version: 66.04
glider: 512
mission: 4
dive: 388
start: 12 3 113 21 12 36
data:
$ID,512
$MISSION,4
$DIVE,388
$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,-115264.55
$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,75
$R_STBD_OVSHOOT,42
$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
$GPS1,205825,2259.268,-15737.009,32,4.1,51,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-82.2
$GPS2,211144,2259.372,-15737.006,14,6.6,33,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,0.224
$KALMAN_X,109118.2,136.1,294.4,-70187.3,-818.9
$KALMAN_Y,-49344.0,161.4,667.4,76827.4,-2083.7
$MHEAD_RNG_PITCHd_Wd,7.2,11541,-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,13,begin dive
$GC,18,-0.54,-126.5,0.0,0.0,0,96,0.00,0.00,-74.75,0.000,2,0.000,0.000,9,2528,3024
$GC,101,-0.54,-126.5,2.3,-2.2,10,126,9.73,1.58,-7.60,0.000,4,0.199,0.054,2510,3558,3373
$GC,279,-0.54,-126.5,45.7,-20.2,34,283,0.00,1.52,0.00,0.000,6,0.000,0.019,2513,2496,3374
$GC,551,-0.54,-126.5,103.7,-17.0,59,555,0.00,1.62,0.00,0.000,4,0.000,0.041,2506,3564,3374
$GC,632,-0.54,-126.5,117.5,-17.6,66,636,0.00,1.48,0.00,0.000,6,0.000,0.018,2507,2510,3374
$GC,904,-0.54,-126.5,161.3,-14.4,91,908,0.00,1.45,0.00,0.000,4,0.000,0.020,2509,1447,3375
$GC,966,-0.54,-126.5,170.1,-13.6,96,974,0.00,1.60,0.00,0.000,6,0.000,0.037,2503,2501,3375
$GC,1230,-0.54,-126.5,205.3,-13.1,118,1233,0.00,1.60,0.00,0.000,4,0.000,0.046,2494,3572,3375
$GC,1414,-0.54,-126.5,232.0,-12.9,122,1417,0.00,1.42,0.00,0.000,6,0.000,0.018,2500,2555,3375
$GC,1707,-0.54,-126.5,272.6,-13.7,129,1711,0.00,1.55,0.00,0.000,4,0.000,0.044,2494,3556,3374
$GC,1758,-0.54,-126.5,279.4,-13.5,130,1761,0.00,1.38,0.00,0.000,6,0.000,0.019,2499,2574,3374
$GC,2052,-0.54,-126.5,316.9,-12.7,137,2055,0.00,1.52,0.00,0.000,4,0.000,0.020,2507,1463,3373
$GC,2087,-0.54,-126.5,321.8,-12.3,137,2091,0.00,1.67,0.00,0.000,6,0.000,0.037,2501,2586,3373
$GC,2348,-0.54,-126.5,351.7,-11.6,144,2351,0.00,1.48,0.00,0.000,4,0.000,0.047,2493,3554,3371
$GC,2422,-0.54,-126.5,360.5,-10.4,145,2426,0.00,1.35,0.00,0.000,6,0.000,0.020,2498,2590,3372
$GC,2689,-0.54,-126.5,388.9,-10.8,152,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2581,3369
$GC,2932,-0.54,-126.5,415.4,-11.0,158,2935,0.00,1.55,0.00,0.000,4,0.000,0.021,2507,1465,3367
$GC,2967,-0.54,-126.5,419.5,-10.3,158,2971,0.00,1.70,0.00,0.000,6,0.000,0.039,2501,2598,3367
$GC,3227,-0.54,-126.5,447.6,-11.1,165,3231,0.00,1.48,-0.08,0.000,4,0.000,0.067,2493,3561,3389
$GC,3269,-0.54,-126.5,452.5,-11.3,165,3277,0.00,1.38,0.00,0.000,6,0.000,0.021,2499,2586,3389
$GC,3524,-0.54,-126.5,479.1,-10.4,172,3527,0.00,1.58,0.00,0.000,4,0.000,0.022,2506,1464,3387
$GC,3610,-0.54,-126.5,487.4,-8.9,173,3617,0.00,1.70,0.00,0.000,6,0.000,0.040,2501,2569,3387
$GC,3865,-0.54,-126.5,509.3,-8.7,180,3869,0.00,1.52,0.00,0.000,4,0.000,0.051,2493,3555,3385
$GC,3915,-0.54,-126.5,513.9,-9.0,181,3919,0.00,1.40,0.00,0.000,6,0.000,0.022,2498,2573,3385
$GC,4209,-0.54,-126.5,540.5,-9.2,188,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2564,3382
$GC,4453,-0.54,-126.5,564.6,-10.0,194,4456,0.00,1.58,0.00,0.000,4,0.000,0.050,2493,3562,3380
$GC,4510,-0.54,-126.5,571.0,-10.7,195,4514,0.00,1.42,0.00,0.000,6,0.000,0.023,2498,2575,3379
$GC,4793,-0.54,-126.5,600.4,-10.6,202,4797,0.00,1.58,0.00,0.000,4,0.000,0.051,2493,3562,3378
$GC,4834,-0.54,-126.5,605.3,-11.0,202,4842,0.00,1.40,0.00,0.000,6,0.000,0.022,2499,2581,3378
