version: 66.04
glider: 512
mission: 4
dive: 383
start: 12 2 113 20 32 4
data:
$ID,512
$MISSION,4
$DIVE,383
$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,-115160.34
$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,72
$R_STBD_OVSHOOT,28
$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
$GPS1,202357,2248.076,-15738.392,9,2.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-81.2
$GPS2,203112,2248.119,-15738.374,14,1.9,31,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.008,0.235
$KALMAN_X,110228.0,-90.7,113.6,-73220.9,197.6
$KALMAN_Y,-47601.6,575.6,697.4,53792.9,-2455.4
$MHEAD_RNG_PITCHd_Wd,351.8,32453,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,80,0.00,0.00,-59.97,0.000,2,0.000,0.000,32,2511,2653
$GC,87,-0.54,-126.5,2.1,-1.0,7,124,9.57,1.58,-21.70,0.000,4,0.203,0.055,2518,3573,3371
$GC,304,-0.54,-126.5,41.3,-20.3,35,308,0.00,1.52,0.00,0.000,6,0.000,0.019,2518,2495,3371
$GC,576,-0.54,-126.5,99.0,-17.9,60,580,0.00,1.62,0.00,0.000,4,0.000,0.040,2511,3583,3371
$GC,639,-0.54,-126.5,109.9,-16.6,65,643,0.00,1.50,0.00,0.000,6,0.000,0.018,2511,2498,3371
$GC,911,-0.54,-126.5,153.1,-15.5,90,914,0.00,1.40,0.00,0.000,4,0.000,0.020,2516,1458,3372
$GC,950,-0.54,-126.5,159.3,-15.2,93,954,0.00,1.58,0.00,0.000,6,0.000,0.036,2510,2503,3372
$GC,1223,-0.54,-126.5,196.3,-12.7,118,1226,0.00,1.60,0.00,0.000,4,0.000,0.044,2502,3567,3371
$GC,1318,-0.54,-126.5,209.4,-13.2,122,1321,0.00,1.48,0.00,0.000,6,0.000,0.018,2508,2510,3371
$GC,1612,-0.54,-126.5,246.4,-12.3,129,1616,0.00,1.42,0.00,0.000,4,0.000,0.019,2515,1455,3371
$GC,1654,-0.54,-126.5,252.0,-12.0,129,1663,0.00,1.60,0.00,0.000,6,0.000,0.036,2509,2517,3370
$GC,1909,-0.54,-126.5,283.1,-12.3,136,1913,0.00,1.58,0.00,0.000,4,0.000,0.047,2501,3560,3369
$GC,1990,-0.54,-126.5,293.7,-12.1,137,1993,0.00,1.45,0.00,0.000,6,0.000,0.019,2506,2527,3368
$GC,2250,-0.54,-126.5,323.2,-11.3,144,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2519,3366
$GC,2493,-0.54,-126.5,348.1,-10.2,150,2495,0.00,0.00,-0.08,0.000,6,0.000,0.000,2506,2520,3385
$GC,2737,-0.54,-126.5,371.4,-9.6,156,2741,0.00,1.48,0.00,0.000,4,0.000,0.022,2514,1456,3383
$GC,2774,-0.54,-126.5,374.8,-8.5,156,2778,0.00,1.62,0.00,0.000,6,0.000,0.039,2508,2546,3383
$GC,3036,-0.54,-126.5,398.7,-9.4,163,3039,0.00,1.55,0.00,0.000,4,0.000,0.050,2500,3560,3380
$GC,3176,-0.54,-126.5,412.0,-9.0,166,3180,0.00,1.40,0.00,0.000,6,0.000,0.021,2505,2568,3379
$GC,3471,-0.54,-126.5,441.2,-9.9,173,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2559,3376
$GC,3713,-0.54,-126.5,465.3,-9.8,179,3717,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1455,3374
$GC,3771,-0.54,-126.5,470.8,-8.7,180,3775,0.00,1.70,0.00,0.000,6,0.000,0.041,2502,2587,3374
$GC,4056,-0.54,-126.5,496.0,-9.0,187,4059,0.00,1.50,0.00,0.000,4,0.000,0.051,2494,3561,3371
$GC,4210,-0.54,-126.5,510.3,-8.9,190,4214,0.00,1.38,0.00,0.000,6,0.000,0.024,2499,2595,3370
$GC,4487,-0.54,-126.5,534.3,-8.8,197,4491,0.00,1.60,0.00,0.000,4,0.000,0.025,2507,1453,3368
$GC,4593,-0.54,-126.5,543.2,-8.1,199,4596,0.00,1.67,0.00,0.000,6,0.000,0.043,2502,2563,3367
$GC,4876,-0.54,-126.5,568.1,-9.0,206,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2563,3364
$GC,5119,-0.54,-126.5,590.2,-9.1,212,5123,0.00,1.55,0.00,0.000,4,0.000,0.053,2494,3560,3363
$GC,5149,-0.54,-126.5,593.3,-9.6,212,5152,0.00,1.42,0.00,0.000,6,0.000,0.024,2500,2567,3363
$GC,5415,-0.54,-126.5,617.2,-9.0,219,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2558,3361
