version: 66.04
glider: 512
mission: 4
dive: 226
start: 10 29 113 6 34 52
data:
$ID,512
$MISSION,4
$DIVE,226
$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,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,-110859.27
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2696
$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,70
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,062200,2241.805,-15734.119,42,1.3,42,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-84.3
$GPS2,063355,2241.838,-15734.160,11,1.8,11,10.1
$SPEED_LIMITS,0.193,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,0.235
$KALMAN_X,52028.6,679.5,374.9,-8878.1,-4988.7
$KALMAN_Y,98340.1,117.8,-49.1,-102575.3,-589.3
$MHEAD_RNG_PITCHd_Wd,353.6,43744,-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,12,begin dive
$GC,17,-0.47,-126.5,0.0,0.0,0,88,0.00,0.00,-67.97,0.000,2,0.000,0.000,12,2520,2921
$GC,93,-0.47,-126.5,2.2,-1.8,8,121,9.60,1.58,-10.75,0.000,4,0.202,0.054,2526,3553,3416
$GC,339,-0.47,-126.5,67.4,-22.1,33,343,0.00,1.52,0.00,0.000,6,0.000,0.020,2526,2503,3418
$GC,611,-0.47,-126.5,122.4,-16.5,58,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2494,3419
$GC,876,-0.47,-126.5,164.5,-15.6,83,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2494,3419
$GC,1161,-0.47,-126.5,206.6,-15.1,107,1165,0.00,1.60,0.00,0.000,4,0.000,0.043,2523,3554,3419
$GC,1241,-0.47,-126.5,218.7,-13.8,108,1245,0.00,1.50,0.00,0.000,6,0.000,0.019,2523,2488,3419
$GC,1502,-0.47,-126.5,255.4,-14.0,115,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2481,3419
$GC,1746,-0.47,-126.5,283.6,-11.1,121,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2481,3419
$GC,1990,-0.47,-126.5,312.8,-12.6,127,1993,0.00,1.62,0.00,0.000,4,0.000,0.042,2515,3560,3417
$GC,2103,-0.47,-126.5,327.2,-12.5,129,2106,0.00,1.48,0.00,0.000,6,0.000,0.020,2516,2516,3417
$GC,2375,-0.47,-126.5,364.3,-13.9,136,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2509,3415
$GC,2619,-0.47,-126.5,392.2,-10.9,142,2622,0.00,1.45,0.00,0.000,4,0.000,0.021,2516,1463,3413
$GC,2649,-0.47,-126.5,395.5,-10.4,142,2653,0.08,1.60,0.00,0.000,6,0.112,0.038,2540,2511,3413
$GC,2914,-0.47,-126.5,416.0,-7.8,149,2918,0.00,1.60,0.00,0.000,4,0.000,0.049,2534,3557,3411
$GC,2977,-0.47,-126.5,421.5,-8.4,150,2980,0.00,1.42,0.00,0.000,6,0.000,0.022,2535,2552,3411
$GC,3256,-0.47,-126.5,444.9,-8.6,157,3260,0.00,1.52,0.00,0.000,4,0.000,0.022,2534,1459,3409
$GC,3307,-0.47,-126.5,450.1,-9.2,158,3311,0.00,1.62,0.00,0.000,6,0.000,0.041,2527,2537,3408
$GC,3596,-0.47,-126.5,478.0,-10.1,165,3600,0.00,1.58,-0.08,0.000,4,0.000,0.068,2523,3558,3431
$GC,3671,-0.47,-126.5,486.1,-9.9,166,3674,0.00,1.45,0.00,0.000,6,0.000,0.024,2523,2549,3431
$GC,3937,-0.47,-126.5,515.3,-11.2,173,3941,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1459,3428
$GC,3994,-0.47,-126.5,522.1,-10.6,174,3998,0.00,1.65,0.00,0.000,6,0.000,0.043,2523,2523,3427
$GC,4278,-0.47,-126.5,550.4,-9.9,181,4281,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3566,3426
$GC,4364,-0.47,-126.5,559.1,-9.2,182,4372,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2522,3425
$GC,4618,-0.47,-126.5,582.9,-9.5,189,4622,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1463,3423
$GC,4683,-0.47,-126.5,589.2,-9.0,190,4686,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2525,3422
$GC,4960,-0.47,-126.5,614.3,-9.2,197,4964,0.00,1.62,0.00,0.000,4,0.000,0.055,2523,3557,3420
