version: 66.04
glider: 512
mission: 4
dive: 384
start: 12 3 113 1 44 4
data:
$ID,512
$MISSION,4
$DIVE,384
$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,-115176.68
$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,65
$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
$GPS1,011305,2249.586,-15738.253,53,1.1,53,10.1
$_CALLS,5
$_XMS_NAKs,44
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-80.3
$GPS2,014312,2249.712,-15738.434,10,1.7,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.014,0.235
$KALMAN_X,110268.0,-80.1,-201.9,-73061.1,596.1
$KALMAN_Y,-47692.6,183.0,-549.8,58480.9,272.9
$MHEAD_RNG_PITCHd_Wd,353.3,29560,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.54,-126.5,0.0,0.0,0,89,0.00,0.00,-67.47,0.000,2,0.000,0.000,6,2525,2824
$GC,95,-0.54,-126.5,2.1,-1.2,9,127,9.73,1.58,-13.65,0.000,4,0.202,0.058,2510,3547,3371
$GC,201,-0.54,-126.5,25.9,-22.9,26,209,0.00,1.52,0.00,0.000,6,0.000,0.019,2512,2480,3371
$GC,475,-0.54,-126.5,87.2,-18.1,52,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2472,3372
$GC,741,-0.54,-126.5,131.9,-15.7,77,744,0.00,1.62,0.00,0.000,4,0.000,0.040,2506,3542,3373
$GC,845,-0.54,-126.5,147.1,-14.5,86,849,0.00,1.48,0.00,0.000,6,0.000,0.018,2506,2478,3373
$GC,1117,-0.54,-126.5,187.5,-13.5,111,1120,0.00,1.62,0.00,0.000,4,0.000,0.039,2498,3559,3373
$GC,1165,-0.54,-126.5,195.0,-15.8,115,1169,0.00,1.45,0.00,0.000,6,0.000,0.018,2504,2521,3373
$GC,1447,-0.54,-126.5,234.6,-13.8,124,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2514,3373
$GC,1690,-0.54,-126.5,266.0,-12.8,130,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2513,3372
$GC,1934,-0.54,-126.5,297.4,-12.9,136,1937,0.00,1.58,0.00,0.000,4,0.000,0.043,2498,3543,3371
$GC,2014,-0.54,-126.5,307.8,-11.9,137,2017,0.00,1.42,0.00,0.000,6,0.000,0.019,2503,2521,3370
$GC,2275,-0.54,-126.5,336.3,-10.9,144,2278,0.00,1.58,0.00,0.000,4,0.000,0.044,2497,3540,3368
$GC,2349,-0.54,-126.5,344.6,-10.2,145,2352,0.00,1.40,0.00,0.000,6,0.000,0.020,2502,2543,3368
$GC,2615,-0.54,-126.5,371.6,-10.7,152,2617,0.00,0.00,-0.08,0.000,6,0.000,0.000,2502,2535,3388
$GC,2859,-0.54,-126.5,399.9,-11.7,158,2862,0.00,1.58,0.00,0.000,4,0.000,0.045,2496,3547,3386
$GC,2978,-0.54,-126.5,414.6,-12.1,160,2981,0.00,1.40,0.00,0.000,6,0.000,0.020,2502,2554,3385
$GC,3243,-0.54,-126.5,445.0,-11.5,167,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2546,3383
$GC,3487,-0.54,-126.5,471.5,-10.7,173,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2545,3380
$GC,3731,-0.54,-126.5,497.4,-10.6,179,3734,0.00,1.55,0.00,0.000,4,0.000,0.046,2496,3545,3378
$GC,3827,-0.54,-126.5,508.3,-11.1,181,3831,0.00,1.40,0.00,0.000,6,0.000,0.021,2501,2560,3378
$GC,4115,-0.54,-126.5,535.8,-9.3,188,4119,0.00,1.52,0.00,0.000,4,0.000,0.021,2509,1461,3376
$GC,4168,-0.54,-126.5,540.6,-7.8,189,4172,0.00,1.60,0.00,0.000,6,0.000,0.040,2504,2526,3375
$GC,4457,-0.54,-126.5,566.0,-9.0,196,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2526,3372
$GC,4701,-0.54,-126.5,586.9,-8.5,202,4704,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3578,3371
$GC,4752,-0.54,-126.5,591.4,-8.7,203,4756,0.00,1.48,0.00,0.000,6,0.000,0.023,2500,2564,3370
$GC,5046,-0.54,-126.5,618.1,-9.2,210,5049,0.00,1.55,0.00,0.000,4,0.000,0.023,2509,1457,3369