$GC,5089,-0.54,-126.5,631.3,-10.4,209,5093,0.00,1.58,0.00,0.000,4,0.000,0.023,2506,1467,3376
$GC,5169,-0.54,-126.5,639.7,-10.0,210,5173,0.00,1.67,0.00,0.000,6,0.000,0.041,2500,2569,3376
$GC,5429,-0.54,-126.5,664.7,-9.7,217,5433,0.00,1.55,0.00,0.000,4,0.000,0.054,2493,3556,3374
$GC,5524,-0.54,-126.5,674.2,-9.6,219,5527,0.00,1.40,0.00,0.000,6,0.000,0.025,2498,2591,3373
$GC,5819,-0.54,-126.5,700.7,-8.8,226,5822,0.00,1.58,0.00,0.000,4,0.000,0.025,2506,1472,3372
$GC,5870,-0.54,-126.5,704.9,-7.8,227,5874,0.00,1.70,0.00,0.000,6,0.000,0.044,2500,2582,3371
$GC,6165,-0.54,-126.5,729.6,-8.3,234,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2582,3370
$GC,6409,-0.54,-126.5,748.5,-7.6,240,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2582,3369
$GC,6652,-0.54,-126.5,766.2,-7.1,246,6656,0.00,1.60,0.00,0.000,4,0.000,0.025,2506,1478,3367
$GC,6693,-0.54,-126.5,769.3,-6.7,246,6702,0.00,1.73,0.00,0.000,6,0.000,0.044,2500,2582,3367
$GC,6948,-0.54,-126.5,786.7,-7.1,253,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2582,3366
$GC,7192,-0.54,-126.5,804.0,-7.2,259,7196,0.00,1.55,0.00,0.000,4,0.000,0.057,2493,3559,3364
$GC,7244,-0.54,-126.5,808.4,-8.0,260,7248,0.00,1.40,0.00,0.000,6,0.000,0.027,2497,2605,3364
$GC,7533,-0.54,-126.5,830.9,-8.0,267,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3363
$GC,7777,-0.54,-126.5,849.9,-7.7,273,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3362
$GC,8020,-0.54,-126.5,868.3,-7.5,279,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3361
$GC,8264,-0.54,-126.5,885.7,-7.0,285,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2597,3361
$STATE,8502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8502,begin apogee
$GC,8514,-0.20,0.0,902.6,6.9,291,8631,0.40,0.00,114.45,1.259,6,0.100,0.000,2636,2233,2858
$STATE,8632,end apogee,CONTROL_FINISHED_OK
$STATE,8632,begin climb
$GC,8638,0.54,126.5,904.9,0.0,294,8861,0.65,1.60,146.88,1.042,4,0.040,0.026,2890,1188,2344
$GC,8931,0.54,126.5,869.4,18.0,300,8934,0.00,1.65,0.00,0.000,6,0.000,0.040,2890,2228,2339
$GC,9191,0.54,126.5,821.2,18.9,307,9194,0.00,1.62,0.00,0.000,4,0.000,0.050,2890,3282,2335
$GC,9265,0.54,126.5,806.0,19.6,308,9268,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2244,2334
$GC,9530,0.54,126.5,756.3,18.9,315,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2238,2333
$GC,9774,0.54,126.5,712.1,18.1,321,9778,0.00,1.58,0.00,0.000,4,0.000,0.029,2905,1161,2332
$GC,9809,0.54,126.5,705.3,17.0,321,9813,0.00,1.65,0.00,0.000,6,0.000,0.041,2905,2233,2332
$GC,10070,0.54,126.5,659.2,17.9,328,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2233,2331
$GC,10313,0.54,126.5,618.5,16.2,334,10317,0.00,1.62,0.00,0.000,4,0.000,0.050,2905,3296,2330
$GC,10332,0.54,126.5,614.9,15.9,334,10337,0.10,1.60,0.00,0.000,6,0.168,0.026,2882,2223,2330
$GC,10612,0.54,126.5,576.6,13.4,341,10615,0.00,1.67,0.00,0.000,4,0.000,0.050,2876,3286,2330
$GC,10636,0.54,126.5,572.8,12.5,341,10640,0.00,1.58,0.00,0.000,6,0.000,0.026,2882,2222,2329
$GC,10907,0.54,126.5,537.4,13.3,348,10911,0.00,1.70,0.00,0.000,4,0.000,0.050,2877,3279,2329
$GC,10982,0.54,126.5,526.6,14.6,349,10985,0.00,1.52,0.00,0.000,6,0.000,0.025,2883,2247,2329
$GC,11247,0.54,126.5,489.2,14.1,356,11251,0.00,1.62,0.00,0.000,4,0.000,0.051,2884,3279,2329
$GC,11310,0.54,126.5,479.1,14.6,357,11314,0.00,1.50,0.00,0.000,6,0.000,0.026,2890,2262,2329
