version: 66.04
glider: 512
mission: 4
dive: 385
start: 12 3 113 6 39 46
data:
$ID,512
$MISSION,4
$DIVE,385
$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,-115194.66
$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,36
$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
$GPS1,061023,2252.193,-15738.647,31,0.9,49,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.4
$GPS2,063848,2252.480,-15738.708,12,1.1,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,0.235
$KALMAN_X,109691.7,-182.3,-276.4,-72770.1,587.4
$KALMAN_Y,-47980.5,-370.0,733.7,63169.0,-1635.7
$MHEAD_RNG_PITCHd_Wd,351.5,24629,-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,-126.5,0.0,0.0,0,118,0.00,0.00,-97.40,0.000,2,0.000,0.000,6,2514,2809
$GC,124,-0.54,-126.5,2.1,-1.6,13,156,9.75,1.60,-14.70,0.000,4,0.204,0.056,2505,3557,3375
$GC,327,-0.54,-126.5,45.7,-22.1,42,330,0.00,1.52,0.00,0.000,6,0.000,0.019,2505,2492,3375
$GC,598,-0.54,-126.5,106.0,-18.4,67,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2485,3375
$GC,864,-0.54,-126.5,152.4,-14.8,92,867,0.00,1.62,0.00,0.000,4,0.000,0.040,2498,3553,3375
$GC,968,-0.54,-126.5,169.3,-15.5,101,971,0.00,1.45,0.00,0.000,6,0.000,0.018,2503,2513,3375
$GC,1267,-0.54,-126.5,213.3,-14.4,123,1271,0.00,1.45,0.00,0.000,4,0.000,0.019,2511,1446,3375
$GC,1309,-0.54,-126.5,218.4,-10.7,123,1317,0.00,1.62,0.00,0.000,6,0.000,0.038,2505,2513,3375
$GC,1563,-0.54,-126.5,248.2,-12.3,130,1567,0.00,1.60,0.00,0.000,4,0.000,0.047,2497,3583,3375
$GC,1643,-0.54,-126.5,258.9,-12.5,131,1647,0.00,1.52,0.00,0.000,6,0.000,0.019,2503,2495,3375
$GC,1904,-0.54,-126.5,289.8,-12.0,138,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2488,3373
$GC,2147,-0.54,-126.5,318.4,-11.7,144,2151,0.00,1.62,0.00,0.000,4,0.000,0.044,2496,3563,3372
$GC,2233,-0.54,-126.5,328.8,-11.4,145,2242,0.00,1.45,0.00,0.000,6,0.000,0.020,2502,2529,3371
$GC,2489,-0.54,-126.5,357.7,-11.4,152,2492,0.00,1.48,0.00,0.000,4,0.000,0.020,2509,1456,3369
$GC,2530,-0.54,-126.5,362.4,-9.5,152,2538,0.00,1.62,0.00,0.000,6,0.000,0.038,2504,2523,3369
$GC,2785,-0.54,-126.5,388.9,-10.9,159,2788,0.00,1.58,0.00,0.000,4,0.000,0.048,2496,3555,3366
$GC,2943,-0.54,-126.5,407.6,-10.8,162,2946,0.00,1.42,0.00,0.000,6,0.000,0.021,2501,2548,3365
$GC,3214,-0.54,-126.5,435.9,-10.5,169,3216,0.00,0.00,-0.08,0.000,6,0.000,0.000,2501,2540,3387
$GC,3458,-0.54,-126.5,460.4,-10.0,175,3462,0.00,1.60,0.00,0.000,4,0.000,0.048,2495,3563,3385
$GC,3494,-0.54,-126.5,464.2,-9.9,175,3497,0.00,1.45,0.00,0.000,6,0.000,0.021,2501,2550,3384
$GC,3754,-0.54,-126.5,488.2,-9.2,182,3757,0.00,1.60,0.00,0.000,4,0.000,0.048,2495,3561,3382
