version: 66.04
glider: 512
mission: 4
dive: 224
start: 10 28 113 21 42 2
data:
$ID,512
$MISSION,4
$DIVE,224
$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,300
$T_MISSION,650
$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,25
$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,-110828.26
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2693
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$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,67
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2910
$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
$GPS1,212135,2240.161,-15736.382,31,1.1,31,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-82.0
$GPS2,214107,2240.224,-15736.508,15,1.4,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,0.151
$KALMAN_X,56597.9,253.8,-102.6,-16544.4,-3360.1
$KALMAN_Y,98832.6,274.4,-97.3,-106150.8,-765.8
$MHEAD_RNG_PITCHd_Wd,41.6,46719,-18.9,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.51,-126.5,0.0,0.0,0,127,0.00,0.00,-102.85,0.000,2,0.000,0.000,11,2530,2985
$GC,133,-0.51,-126.5,2.4,-2.2,12,161,9.45,1.55,-9.27,0.000,4,0.199,0.056,2512,3542,3427
$GC,269,-0.51,-126.5,44.4,-25.1,28,273,0.00,1.50,0.00,0.000,6,0.000,0.019,2513,2494,3427
$GC,542,-0.51,-126.5,108.6,-17.6,53,545,0.00,1.45,0.00,0.000,4,0.000,0.019,2521,1436,3428
$GC,581,-0.51,-126.5,115.7,-17.6,56,584,0.00,1.58,0.00,0.000,6,0.000,0.037,2515,2472,3428
$GC,852,-0.51,-126.5,164.9,-18.7,81,856,0.00,1.65,0.00,0.000,4,0.000,0.044,2507,3558,3428
$GC,903,-0.51,-126.5,174.5,-19.2,85,907,0.00,1.52,0.00,0.000,6,0.000,0.018,2507,2473,3427
$GC,1198,-0.51,-126.5,230.1,-18.4,101,1202,0.00,1.38,0.00,0.000,4,0.000,0.019,2515,1459,3427
$GC,1239,-0.51,-126.5,237.6,-15.9,101,1247,0.00,1.58,0.00,0.000,6,0.000,0.037,2510,2496,3427
$GC,1493,-0.51,-126.5,276.3,-14.4,108,1497,0.00,1.62,0.00,0.000,4,0.000,0.045,2502,3566,3427
$GC,1602,-0.51,-126.5,291.4,-12.8,110,1606,0.00,1.45,0.00,0.000,6,0.000,0.019,2504,2529,3426
$GC,1879,-0.51,-126.5,327.0,-12.9,117,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2521,3425
$GC,2123,-0.51,-126.5,359.6,-13.6,123,2126,0.00,1.60,0.00,0.000,4,0.000,0.044,2498,3580,3423
$GC,2210,-0.51,-126.5,372.4,-14.3,124,2218,0.00,1.48,0.00,0.000,6,0.000,0.021,2504,2526,3422
$GC,2464,-0.51,-126.5,407.4,-14.0,131,2468,0.00,1.48,0.00,0.000,4,0.000,0.021,2511,1464,3420
$GC,2560,-0.51,-126.5,419.2,-11.1,133,2563,0.00,1.60,0.00,0.000,6,0.000,0.038,2506,2512,3418
$GC,2853,-0.51,-126.5,451.8,-10.8,140,2855,0.00,0.00,-0.08,0.000,6,0.000,0.000,2506,2512,3440
$GC,3097,-0.51,-126.5,478.4,-11.0,146,3101,0.00,1.62,0.00,0.000,4,0.000,0.048,2497,3565,3438
$GC,3154,-0.51,-126.5,485.5,-11.5,147,3158,0.00,1.48,0.00,0.000,6,0.000,0.021,2503,2529,3438
$GC,3438,-0.51,-126.5,518.0,-11.6,154,3442,0.00,1.60,0.00,0.000,4,0.000,0.048,2497,3570,3435
$GC,3488,-0.51,-126.5,524.0,-12.1,155,3492,0.00,1.50,0.00,0.000,6,0.000,0.022,2503,2524,3435
$GC,3782,-0.51,-126.5,557.0,-11.1,162,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2517,3431
$GC,4026,-0.51,-126.5,583.5,-10.8,168,4029,0.00,1.60,0.00,0.000,4,0.000,0.049,2497,3557,3429
$GC,4057,-0.51,-126.5,587.2,-11.8,168,4061,0.00,1.48,0.00,0.000,6,0.000,0.024,2503,2536,3429
$GC,4324,-0.51,-126.5,615.2,-10.6,175,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2529,3427
$GC,4568,-0.51,-126.5,641.1,-10.6,181,4571,0.00,1.60,0.00,0.000,4,0.000,0.050,2497,3566,3424