$GC,5081,-0.54,-126.5,621.9,-9.3,210,5085,0.00,1.67,0.00,0.000,6,0.000,0.041,2503,2562,3369
$GC,5342,-0.54,-126.5,646.8,-9.9,217,5346,0.00,1.55,0.00,0.000,4,0.000,0.052,2495,3557,3366
$GC,5383,-0.54,-126.5,651.4,-9.7,217,5391,0.00,1.42,0.00,0.000,6,0.000,0.024,2501,2564,3366
$GC,5638,-0.54,-126.5,675.6,-9.6,224,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3364
$GC,5881,-0.54,-126.5,698.1,-9.2,230,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3363
$GC,6125,-0.54,-126.5,720.4,-9.2,236,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3362
$GC,6368,-0.54,-126.5,742.7,-9.1,242,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3360
$GC,6613,-0.54,-126.5,764.3,-8.9,248,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3359
$GC,6856,-0.54,-126.5,785.2,-8.5,254,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3358
$GC,7100,-0.54,-126.5,805.4,-8.3,260,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2563,3357
$GC,7346,-0.54,-126.5,825.9,-8.6,266,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2563,3355
$GC,7588,-0.54,-126.5,847.3,-8.8,272,7592,0.00,1.58,0.00,0.000,4,0.000,0.026,2508,1466,3354
$GC,7630,-0.54,-126.5,851.2,-8.3,272,7637,0.00,1.73,0.00,0.000,6,0.000,0.046,2502,2565,3354
$GC,7884,-0.54,-126.5,873.3,-8.8,279,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2566,3353
$GC,8128,-0.54,-126.5,893.9,-8.3,285,8132,0.00,1.55,0.00,0.000,4,0.000,0.056,2495,3551,3352
$GC,8169,-0.54,-126.5,897.8,-9.2,285,8177,0.00,1.40,0.00,0.000,6,0.000,0.025,2500,2579,3352
$STATE,8217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8217,begin apogee
$GC,8228,-0.20,0.0,901.6,8.2,287,8344,0.40,0.00,112.85,1.251,6,0.100,0.000,2639,2217,2858
$STATE,8345,end apogee,CONTROL_FINISHED_OK
$STATE,8345,begin climb
$GC,8350,0.54,126.5,905.5,0.0,290,8502,0.62,1.65,128.82,1.168,4,0.039,0.027,2888,1186,2341
$GC,8529,0.54,126.5,891.0,16.9,294,8533,0.00,1.70,0.00,0.000,6,0.000,0.041,2888,2214,2337
$GC,8823,0.54,126.5,840.3,17.6,301,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2214,2332
$GC,9066,0.54,126.5,797.6,17.6,307,9070,0.00,1.65,0.00,0.000,4,0.000,0.048,2888,3290,2329
$GC,9085,0.54,126.5,793.7,17.4,307,9089,0.00,1.58,0.00,0.000,6,0.000,0.025,2895,2227,2329
$GC,9362,0.54,126.5,746.0,17.2,314,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2221,2328
$GC,9606,0.54,126.5,705.0,16.7,320,9610,0.00,1.67,0.00,0.000,4,0.000,0.047,2891,3275,2327
$GC,9641,0.54,126.5,698.4,18.3,320,9645,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2208,2326
$GC,9902,0.54,126.5,657.1,16.0,327,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2201,2325
$GC,10145,0.54,126.5,619.3,15.6,333,10149,0.00,1.73,0.00,0.000,4,0.000,0.047,2891,3288,2325
$GC,10202,0.54,126.5,609.6,16.0,334,10206,0.00,1.60,0.00,0.000,6,0.000,0.025,2897,2188,2324
$GC,10485,0.54,126.5,566.3,15.5,341,10488,0.00,1.73,0.00,0.000,4,0.000,0.047,2892,3292,2324
$GC,10543,0.54,126.5,556.4,16.1,342,10547,0.00,1.58,0.00,0.000,6,0.000,0.025,2897,2226,2324
$GC,10826,0.54,126.5,514.1,14.8,349,10830,0.00,1.55,0.00,0.000,4,0.000,0.028,2905,1150,2324
$GC,10876,0.54,126.5,507.1,14.1,350,10880,0.00,1.67,0.00,0.000,6,0.000,0.040,2905,2223,2324
$GC,11171,0.54,126.5,467.6,13.2,357,11174,0.00,1.62,0.00,0.000,4,0.000,0.048,2905,3288,2323
