version: 66.04
glider: 512
mission: 4
dive: 387
start: 12 3 113 16 18 29
data:
$ID,512
$MISSION,4
$DIVE,387
$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,-115229.8
$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,95
$R_STBD_OVSHOOT,35
$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
$GPS1,160556,2256.292,-15737.641,37,3.4,56,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-81.6
$GPS2,161731,2256.354,-15737.649,16,1.3,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.028,0.233
$KALMAN_X,109342.3,87.5,-421.8,-70744.8,549.6
$KALMAN_Y,-49049.6,65.5,-456.2,72181.1,214.8
$MHEAD_RNG_PITCHd_Wd,356.7,17233,-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,-126.5,0.0,0.0,0,88,0.00,0.00,-67.38,0.000,2,0.000,0.000,14,2446,2835
$GC,94,-0.54,-126.5,2.2,-1.7,9,126,9.85,1.73,-12.98,0.000,4,0.206,0.056,2510,3552,3376
$GC,264,-0.54,-126.5,38.8,-20.9,34,272,0.00,1.48,0.00,0.000,6,0.000,0.019,2514,2523,3377
$GC,530,-0.54,-126.5,93.8,-16.4,59,534,0.00,1.60,0.00,0.000,4,0.000,0.042,2508,3572,3378
$GC,612,-0.54,-126.5,107.4,-15.4,66,615,0.00,1.48,0.00,0.000,6,0.000,0.018,2508,2520,3378
$GC,883,-0.54,-126.5,148.8,-16.7,91,887,0.00,1.45,0.00,0.000,4,0.000,0.020,2515,1455,3379
$GC,944,-0.54,-126.5,158.5,-13.7,96,953,0.00,1.62,0.00,0.000,6,0.000,0.037,2509,2523,3379
$GC,1211,-0.54,-126.5,197.0,-14.6,121,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2523,3380
$GC,1476,-0.54,-126.5,235.7,-15.1,129,1480,0.00,1.58,0.00,0.000,4,0.000,0.047,2501,3560,3380
$GC,1584,-0.54,-126.5,251.2,-13.0,131,1588,0.00,1.42,0.00,0.000,6,0.000,0.019,2506,2547,3379
$GC,1861,-0.54,-126.5,282.5,-11.2,138,1865,0.00,1.58,0.00,0.000,4,0.000,0.044,2501,3560,3379
$GC,1885,-0.54,-126.5,285.6,-11.6,138,1889,0.00,1.42,0.00,0.000,6,0.000,0.018,2506,2550,3378
$GC,2159,-0.54,-126.5,315.2,-11.2,145,2162,0.00,1.52,0.00,0.000,4,0.000,0.021,2513,1446,3377
$GC,2200,-0.54,-126.5,320.2,-9.9,145,2208,0.00,1.67,0.00,0.000,6,0.000,0.038,2508,2543,3377
$GC,2455,-0.54,-126.5,347.7,-11.1,152,2458,0.00,1.55,0.00,0.000,4,0.000,0.048,2500,3556,3376
$GC,2541,-0.54,-126.5,357.3,-10.8,153,2550,0.00,1.45,0.00,0.000,6,0.000,0.020,2505,2526,3374
$GC,2796,-0.54,-126.5,383.9,-10.5,160,2800,0.00,1.48,0.00,0.000,4,0.000,0.021,2513,1461,3373
$GC,2828,-0.54,-126.5,387.3,-10.3,160,2832,0.00,1.62,0.00,0.000,6,0.000,0.038,2507,2547,3373
$GC,3094,-0.54,-126.5,412.9,-9.6,167,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2547,3371
$GC,3337,-0.54,-126.5,436.3,-9.5,173,3341,0.00,1.55,0.00,0.000,4,0.000,0.051,2499,3551,3369
$GC,3387,-0.54,-126.5,441.2,-9.9,174,3391,0.00,1.45,0.00,0.000,6,0.000,0.021,2504,2542,3368
$GC,3682,-0.54,-126.5,471.0,-10.1,181,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2534,3367
$GC,3927,-0.54,-126.5,495.0,-9.7,187,3929,0.00,0.00,-0.08,0.000,6,0.000,0.000,2505,2533,3390
$GC,4169,-0.54,-126.5,517.6,-9.1,193,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2533,3389
$GC,4414,-0.54,-126.5,538.3,-8.4,199,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2534,3387
$GC,4656,-0.54,-126.5,555.8,-7.0,205,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2533,3386
$GC,4902,-0.54,-126.5,573.6,-7.4,211,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2533,3384
$GC,5144,-0.54,-126.5,592.9,-8.0,217,5148,0.00,1.60,0.00,0.000,4,0.000,0.051,2499,3564,3382
$GC,5208,-0.54,-126.5,598.7,-8.5,218,5212,0.00,1.50,0.00,0.000,6,0.000,0.025,2504,2537,3381
$GC,5486,-0.54,-126.5,621.1,-8.1,225,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2529,3380