$GC,3795,-0.54,-126.5,492.4,-9.1,182,3803,0.00,1.42,0.00,0.000,6,0.000,0.022,2501,2555,3382
$GC,4050,-0.54,-126.5,515.0,-8.8,189,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2554,3380
$GC,4293,-0.54,-126.5,535.9,-8.4,195,4297,0.00,1.55,0.00,0.000,4,0.000,0.023,2509,1453,3378
$GC,4351,-0.54,-126.5,540.9,-7.8,196,4355,0.00,1.67,0.00,0.000,6,0.000,0.041,2503,2562,3378
$GC,4635,-0.54,-126.5,565.0,-8.8,203,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2562,3375
$GC,4877,-0.54,-126.5,587.1,-9.3,209,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2562,3373
$GC,5121,-0.54,-126.5,610.6,-9.6,215,5125,0.00,1.55,0.00,0.000,4,0.000,0.053,2495,3555,3372
$GC,5156,-0.54,-126.5,614.4,-10.0,215,5159,0.00,1.45,0.00,0.000,6,0.000,0.024,2501,2556,3372
$GC,5416,-0.54,-126.5,638.5,-9.3,222,5420,0.00,1.55,0.00,0.000,4,0.000,0.024,2509,1452,3370
$GC,5467,-0.54,-126.5,642.7,-7.8,223,5471,0.00,1.70,0.00,0.000,6,0.000,0.044,2503,2563,3370
$GC,5761,-0.54,-126.5,667.2,-8.3,230,5765,0.00,1.55,0.00,0.000,4,0.000,0.054,2495,3554,3368
$GC,5814,-0.54,-126.5,671.7,-8.0,231,5817,0.00,1.45,0.00,0.000,6,0.000,0.024,2500,2556,3368
$GC,6103,-0.54,-126.5,693.5,-7.6,238,6106,0.00,1.55,0.00,0.000,4,0.000,0.025,2509,1456,3366
$GC,6144,-0.54,-126.5,696.7,-7.2,238,6152,0.00,1.70,0.00,0.000,6,0.000,0.044,2503,2550,3365
$GC,6401,-0.54,-126.5,715.6,-7.7,245,6404,0.00,1.58,0.00,0.000,4,0.000,0.054,2495,3554,3364
$GC,6459,-0.54,-126.5,720.8,-8.3,246,6463,0.00,1.45,0.00,0.000,6,0.000,0.025,2500,2559,3363
$GC,6744,-0.54,-126.5,743.8,-8.4,253,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2550,3362
$GC,6986,-0.54,-126.5,764.6,-8.6,259,6989,0.00,1.60,0.00,0.000,4,0.000,0.053,2495,3573,3361
$GC,7036,-0.54,-126.5,769.1,-9.4,260,7039,0.00,1.45,0.00,0.000,6,0.000,0.025,2500,2576,3360
$GC,7330,-0.54,-126.5,795.7,-9.0,267,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2567,3359
$GC,7573,-0.54,-126.5,817.4,-8.8,273,7577,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1460,3358
$GC,7624,-0.54,-126.5,821.6,-8.0,274,7628,0.00,1.70,0.00,0.000,6,0.000,0.044,2503,2566,3358
$GC,7919,-0.54,-126.5,844.3,-7.6,281,7922,0.00,1.58,0.00,0.000,4,0.000,0.055,2495,3562,3357
$GC,7960,-0.54,-126.5,847.8,-7.5,281,7968,0.00,1.45,0.00,0.000,6,0.000,0.025,2501,2561,3356
$GC,8215,-0.54,-126.5,864.8,-6.5,288,8219,0.00,1.58,0.00,0.000,4,0.000,0.025,2508,1462,3356
$GC,8252,-0.54,-126.5,867.4,-6.2,288,8256,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2568,3356
$GC,8513,-0.54,-126.5,884.1,-6.6,295,8516,0.00,1.58,0.00,0.000,4,0.000,0.057,2495,3561,3355
$GC,8554,-0.54,-126.5,887.2,-7.1,295,8562,0.00,1.45,0.00,0.000,6,0.000,0.026,2501,2559,3354