$GC,4990,-0.47,-126.5,617.2,-8.7,197,4993,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2528,3420
$GC,5256,-0.47,-126.5,640.3,-8.8,204,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3419
$GC,5499,-0.47,-126.5,660.4,-8.0,210,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3416
$GC,5744,-0.47,-126.5,679.7,-7.8,216,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3415
$GC,5987,-0.47,-126.5,699.1,-8.0,222,5990,0.00,1.65,0.00,0.000,4,0.000,0.055,2522,3570,3413
$GC,6068,-0.47,-126.5,705.8,-8.0,223,6072,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2528,3413
$GC,6329,-0.47,-126.5,726.4,-8.1,230,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3412
$GC,6572,-0.47,-126.5,746.1,-8.0,236,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3411
$GC,6816,-0.47,-126.5,764.4,-7.4,242,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3410
$GC,7059,-0.47,-126.5,781.0,-6.7,248,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3408
$GC,7303,-0.47,-126.5,797.1,-6.6,254,7307,0.00,1.67,0.00,0.000,4,0.000,0.057,2523,3558,3408
$GC,7339,-0.47,-126.5,799.8,-6.7,254,7343,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2535,3408
$GC,7600,-0.47,-126.5,817.8,-7.0,261,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3407
$GC,7844,-0.47,-126.5,834.9,-7.0,267,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2528,3405
$GC,8087,-0.47,-126.5,852.2,-7.0,273,8091,0.00,1.65,0.00,0.000,4,0.000,0.055,2523,3568,3404
$GC,8119,-0.47,-126.5,854.8,-7.9,273,8123,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2542,3404
$GC,8387,-0.47,-126.5,874.1,-7.4,280,8390,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1455,3404
$GC,8437,-0.47,-126.5,878.0,-7.7,281,8440,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2551,3403
$STATE,8725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8725,begin apogee
$GC,8737,-0.17,0.0,900.4,7.8,288,8850,0.35,0.00,110.07,1.257,6,0.099,0.000,2640,2226,2900
$STATE,8851,end apogee,CONTROL_FINISHED_OK
$STATE,8851,begin climb
$GC,8856,0.47,126.5,904.6,0.0,291,9010,0.55,1.70,126.00,1.161,4,0.031,0.026,2881,1178,2383
$GC,9028,0.47,126.5,894.1,15.6,294,9038,0.00,1.75,0.00,0.000,6,0.000,0.039,2878,2228,2380
$GC,9284,0.47,126.5,848.9,18.2,301,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2228,2374
$GC,9527,0.47,126.5,805.3,17.8,307,9531,0.00,1.65,0.00,0.000,4,0.000,0.047,2875,3294,2372
$GC,9596,0.47,126.5,791.7,18.2,308,9600,0.10,1.60,0.00,0.000,6,0.180,0.025,2854,2233,2371
$GC,9867,0.47,126.5,751.5,14.8,315,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2227,2370
$GC,10110,0.47,126.5,715.4,14.6,321,10114,0.00,1.67,0.00,0.000,4,0.000,0.047,2854,3295,2369
$GC,10134,0.47,126.5,711.1,15.7,321,10138,0.00,1.60,0.00,0.000,6,0.000,0.025,2861,2229,2369
$GC,10407,0.47,126.5,671.2,14.4,328,10411,0.00,1.67,0.00,0.000,4,0.000,0.048,2861,3293,2368
$GC,10502,0.47,126.5,656.4,15.2,330,10506,0.00,1.58,0.00,0.000,6,0.000,0.025,2868,2240,2368
$GC,10797,0.47,126.5,613.5,14.5,337,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2234,2367
$GC,11040,0.47,126.5,577.9,14.5,343,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2234,2366
$GC,11284,0.47,126.5,542.8,14.3,349,11288,0.00,1.65,0.00,0.000,4,0.000,0.045,2863,3297,2366
$GC,11308,0.47,126.5,538.8,14.1,349,11312,0.00,1.58,0.00,0.000,6,0.000,0.025,2869,2233,2365
$GC,11579,0.47,126.5,502.5,13.6,356,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2227,2366