$GC,5729,-0.54,-126.5,640.6,-7.9,231,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2529,3379
$GC,5973,-0.54,-126.5,659.6,-7.8,237,5976,0.00,1.60,0.00,0.000,4,0.000,0.051,2499,3556,3378
$GC,6009,-0.54,-126.5,662.8,-8.5,237,6012,0.00,1.50,0.00,0.000,6,0.000,0.025,2504,2535,3377
$GC,6270,-0.54,-126.5,683.1,-8.0,244,6273,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1439,3376
$GC,6320,-0.54,-126.5,687.2,-7.9,245,6324,0.00,1.70,0.00,0.000,6,0.000,0.043,2502,2529,3375
$GC,6615,-0.54,-126.5,711.9,-8.3,252,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2528,3373
$GC,6858,-0.54,-126.5,731.2,-7.8,258,6861,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3562,3373
$GC,6899,-0.54,-126.5,734.9,-8.2,258,6908,0.00,1.52,0.00,0.000,6,0.000,0.026,2501,2523,3372
$GC,7155,-0.54,-126.5,754.8,-7.9,265,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2523,3371
$GC,7398,-0.54,-126.5,774.2,-8.0,271,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2523,3371
$GC,7643,-0.54,-126.5,794.8,-8.6,277,7647,0.00,1.62,0.00,0.000,4,0.000,0.053,2494,3558,3370
$GC,7686,-0.54,-126.5,799.1,-9.7,277,7694,0.00,1.48,0.00,0.000,6,0.000,0.026,2500,2544,3370
$GC,7941,-0.54,-126.5,821.3,-8.8,284,7945,0.00,1.55,0.00,0.000,4,0.000,0.025,2508,1460,3369
$GC,7983,-0.54,-126.5,825.2,-8.5,284,7991,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2542,3369
$GC,8238,-0.54,-126.5,847.1,-8.6,291,8241,0.00,1.60,0.00,0.000,4,0.000,0.055,2494,3569,3367
$GC,8312,-0.54,-126.5,854.4,-9.5,292,8316,0.00,1.48,0.00,0.000,6,0.000,0.025,2499,2564,3367
$GC,8579,-0.54,-126.5,876.3,-8.3,299,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3366
$GC,8823,-0.54,-126.5,895.5,-7.8,305,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3365
$STATE,8898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8898,begin apogee
$GC,8910,-0.20,0.0,901.6,7.6,307,9029,0.40,0.00,116.12,1.258,6,0.100,0.000,2638,2204,2858
$STATE,9029,end apogee,CONTROL_FINISHED_OK
$STATE,9029,begin climb
$GC,9034,0.54,126.5,904.7,0.0,310,9259,0.62,1.62,147.73,1.045,4,0.041,0.026,2885,1184,2342
$GC,9318,0.54,126.5,873.9,16.4,316,9321,0.00,1.67,0.00,0.000,6,0.000,0.039,2880,2238,2337
$GC,9589,0.54,126.5,827.4,17.4,323,9593,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3286,2333
$GC,9640,0.54,126.5,818.3,18.5,324,9644,0.00,1.55,0.00,0.000,6,0.000,0.025,2881,2249,2332
$GC,9934,0.54,126.5,768.2,16.9,331,9937,0.00,1.60,0.00,0.000,4,0.000,0.028,2889,1156,2331
$GC,9964,0.54,126.5,762.7,15.9,331,9967,0.00,1.67,0.00,0.000,6,0.000,0.041,2888,2241,2331
$GC,10229,0.54,126.5,719.3,16.5,338,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2241,2330
$GC,10475,0.54,126.5,678.4,16.6,344,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2241,2329
$GC,10717,0.54,126.5,638.5,16.0,350,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2241,2329
$GC,10960,0.54,126.5,603.2,14.4,356,10964,0.00,1.62,0.00,0.000,4,0.000,0.052,2888,3293,2328
$GC,11001,0.54,126.5,596.6,15.5,356,11010,0.00,1.60,0.00,0.000,6,0.000,0.026,2895,2209,2327
$GC,11257,0.54,126.5,562.0,13.4,363,11260,0.00,1.70,0.00,0.000,4,0.000,0.048,2891,3289,2327
$GC,11353,0.54,126.5,547.5,15.0,365,11357,0.00,1.52,0.00,0.000,6,0.000,0.025,2897,2255,2327
$GC,11642,0.54,126.5,508.8,13.5,372,11645,0.00,1.58,0.00,0.000,4,0.000,0.028,2905,1166,2326
$GC,11683,0.54,126.5,502.6,13.0,372,11691,0.00,1.70,0.00,0.000,6,0.000,0.041,2905,2252,2325