$GC,5659,-0.54,-126.5,638.2,-8.5,225,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2558,3359
$GC,5902,-0.54,-126.5,658.9,-8.5,231,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2558,3358
$GC,6146,-0.54,-126.5,679.4,-8.5,237,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2558,3356
$GC,6390,-0.54,-126.5,698.8,-8.0,243,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2558,3354
$GC,6633,-0.54,-126.5,717.7,-7.7,249,6637,0.00,1.58,0.00,0.000,4,0.000,0.052,2494,3554,3353
$GC,6684,-0.54,-126.5,721.9,-9.2,250,6688,0.00,1.45,0.00,0.000,6,0.000,0.025,2499,2558,3352
$GC,6979,-0.54,-126.5,743.9,-7.4,257,6983,0.00,1.55,0.00,0.000,4,0.000,0.024,2508,1451,3351
$GC,7021,-0.54,-126.5,747.2,-7.7,257,7029,0.00,1.70,0.00,0.000,6,0.000,0.044,2503,2544,3351
$GC,7276,-0.54,-126.5,765.8,-7.4,264,7279,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3580,3350
$GC,7346,-0.54,-126.5,771.5,-8.3,265,7350,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2574,3350
$GC,7619,-0.54,-126.5,790.8,-7.1,272,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2566,3349
$GC,7862,-0.54,-126.5,808.2,-7.1,278,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2566,3348
$GC,8105,-0.54,-126.5,825.1,-6.9,284,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2566,3347
$GC,8349,-0.54,-126.5,842.0,-7.0,290,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2566,3346
$GC,8593,-0.54,-126.5,859.6,-7.2,296,8597,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3564,3344
$GC,8635,-0.54,-126.5,863.1,-8.4,296,8643,0.00,1.45,0.00,0.000,6,0.000,0.027,2499,2569,3344
$GC,8890,-0.54,-126.5,882.6,-7.9,303,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2569,3344
$STATE,9128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9128,begin apogee
$GC,9141,-0.20,0.0,902.4,8.1,309,9254,0.40,0.00,111.20,1.257,6,0.101,0.000,2637,2218,2858
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9260,0.54,126.5,906.6,0.0,312,9440,0.62,1.62,133.07,1.134,4,0.041,0.027,2885,1194,2341
$GC,9459,0.54,126.5,890.6,15.0,316,9463,0.00,1.67,0.00,0.000,6,0.000,0.040,2880,2240,2338
$GC,9736,0.54,126.5,845.9,16.6,323,9740,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3270,2332
$GC,9786,0.54,126.5,837.3,18.7,324,9789,0.00,1.55,0.00,0.000,6,0.000,0.025,2881,2231,2332
$GC,10081,0.54,126.5,787.3,16.8,331,10085,0.00,1.65,0.00,0.000,4,0.000,0.048,2876,3282,2330
$GC,10100,0.54,126.5,783.1,17.1,331,10104,0.00,1.55,0.00,0.000,6,0.000,0.026,2881,2232,2329
$GC,10378,0.54,126.5,736.7,16.7,338,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2225,2328
$GC,10621,0.54,126.5,694.6,17.1,344,10625,0.00,1.65,0.00,0.000,4,0.000,0.049,2876,3286,2327
$GC,10657,0.54,126.5,687.7,18.0,344,10660,0.00,1.58,0.00,0.000,6,0.000,0.028,2881,2224,2327
$GC,10918,0.54,126.5,644.5,16.6,351,10921,0.00,1.67,0.00,0.000,4,0.000,0.049,2876,3291,2327
$GC,10971,0.54,126.5,634.6,18.1,352,10974,0.00,1.52,0.00,0.000,6,0.000,0.026,2881,2256,2326
$GC,11259,0.54,126.5,587.6,16.6,359,11263,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3293,2325
$GC,11310,0.54,126.5,579.3,16.6,360,11314,0.00,1.52,0.00,0.000,6,0.000,0.026,2881,2263,2325
$GC,11605,0.54,126.5,534.3,15.1,367,11608,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3304,2325
$GC,11673,0.54,126.5,523.2,15.0,368,11677,0.00,1.50,0.00,0.000,6,0.000,0.025,2881,2284,2325
$GC,11945,0.54,126.5,487.0,13.2,375,11949,0.00,1.62,0.00,0.000,4,0.000,0.028,2889,1162,2325