$GC,11223,0.54,126.5,459.3,15.4,358,11227,0.10,1.58,0.00,0.000,6,0.171,0.025,2882,2224,2323
$GC,11510,0.54,126.5,423.3,12.3,365,11514,0.00,1.67,0.00,0.000,4,0.000,0.047,2877,3274,2323
$GC,11529,0.54,126.5,420.7,12.2,365,11533,0.00,1.55,0.00,0.000,6,0.000,0.025,2882,2219,2323
$GC,11806,0.54,126.5,386.9,12.1,372,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2213,2323
$GC,12050,0.54,126.5,357.5,12.3,378,12053,0.00,1.67,0.00,0.000,4,0.000,0.046,2878,3291,2323
$GC,12152,0.54,126.5,343.2,13.6,380,12156,0.00,1.55,0.00,0.000,6,0.000,0.025,2884,2235,2323
$GC,12435,0.54,126.5,311.9,10.9,387,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2229,2323
$GC,12678,0.54,126.5,286.2,10.4,393,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2229,2323
$GC,12922,0.54,126.5,261.8,9.7,399,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2230,2323
$GC,13166,0.54,126.5,237.6,9.9,405,13170,0.00,1.52,0.00,0.000,4,0.000,0.025,2891,1170,2323
$GC,13202,0.54,126.5,233.8,9.8,405,13205,0.00,1.62,0.00,0.000,6,0.000,0.038,2891,2246,2323
$GC,13463,0.54,126.5,208.4,9.6,412,13466,0.00,1.60,0.00,0.000,4,0.000,0.047,2891,3280,2323
$GC,13537,0.54,132.4,201.5,8.7,413,13541,0.00,1.52,0.00,0.000,6,0.000,0.023,2897,2229,2323
$GC,13808,0.56,167.9,180.9,7.3,437,13860,0.00,1.67,36.40,0.709,4,0.000,0.045,2898,3269,2171
$GC,13909,0.56,167.9,170.8,11.3,445,13912,0.00,1.52,0.00,0.000,6,0.000,0.022,2900,2247,2170
$GC,14181,0.56,167.9,141.5,11.4,470,14184,0.00,1.55,0.00,0.000,4,0.000,0.024,2907,1163,2168
$GC,14199,0.56,167.9,139.0,11.1,471,14207,0.00,1.70,0.00,0.000,6,0.000,0.035,2905,2264,2167
$GC,14465,0.56,179.2,113.5,8.5,496,14480,0.00,1.67,10.68,0.630,4,0.000,0.023,2910,1145,2127
$GC,14520,0.57,187.8,108.8,8.6,500,14535,0.00,1.65,9.48,0.608,6,0.000,0.034,2911,2235,2092
$GC,14796,0.57,187.8,80.1,10.5,525,14799,0.00,1.58,0.00,0.000,4,0.000,0.042,2911,3268,2089
$GC,14867,0.57,205.6,73.4,8.2,531,14893,0.00,1.48,16.48,0.611,6,0.000,0.021,2912,2253,2019
$GC,15157,0.58,211.7,50.4,8.7,557,15165,0.00,0.00,6.43,0.515,6,0.000,0.000,2912,2253,1995
$GC,15427,0.58,216.9,24.8,8.8,587,15436,0.00,0.00,6.40,0.492,6,0.000,0.000,2911,2252,1972
$STATE,15645,end climb,SURFACE_DEPTH_REACHED
$STATE,15645,begin surface coast
$FINISH,0.5,1.009844
$STATE,15673,end surface coast,CONTROL_FINISHED_OK
$STATE,15673,begin surface
$SM_CCo,15699,181.12,0.545,0,0,398,603.18
$SM_GC,1.34,0.00,0.00,181.12,0.000,0.000,0.545,25,2516,398,-8.34,0.45,603.18
$IRIDIUM_FIX,2244.02,-15738.46,270203,010155
$TT8_MAMPS,0.023777
$HUMID,2195
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,9
$24V_AH,23.2,64.783
$10V_AH,10.5,79.641
$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,18.100,89.100,327.525,181.125,0.000,145.722,183.903,898.453,2.250,0.000,0.000,15.712,1272.566,11090.231,565.465,2769.330,1977.590,33.371,1461.679,0.000,2739.521,0.000,0.544,0.000
$DEVICE_MAMPS,201.721,58.292,1250.977,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,430.489,2082.121,2163.948,1204.675,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51149,632
$CAP_FILE_SIZE,133478,0
$CFSIZE,260165632,232534016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,031213,061023,2252.193,-15738.647,31,0.9,49,10.1