$GC,4617,-0.51,-126.5,646.5,-10.6,182,4621,0.00,1.50,0.00,0.000,6,0.000,0.024,2503,2531,3423
$GC,4911,-0.51,-126.5,676.1,-9.7,189,4915,0.00,1.52,0.00,0.000,4,0.000,0.024,2511,1451,3421
$GC,4947,-0.51,-126.5,679.8,-9.0,189,4951,0.00,1.65,0.00,0.000,6,0.000,0.044,2510,2528,3421
$GC,5209,-0.51,-126.5,701.4,-8.2,196,5212,0.00,1.60,0.00,0.000,4,0.000,0.056,2509,3565,3419
$GC,5259,-0.51,-126.5,705.4,-7.4,197,5263,0.00,1.50,0.00,0.000,6,0.000,0.025,2510,2537,3419
$GC,5553,-0.51,-126.5,727.8,-7.5,204,5556,0.00,1.55,0.00,0.000,4,0.000,0.025,2513,1442,3416
$GC,5613,-0.51,-126.5,732.3,-6.9,205,5617,0.00,1.67,0.00,0.000,6,0.000,0.044,2510,2536,3416
$GC,5896,-0.51,-126.5,753.3,-7.5,212,5900,0.00,1.60,0.00,0.000,4,0.000,0.054,2504,3557,3414
$GC,5947,-0.51,-126.5,757.3,-8.1,213,5950,0.00,1.50,0.00,0.000,6,0.000,0.026,2505,2534,3414
$GC,6242,-0.51,-126.5,779.8,-7.6,220,6246,0.00,1.55,0.00,0.000,4,0.000,0.026,2508,1449,3411
$GC,6272,-0.51,-126.5,782.5,-8.1,220,6276,0.00,1.70,0.00,0.000,6,0.000,0.044,2502,2535,3412
$GC,6538,-0.51,-126.5,803.8,-8.4,227,6542,0.00,1.62,0.00,0.000,4,0.000,0.055,2494,3566,3411
$GC,6613,-0.51,-126.5,811.0,-8.8,228,6616,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2544,3411
$GC,6880,-0.51,-126.5,834.8,-9.1,235,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2537,3410
$GC,7124,-0.51,-126.5,857.7,-9.4,241,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2536,3409
$GC,7367,-0.51,-126.5,880.6,-9.4,247,7371,0.00,1.60,0.00,0.000,4,0.000,0.053,2494,3562,3407
$GC,7399,-0.51,-126.5,884.0,-9.9,247,7403,0.00,1.50,0.00,0.000,6,0.000,0.026,2500,2544,3407
$STATE,7578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7578,begin apogee
$GC,7590,-0.17,0.0,901.1,9.3,252,7702,0.40,0.00,107.70,1.250,6,0.107,0.000,2635,2202,2909
$STATE,7702,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7708,0.51,126.5,904.9,0.0,255,7862,0.60,1.62,127.15,1.149,4,0.039,0.028,2878,1182,2394
$GC,7914,0.51,126.5,887.3,16.4,259,7918,0.00,1.70,0.00,0.000,6,0.000,0.041,2877,2237,2388
$GC,8181,0.51,126.5,840.8,17.6,266,8184,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3279,2383
$GC,8212,0.51,126.5,834.7,18.8,266,8216,0.00,1.58,0.00,0.000,6,0.000,0.027,2884,2241,2382
$GC,8478,0.51,126.5,788.7,17.2,273,8481,0.00,1.67,0.00,0.000,4,0.000,0.049,2884,3278,2380
$GC,8587,0.51,126.5,768.9,17.4,275,8591,0.08,1.50,0.00,0.000,6,0.178,0.026,2858,2278,2380
$GC,8863,0.51,126.5,728.0,14.8,282,8867,0.00,1.62,0.00,0.000,4,0.000,0.050,2859,3284,2378
$GC,8939,0.51,126.5,715.6,15.6,283,8942,0.00,1.45,0.00,0.000,6,0.000,0.027,2864,2313,2378
$GC,9205,0.51,126.5,675.7,15.1,290,9209,0.00,1.67,0.00,0.000,4,0.000,0.028,2872,1174,2377
$GC,9268,0.51,126.5,666.1,14.2,291,9272,0.00,1.80,0.00,0.000,6,0.000,0.043,2872,2339,2376
$GC,9546,0.51,126.5,623.3,15.4,298,9550,0.00,1.48,0.00,0.000,4,0.000,0.050,2872,3282,2376
$GC,9659,0.51,126.5,603.9,16.1,300,9662,0.00,1.38,0.00,0.000,6,0.000,0.027,2879,2356,2376
$GC,9932,0.51,126.5,560.9,15.8,307,9935,0.00,1.48,0.00,0.000,4,0.000,0.048,2878,3282,2375
$GC,10072,0.51,126.5,538.8,15.6,310,10075,0.00,1.30,0.00,0.000,6,0.000,0.026,2883,2401,2375
$GC,10366,0.51,126.5,495.6,14.1,317,10369,0.00,1.40,0.00,0.000,4,0.000,0.048,2878,3280,2375
$GC,10423,0.51,126.5,486.5,15.1,318,10427,0.00,1.27,0.00,0.000,6,0.000,0.027,2883,2409,2375
$GC,10707,0.51,126.5,446.8,14.2,325,10710,0.00,1.80,0.00,0.000,4,0.000,0.030,2892,1158,2375