$GC,12026,0.54,126.5,476.6,11.0,376,12030,0.00,1.67,0.00,0.000,6,0.000,0.041,2890,2257,2324
$GC,12287,0.54,126.5,444.6,12.6,383,12290,0.00,1.58,0.00,0.000,4,0.000,0.049,2889,3270,2324
$GC,12401,0.54,126.5,428.0,15.0,385,12405,0.00,1.45,0.00,0.000,6,0.000,0.025,2896,2283,2324
$GC,12673,0.54,126.5,389.9,14.5,392,12677,0.00,1.62,0.00,0.000,4,0.000,0.027,2905,1156,2323
$GC,12714,0.54,126.5,383.6,13.2,392,12723,0.00,1.75,0.00,0.000,6,0.000,0.041,2905,2278,2323
$GC,12969,0.54,126.5,350.5,13.0,399,12973,0.00,1.55,0.00,0.000,4,0.000,0.049,2905,3274,2323
$GC,13023,0.54,126.5,342.7,13.8,400,13027,0.10,1.42,0.00,0.000,6,0.162,0.025,2880,2306,2323
$GC,13310,0.54,126.5,311.8,10.5,407,13314,0.00,1.65,0.00,0.000,4,0.000,0.028,2887,1168,2323
$GC,13374,0.54,126.5,304.7,10.8,408,13377,0.00,1.75,0.00,0.000,6,0.000,0.041,2887,2314,2322
$GC,13652,0.54,126.5,277.0,9.9,415,13656,0.00,1.50,0.00,0.000,4,0.000,0.050,2887,3276,2322
$GC,13677,0.54,126.5,274.1,9.8,415,13680,0.00,1.45,0.00,0.000,6,0.000,0.025,2894,2280,2322
$GC,13948,0.54,126.5,249.7,9.1,422,13952,0.00,1.60,0.00,0.000,4,0.000,0.027,2901,1166,2322
$GC,13989,0.54,133.8,245.7,8.7,422,13999,0.00,1.73,4.55,0.603,6,0.000,0.040,2902,2280,2312
$GC,14290,0.54,133.8,217.1,9.8,430,14293,0.00,1.62,0.00,0.000,4,0.000,0.025,2909,1145,2312
$GC,14370,0.56,172.7,209.9,7.1,431,14418,0.00,1.73,38.17,0.746,6,0.000,0.038,2905,2281,2153
$GC,14680,0.56,172.7,178.6,11.0,450,14684,0.00,1.62,0.00,0.000,4,0.000,0.025,2911,1164,2147
$GC,14723,0.56,172.7,173.4,9.6,453,14733,0.08,1.65,0.00,0.000,6,0.127,0.038,2886,2225,2146
$GC,14993,0.56,172.7,148.9,9.4,478,14997,0.00,1.62,0.00,0.000,4,0.000,0.047,2885,3293,2145
$GC,15022,0.56,172.7,145.7,9.8,480,15026,0.00,1.55,0.00,0.000,6,0.000,0.023,2891,2230,2145
$GC,15295,0.56,172.7,119.0,9.9,505,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2224,2145
$GC,15561,0.56,184.0,95.2,8.5,530,15577,0.00,1.70,10.57,0.607,4,0.000,0.044,2892,3294,2106
$GC,15607,0.56,184.0,90.7,10.0,533,15615,0.00,1.55,0.00,0.000,6,0.000,0.021,2898,2222,2106
$GC,15875,0.58,224.2,69.2,7.1,558,15914,0.00,0.00,35.33,0.617,6,0.000,0.000,2898,2217,1942
$GC,16171,0.58,224.2,44.3,9.0,586,16175,0.00,1.62,0.00,0.000,4,0.000,0.042,2899,3283,1937
$GC,16201,0.58,224.2,41.4,9.3,588,16205,0.00,1.48,0.00,0.000,6,0.000,0.020,2899,2261,1937
$GC,16496,0.58,224.2,13.4,9.1,626,16504,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2255,1937
$STATE,16616,end climb,SURFACE_DEPTH_REACHED
$STATE,16616,begin surface coast
$FINISH,0.5,1.023584
$STATE,16661,end surface coast,CONTROL_FINISHED_OK
$STATE,16665,begin surface
$SM_CCo,16690,67.55,0.543,0,0,1267,390.02
$SM_GC,1.22,0.00,0.00,67.55,0.000,0.000,0.543,36,2528,1267,-8.30,0.82,390.02
$IRIDIUM_FIX,2239.35,-15739.35,260203,202022
$TT8_MAMPS,0.023777
$HUMID,2270
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,8
$24V_AH,23.4,64.590
$10V_AH,10.5,79.465
$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,18.050,110.875,332.900,67.550,0.000,0.000,0.000,0.000,2.000,0.000,0.000,31.277,1360.276,11083.189,463.368,3358.126,587.580,33.371,1482.951,0.000,3363.097,0.000,0.546,0.000
$DEVICE_MAMPS,203.255,55.224,1257.113,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,445.506,2146.342,2236.047,1483.598,1482.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54167,652
$CAP_FILE_SIZE,189026,0
$CFSIZE,260165632,232546304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,031213,011305,2249.586,-15738.253,53,1.1,53,10.1