$GC,11822,0.47,126.5,472.7,12.2,362,11826,0.00,1.67,0.00,0.000,4,0.000,0.046,2864,3286,2365
$GC,11919,0.47,126.5,460.4,12.7,364,11923,0.00,1.55,0.00,0.000,6,0.000,0.025,2869,2240,2365
$GC,12212,0.47,126.5,419.5,14.2,371,12216,0.00,1.67,0.00,0.000,4,0.000,0.046,2864,3292,2365
$GC,12242,0.47,126.5,414.8,14.5,371,12246,0.00,1.58,0.00,0.000,6,0.000,0.025,2869,2225,2365
$GC,12508,0.47,126.5,379.5,13.2,378,12512,0.00,1.67,0.00,0.000,4,0.000,0.048,2870,3291,2365
$GC,12559,0.47,126.5,372.8,13.1,379,12563,0.00,1.55,0.00,0.000,6,0.000,0.024,2877,2240,2365
$GC,12853,0.47,126.5,336.4,12.4,386,12857,0.00,1.65,0.00,0.000,4,0.000,0.046,2877,3298,2365
$GC,13018,0.47,126.5,314.9,11.6,389,13022,0.10,1.50,0.00,0.000,6,0.167,0.024,2853,2285,2365
$GC,13283,0.47,137.0,292.0,8.5,396,13292,0.00,0.00,7.10,0.749,6,0.000,0.000,2853,2277,2341
$GC,13527,0.48,140.5,270.9,8.8,402,13536,0.00,1.62,4.75,0.634,4,0.000,0.026,2859,1168,2327
$GC,13577,0.48,151.2,266.7,8.5,403,13593,0.00,1.70,11.40,0.773,6,0.000,0.038,2860,2284,2283
$GC,13865,0.48,159.3,241.2,8.6,410,13879,0.00,1.58,8.43,0.722,4,0.000,0.044,2860,3294,2249
$GC,13961,0.48,159.3,230.6,10.3,412,13964,0.00,1.45,0.00,0.000,6,0.000,0.022,2867,2311,2248
$GC,14249,0.48,159.3,203.2,9.3,419,14253,0.00,1.55,0.00,0.000,4,0.000,0.043,2863,3293,2247
$GC,14299,0.48,159.3,197.5,11.8,420,14303,0.00,1.42,0.00,0.000,6,0.000,0.021,2868,2318,2247
$GC,14571,0.48,159.3,168.8,11.2,445,14575,0.00,1.52,0.00,0.000,4,0.000,0.043,2863,3287,2247
$GC,14600,0.48,159.3,165.5,10.7,447,14609,0.00,1.38,0.00,0.000,6,0.000,0.021,2869,2332,2247
$GC,14865,0.48,159.3,140.5,9.3,472,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2332,2247
$GC,15132,0.49,183.9,118.8,7.8,497,15158,0.00,1.65,21.83,0.654,4,0.000,0.023,2873,1165,2151
$GC,15210,0.51,218.3,112.9,7.4,503,15250,0.00,1.85,29.85,0.645,6,0.000,0.036,2873,2381,2009
$GC,15508,0.51,218.3,82.7,10.1,530,15511,0.00,1.77,0.00,0.000,4,0.000,0.024,2873,1162,2005
$GC,15560,0.52,256.1,78.7,7.2,534,15603,0.00,1.85,31.40,0.613,6,0.000,0.035,2873,2359,1855
$GC,15864,0.52,258.0,53.9,8.9,561,15867,0.00,1.75,0.00,0.000,4,0.000,0.023,2872,1153,1851
$GC,15932,0.53,282.6,47.5,7.8,566,15959,0.00,1.83,22.45,0.576,6,0.000,0.034,2873,2339,1747
$GC,16236,0.53,287.6,23.1,8.8,598,16245,0.00,0.00,5.32,0.452,6,0.000,0.000,2873,2339,1726
$STATE,16485,end climb,SURFACE_DEPTH_REACHED
$STATE,16485,begin surface coast
$FINISH,0.5,1.022615
$STATE,16530,end surface coast,CONTROL_FINISHED_OK
$STATE,16530,begin surface
$SM_CCo,16555,41.53,0.532,0,0,1309,390.02
$SM_GC,1.51,0.00,0.00,41.53,0.000,0.000,0.532,36,2516,1309,-8.31,0.57,390.02
$IRIDIUM_FIX,2232.34,-15733.76,230103,060652
$TT8_MAMPS,0.023777
$HUMID,2176
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.80
$XPDR_PINGS,4
$24V_AH,23.7,36.949
$10V_AH,10.7,42.941
$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,17.975,99.750,378.600,41.525,0.000,55.514,81.532,325.328,1.000,0.000,0.000,16.210,1331.070,11174.700,451.041,3263.009,1092.791,33.369,1447.450,0.000,3260.213,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,68.263,1257.113,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,439.428,2120.277,2188.571,1391.423,1440.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54218,644
$CAP_FILE_SIZE,127867,0
$CFSIZE,260165632,243789824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,291013,111300,2243.697,-15735.026,42,2.0,42,10.1