$GC,10731,0.51,126.5,442.8,13.7,325,10735,0.12,1.98,0.00,0.000,6,0.159,0.044,2859,2434,2374
$GC,11002,0.51,126.5,409.3,12.1,332,11006,0.00,1.88,0.00,0.000,4,0.000,0.028,2866,1172,2374
$GC,11059,0.51,126.5,402.2,11.7,333,11063,0.00,1.92,0.00,0.000,6,0.000,0.041,2864,2406,2374
$GC,11343,0.51,126.5,370.1,11.1,340,11347,0.00,1.35,0.00,0.000,4,0.000,0.048,2864,3280,2374
$GC,11367,0.51,126.5,366.9,11.4,340,11371,0.00,1.25,0.00,0.000,6,0.000,0.027,2868,2426,2373
$GC,11639,0.51,126.5,337.1,11.3,347,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2421,2373
$GC,11882,0.51,126.5,310.0,10.8,353,11886,0.00,1.85,0.00,0.000,4,0.000,0.029,2873,1165,2373
$GC,11906,0.51,130.6,307.3,9.8,353,11910,0.00,1.98,0.00,0.000,6,0.000,0.042,2873,2449,2373
$GC,12178,0.51,134.7,281.4,9.8,360,12187,0.00,1.30,4.93,0.649,4,0.000,0.049,2873,3284,2360
$GC,12213,0.52,145.4,277.9,9.4,360,12228,0.00,1.17,11.25,0.783,6,0.000,0.025,2879,2470,2317
$GC,12473,0.52,145.4,250.0,11.7,367,12477,0.00,1.92,0.00,0.000,4,0.000,0.028,2888,1160,2314
$GC,12514,0.52,145.4,244.3,11.2,367,12523,0.00,2.08,0.00,0.000,6,0.000,0.043,2888,2479,2313
$GC,12769,0.52,145.4,213.7,12.2,374,12773,0.00,1.95,0.00,0.000,4,0.000,0.027,2896,1164,2313
$GC,12838,0.52,145.4,204.9,11.7,375,12842,0.12,2.03,0.00,0.000,6,0.150,0.041,2858,2483,2313
$GC,13112,0.54,193.3,180.6,7.5,396,13159,0.00,2.05,41.08,0.736,4,0.000,0.028,2860,1156,2121
$GC,13187,0.55,225.4,174.2,8.3,402,13226,0.00,2.05,28.12,0.706,6,0.000,0.040,2860,2470,1989
$GC,13484,0.55,225.4,141.0,12.7,429,13488,0.00,1.95,0.00,0.000,4,0.000,0.026,2860,1158,1983
$GC,13537,0.55,225.4,134.5,10.2,433,13545,0.00,2.05,0.00,0.000,6,0.000,0.040,2860,2459,1982
$GC,13802,0.55,225.4,103.5,11.3,458,13806,0.00,1.95,0.00,0.000,4,0.000,0.025,2860,1137,1982
$GC,13843,0.55,225.4,99.1,10.0,461,13846,0.00,2.00,0.00,0.000,6,0.000,0.038,2860,2440,1981
$GC,14116,0.57,278.3,75.0,7.2,486,14163,0.00,1.90,42.78,0.623,4,0.000,0.024,2860,1162,1774
$GC,14207,0.60,340.2,67.9,6.7,493,14261,0.00,1.98,49.30,0.607,6,0.000,0.038,2860,2420,1524
$GC,14529,0.62,388.6,47.2,7.4,522,14575,0.00,1.95,39.38,0.584,4,0.000,0.023,2860,1151,1324
$GC,14623,0.64,442.9,40.8,7.1,529,14680,0.12,1.92,43.70,0.570,6,0.090,0.033,2911,2409,1103
$GC,14972,0.64,442.9,6.3,10.3,575,14981,0.00,1.35,0.00,0.000,4,0.000,0.043,2911,3291,1100
$STATE,15001,end climb,SURFACE_DEPTH_REACHED
$STATE,15001,begin surface coast
$FINISH,1.9,1.022912
$STATE,15009,end surface coast,CONTROL_FINISHED_OK
$STATE,15009,begin surface
$SM_CCo,15095,0.00,0.000,0,0,1098,444.48
$SM_GC,1.45,7.32,0.00,0.00,0.025,0.000,0.000,45,2448,1098,-8.21,-1.44,444.48
$IRIDIUM_FIX,2230.01,-15733.76,220103,212128
$TT8_MAMPS,0.023777
$HUMID,2255
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.80
$XPDR_PINGS,5
$24V_AH,23.8,36.681
$10V_AH,10.7,42.532
$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,18.225,127.650,495.375,0.000,0.000,53.789,80.304,776.690,1.250,0.000,0.000,15.678,1234.527,9912.110,482.124,3092.687,1536.774,33.370,1551.571,0.000,3084.918,0.000,0.546,0.000
$DEVICE_MAMPS,199.420,55.991,1250.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,393.518,1910.790,1975.466,1251.618,1308.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50956,580
$CAP_FILE_SIZE,131887,0
$CFSIZE,260165632,243920896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,291013,015500,2241.493,-15735.544,40,1.7,40,10.1