$GC,11940,0.54,126.5,465.9,14.8,379,11943,0.00,1.62,0.00,0.000,4,0.000,0.027,2911,1132,2325
$GC,11975,0.54,126.5,460.5,13.6,379,11979,0.08,1.73,0.00,0.000,6,0.153,0.041,2881,2237,2325
$GC,12234,0.54,126.5,427.5,13.2,386,12238,0.00,1.62,0.00,0.000,4,0.000,0.049,2877,3298,2325
$GC,12304,0.54,126.5,418.4,12.8,387,12307,0.00,1.52,0.00,0.000,6,0.000,0.025,2883,2257,2325
$GC,12575,0.54,126.5,385.2,12.3,394,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2251,2325
$GC,12819,0.54,126.5,357.0,11.4,400,12822,0.00,1.58,0.00,0.000,4,0.000,0.026,2891,1164,2325
$GC,12849,0.54,126.5,353.4,10.5,400,12853,0.00,1.67,0.00,0.000,6,0.000,0.041,2891,2258,2325
$GC,13115,0.54,126.5,326.9,9.4,407,13119,0.00,1.58,0.00,0.000,4,0.000,0.048,2891,3274,2325
$GC,13200,0.54,126.5,318.1,10.2,408,13208,0.00,1.48,0.00,0.000,6,0.000,0.023,2897,2260,2325
$GC,13455,0.54,126.5,294.2,9.5,415,13458,0.00,1.58,0.00,0.000,4,0.000,0.026,2902,1174,2325
$GC,13580,0.55,134.3,281.9,8.6,417,13593,0.00,1.67,5.18,0.659,6,0.000,0.039,2902,2275,2311
$GC,13840,0.55,134.3,255.0,10.7,424,13841,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2274,2311
$GC,14083,0.55,134.3,228.9,10.5,430,14087,0.00,1.55,0.00,0.000,4,0.000,0.046,2902,3282,2311
$GC,14096,0.55,134.3,227.3,10.1,430,14100,0.10,1.45,0.00,0.000,6,0.154,0.024,2879,2288,2311
$GC,14378,0.56,161.5,204.0,7.7,437,14414,0.00,0.00,28.30,0.722,6,0.000,0.000,2880,2282,2199
$GC,14676,0.56,161.5,176.7,9.8,458,14680,0.00,1.58,0.00,0.000,4,0.000,0.044,2876,3280,2195
$GC,14758,0.56,167.9,168.1,8.7,465,14771,0.00,1.48,6.95,0.631,6,0.000,0.021,2882,2264,2173
$GC,15028,0.56,167.9,142.0,9.3,490,15032,0.00,1.58,0.00,0.000,4,0.000,0.025,2886,1179,2170
$GC,15164,0.57,193.3,129.8,7.8,502,15193,0.00,1.67,23.33,0.676,6,0.000,0.037,2886,2277,2070
$GC,15460,0.57,193.3,100.7,9.5,529,15464,0.00,1.55,0.00,0.000,4,0.000,0.044,2886,3284,2066
$GC,15575,0.57,193.3,89.2,10.0,539,15578,0.00,1.42,0.00,0.000,6,0.000,0.022,2886,2309,2065
$GC,15846,0.59,252.0,69.7,6.2,564,15907,0.00,1.58,49.92,0.624,4,0.000,0.040,2886,3283,1828
$GC,15924,0.60,282.1,64.5,7.6,570,15954,0.00,1.40,26.12,0.600,6,0.000,0.020,2892,2312,1707
$GC,16216,0.60,282.1,39.9,9.1,596,16220,0.00,1.62,0.00,0.000,4,0.000,0.022,2899,1166,1701
$GC,16279,0.61,303.5,34.8,8.0,601,16306,0.00,1.73,18.10,0.567,6,0.000,0.035,2899,2307,1620
$GC,16564,0.61,303.5,7.4,9.1,648,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2307,1617
$STATE,16603,end climb,SURFACE_DEPTH_REACHED
$STATE,16603,begin surface coast
$FINISH,0.5,1.023596
$STATE,16631,end surface coast,CONTROL_FINISHED_OK
$STATE,16631,begin surface
$SM_CCo,16657,36.30,0.542,0,0,1267,390.02
$SM_GC,1.49,0.00,0.00,36.30,0.000,0.000,0.542,39,2535,1267,-8.31,0.88,390.02
$IRIDIUM_FIX,2246.36,-15738.46,270203,161643
$TT8_MAMPS,0.023777
$HUMID,2258
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.90
$XPDR_PINGS,10
$24V_AH,22.5,65.260
$10V_AH,10.5,80.164
$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,18.425,104.500,421.750,36.300,0.000,58.525,72.970,307.265,2.500,0.000,0.000,16.912,1345.947,11422.687,538.239,2969.444,1113.188,33.380,1561.829,0.000,2942.232,0.000,0.544,0.000
$DEVICE_MAMPS,205.556,55.991,1257.880,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,448.294,2172.443,2261.632,1264.402,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53959,660
$CAP_FILE_SIZE,129602,0
$CFSIZE,260165632,232366080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,031213,205825,2259.268,-15737.009,32,4.1,51,10.1