$STATE,8763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8763,begin apogee
$GC,8775,-0.20,0.0,901.8,6.9,301,8891,0.40,0.00,113.35,1.255,6,0.109,0.000,2638,2207,2858
$STATE,8892,end apogee,CONTROL_FINISHED_OK
$STATE,8892,begin climb
$GC,8897,0.54,126.5,904.7,0.0,304,9122,0.62,1.55,147.38,1.042,4,0.041,0.025,2887,1194,2342
$GC,9141,0.54,126.5,881.2,16.8,309,9145,0.00,1.65,0.00,0.000,6,0.000,0.038,2887,2225,2339
$GC,9407,0.54,126.5,835.1,17.5,316,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2224,2334
$GC,9650,0.54,126.5,792.7,17.4,322,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2224,2333
$GC,9894,0.54,126.5,751.3,16.8,328,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2224,2332
$GC,10138,0.54,126.5,711.6,16.1,334,10141,0.00,1.62,0.00,0.000,4,0.000,0.050,2887,3282,2330
$GC,10202,0.54,126.5,700.5,18.0,335,10205,0.00,1.52,0.00,0.000,6,0.000,0.025,2894,2245,2329
$GC,10480,0.54,126.5,655.9,16.3,342,10483,0.00,1.55,0.00,0.000,4,0.000,0.028,2902,1171,2329
$GC,10530,0.54,126.5,647.7,15.8,343,10534,0.00,1.65,0.00,0.000,6,0.000,0.041,2902,2225,2328
$GC,10824,0.54,126.5,600.1,16.2,350,10828,0.00,1.62,0.00,0.000,4,0.000,0.049,2902,3287,2328
$GC,10860,0.54,126.5,593.4,16.4,350,10864,0.08,1.58,0.00,0.000,6,0.155,0.025,2877,2221,2327
$GC,11120,0.54,126.5,558.2,13.3,357,11123,0.00,1.52,0.00,0.000,4,0.000,0.028,2883,1168,2327
$GC,11149,0.54,126.5,554.1,13.1,357,11153,0.00,1.60,0.00,0.000,6,0.000,0.039,2878,2216,2327
$GC,11416,0.54,126.5,520.7,12.9,364,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2216,2327
$GC,11659,0.54,126.5,490.4,12.6,370,11663,0.00,1.65,0.00,0.000,4,0.000,0.050,2876,3272,2326
$GC,11700,0.54,126.5,484.5,12.8,370,11708,0.00,1.60,0.00,0.000,6,0.000,0.025,2882,2183,2326
$GC,11955,0.54,126.5,452.6,13.0,377,11958,0.00,1.73,0.00,0.000,4,0.000,0.048,2876,3283,2326
$GC,12029,0.54,126.5,442.3,12.6,378,12033,0.00,1.58,0.00,0.000,6,0.000,0.025,2881,2210,2326
$GC,12295,0.54,126.5,409.3,12.3,385,12299,0.00,1.67,0.00,0.000,4,0.000,0.048,2876,3282,2325
$GC,12331,0.54,126.5,404.2,12.7,385,12334,0.00,1.55,0.00,0.000,6,0.000,0.025,2881,2222,2325
$GC,12591,0.54,126.5,376.0,10.5,392,12595,0.00,1.52,0.00,0.000,4,0.000,0.027,2889,1162,2325
$GC,12632,0.54,126.5,371.3,10.6,392,12641,0.00,1.65,0.00,0.000,6,0.000,0.041,2889,2221,2325
$GC,12887,0.54,126.5,342.7,11.5,399,12891,0.00,1.62,0.00,0.000,4,0.000,0.049,2889,3287,2325
$GC,13012,0.54,126.5,326.7,12.5,401,13016,0.00,1.50,0.00,0.000,6,0.000,0.024,2896,2259,2325
$GC,13272,0.54,126.5,296.6,11.6,408,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2254,2325