$GC,11588,0.54,126.5,440.1,13.9,364,11591,0.00,1.60,0.00,0.000,4,0.000,0.027,2898,1157,2328
$GC,11629,0.54,126.5,434.1,12.4,364,11637,0.00,1.73,0.00,0.000,6,0.000,0.042,2898,2259,2328
$GC,11883,0.54,126.5,398.7,14.0,371,11887,0.00,1.58,0.00,0.000,4,0.000,0.048,2892,3276,2328
$GC,11913,0.54,126.5,393.9,15.9,371,11917,0.00,1.50,0.00,0.000,6,0.000,0.025,2897,2251,2327
$GC,12179,0.54,126.5,359.9,12.8,378,12183,0.00,1.62,0.00,0.000,4,0.000,0.049,2898,3285,2327
$GC,12198,0.54,126.5,357.1,12.6,378,12201,0.00,1.52,0.00,0.000,6,0.000,0.026,2902,2258,2328
$GC,12475,0.54,126.5,323.4,12.0,385,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2259,2327
$GC,12718,0.54,126.5,294.1,12.1,391,12722,0.00,1.60,0.00,0.000,4,0.000,0.029,2902,1161,2328
$GC,12821,0.54,126.5,281.6,11.6,393,12824,0.00,1.67,0.00,0.000,6,0.000,0.040,2903,2258,2328
$GC,13103,0.54,126.5,248.1,11.4,400,13107,0.00,1.58,0.00,0.000,4,0.000,0.048,2902,3270,2327
$GC,13155,0.54,126.5,242.4,11.4,401,13160,0.10,1.50,0.00,0.000,6,0.151,0.024,2879,2245,2328
$GC,13444,0.55,141.8,218.3,8.3,408,13466,0.00,0.00,14.98,0.676,6,0.000,0.000,2879,2240,2279
$GC,13687,0.55,147.2,197.4,8.7,414,13700,0.00,1.55,6.53,0.653,4,0.000,0.025,2885,1174,2258
$GC,13730,0.56,174.2,193.4,7.7,417,13764,0.00,1.65,25.00,0.745,6,0.000,0.039,2885,2233,2146
$GC,14021,0.56,174.2,163.9,10.2,444,14029,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2233,2142
$GC,14286,0.56,174.2,136.8,9.8,469,14290,0.00,1.62,0.00,0.000,4,0.000,0.046,2885,3282,2142
$GC,14359,0.56,174.2,128.9,9.5,475,14367,0.00,1.60,0.00,0.000,6,0.000,0.022,2893,2182,2141
$GC,14629,0.56,176.5,106.9,8.9,500,14633,0.00,1.73,0.00,0.000,4,0.000,0.044,2891,3276,2141
$GC,14713,0.56,178.0,99.5,8.9,507,14727,0.00,1.55,3.78,0.440,6,0.000,0.021,2898,2196,2133
$GC,14990,0.58,225.5,82.8,6.7,532,15041,0.00,1.73,42.30,0.635,4,0.000,0.044,2898,3275,1936
$GC,15060,0.59,235.8,76.9,8.5,538,15080,0.00,1.60,10.23,0.565,6,0.000,0.021,2899,2199,1895
$GC,15344,0.59,241.5,52.9,8.7,564,15358,0.00,1.50,5.50,0.484,4,0.000,0.025,2902,1166,1873
$GC,15386,0.59,256.1,48.7,8.3,567,15404,0.00,1.58,14.05,0.569,6,0.000,0.035,2902,2187,1814
$GC,15668,0.59,256.1,22.0,10.5,599,15676,0.00,1.67,0.00,0.000,4,0.000,0.042,2902,3282,1811
$GC,15746,0.59,256.1,14.0,9.7,612,15754,0.00,1.58,0.00,0.000,6,0.000,0.020,2905,2187,1810
$STATE,15859,end climb,SURFACE_DEPTH_REACHED
$STATE,15859,begin surface coast
$FINISH,0.4,1.023602
$STATE,15897,end surface coast,CONTROL_FINISHED_OK
$STATE,15897,begin surface
$SM_CCo,15923,54.72,0.541,0,0,1267,390.02
$SM_GC,1.30,0.00,0.00,54.72,0.000,0.000,0.541,49,2533,1267,-8.28,0.90,390.02
$IRIDIUM_FIX,2248.70,-15735.41,270203,212125
$TT8_MAMPS,0.023777
$HUMID,2220
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,23.3,65.402
$10V_AH,10.5,80.334
$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,18.350,113.975,383.675,54.725,0.000,49.395,78.192,377.606,0.750,0.000,0.000,34.107,1316.079,10780.159,539.958,2964.260,1168.626,33.373,1556.146,0.000,2903.388,0.000,0.545,0.000
$DEVICE_MAMPS,199.420,66.729,1259.414,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,433.613,2099.915,2179.778,1216.018,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50787,639
$CAP_FILE_SIZE,130118,0
$CFSIZE,260165632,232300544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,1
$GPS,041213,014023,2300.647,-15736.156,40,1.8,40,10.1