,0.00,0.00,52.17,0.000,0.000,0.539,38,2509,1267,-8.31,0.23,390.02
$IRIDIUM_FIX,2234.68,-15740.24,260203,141444
$TT8_MAMPS,0.023777
$HUMID,2235
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,6
$24V_AH,23.2,64.236
$10V_AH,10.6,79.188
$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,18.275,110.575,362.775,52.175,0.000,122.036,160.315,1338.584,1.500,0.000,0.000,16.687,1322.931,10732.062,461.346,3272.621,2320.170,33.370,1482.541,0.000,3289.678,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,57.525,1254.812,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,435.770,2103.587,2182.105,1527.075,1478.435,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54149,639
$CAP_FILE_SIZE,142043,0
$CFSIZE,260165632,232693760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,021213,184506,2247.412,-15738.331,33,1.4,33,10.1