$GC,13516,0.54,126.5,270.6,10.3,414,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2253,2325
$GC,13759,0.54,126.5,245.4,10.0,420,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2253,2325
$GC,14003,0.54,126.5,222.4,9.4,426,14007,0.00,1.60,0.00,0.000,4,0.000,0.044,2897,3273,2325
$GC,14099,0.54,126.5,213.8,10.4,428,14102,0.00,1.48,0.00,0.000,6,0.000,0.023,2902,2267,2324
$GC,14366,0.55,148.4,190.2,8.0,441,14396,0.00,1.58,20.25,0.685,4,0.000,0.024,2910,1155,2253
$GC,14470,0.55,148.4,180.6,9.3,449,14478,0.00,1.80,0.00,0.000,6,0.000,0.038,2905,2312,2251
$GC,14736,0.55,154.3,155.8,8.7,474,14750,0.00,1.70,6.55,0.613,4,0.000,0.023,2911,1160,2229
$GC,14790,0.56,167.1,151.1,8.4,478,14817,0.12,1.67,15.00,0.609,6,0.143,0.037,2879,2260,2175
$GC,15072,0.57,207.0,128.4,7.1,504,15112,0.00,1.62,35.17,0.680,4,0.000,0.043,2877,3283,2014
$GC,15162,0.58,217.3,121.0,8.5,511,15176,0.00,1.52,10.50,0.621,6,0.000,0.021,2883,2251,1970
$GC,15438,0.58,231.1,97.4,8.4,536,15455,0.00,1.60,12.52,0.615,4,0.000,0.025,2886,1163,1915
$GC,15523,0.59,253.3,89.8,7.9,543,15549,0.00,1.70,19.88,0.623,6,0.000,0.037,2886,2274,1824
$GC,15811,0.60,268.5,67.0,8.3,569,15829,0.00,1.50,13.88,0.588,4,0.000,0.041,2886,3278,1762
$GC,15870,0.60,275.4,61.5,8.7,573,15882,0.00,1.48,7.25,0.526,6,0.000,0.020,2885,2268,1735
$GC,16153,0.60,275.4,37.3,9.5,599,16157,0.00,1.58,0.00,0.000,4,0.000,0.022,2891,1153,1733
$GC,16182,0.60,275.4,34.0,9.2,601,16190,0.00,1.75,0.00,0.000,6,0.000,0.034,2892,2295,1732
$GC,16450,0.60,275.4,8.8,10.4,646,16457,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2296,1732
$STATE,16505,end climb,SURFACE_DEPTH_REACHED
$STATE,16505,begin surface coast
$FINISH,0.3,1.023438
$STATE,16538,end surface coast,CONTROL_FINISHED_OK
$STATE,16538,begin surface
$SM_CCo,16564,47.33,0.543,0,0,1267,390.02
$SM_GC,1.15,0.00,0.00,47.33,0.000,0.000,0.543,41,2533,1267,-8.31,0.93,390.02
$IRIDIUM_FIX,2241.69,-15739.35,270203,060627
$TT8_MAMPS,0.023777
$HUMID,2245
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.10
$XPDR_PINGS,11
$24V_AH,22.4,64.968
$10V_AH,10.5,79.825
$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,18.225,117.325,401.725,47.325,0.000,140.878,177.418,912.333,2.750,0.000,0.000,17.352,1357.463,11431.606,547.677,3030.630,1948.874,33.400,1615.881,0.000,2996.796,0.000,0.544,0.000
$DEVICE_MAMPS,204.022,56.758,1254.812,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,449.093,2180.911,2268.790,1267.013,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54106,662
$CAP_FILE_SIZE,148344,0
$CFSIZE,260165632,232480768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,031213,111806,2254.742,-15738.203,38,1.7,38,10.1