version: 66.04
glider: 512
mission: 4
dive: 227
start: 10 29 113 11 22 25
data:
$ID,512
$MISSION,4
$DIVE,227
$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,-110872.81
$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,61
$R_STBD_OVSHOOT,30
$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
$GPS1,111300,2243.697,-15735.026,42,2.0,42,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-82.0
$GPS2,112131,2243.722,-15735.064,12,1.3,12,10.1
$SPEED_LIMITS,0.193,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.184,0.136
$KALMAN_X,50700.1,479.0,162.2,-8683.7,-3700.2
$KALMAN_Y,97319.2,-63.1,-52.4,-97866.2,-861.6
$MHEAD_RNG_PITCHd_Wd,43.4,40207,-17.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.48,-119.0,0.0,0.0,0,98,0.00,0.00,-74.10,0.000,2,0.000,0.000,11,2514,3087
$GC,104,-0.48,-126.5,2.7,-2.2,9,131,9.55,1.60,-6.40,0.000,4,0.201,0.051,2523,3568,3418
$GC,217,-0.48,-126.5,40.4,-21.9,22,226,0.00,1.58,0.00,0.000,6,0.000,0.019,2522,2485,3419
$GC,484,-0.48,-126.5,104.5,-21.3,47,488,0.00,1.45,0.00,0.000,4,0.000,0.018,2523,1435,3420
$GC,512,-0.48,-126.5,110.0,-19.3,49,516,0.00,1.60,0.00,0.000,6,0.000,0.034,2516,2492,3420
$GC,784,-0.48,-126.5,166.3,-19.5,74,787,0.00,1.60,0.00,0.000,4,0.000,0.044,2508,3567,3421
$GC,826,-0.48,-126.5,175.4,-21.3,77,833,0.08,1.55,0.00,0.000,6,0.129,0.018,2533,2470,3421
$GC,1107,-0.48,-126.5,219.3,-14.8,95,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2463,3421
$GC,1351,-0.48,-126.5,250.5,-12.4,101,1354,0.00,1.67,0.00,0.000,4,0.000,0.041,2527,3556,3421
$GC,1414,-0.48,-126.5,258.5,-11.5,102,1418,0.00,1.50,0.00,0.000,6,0.000,0.019,2527,2489,3421
$GC,1692,-0.48,-126.5,293.0,-12.8,109,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2482,3421
$GC,1936,-0.48,-126.5,322.4,-11.8,115,1939,0.00,1.65,0.00,0.000,4,0.000,0.045,2523,3565,3420
$GC,1978,-0.48,-126.5,327.7,-10.9,115,1986,0.00,1.50,0.00,0.000,6,0.000,0.019,2523,2496,3420
$GC,2233,-0.48,-126.5,355.5,-11.1,122,2237,0.00,1.42,0.00,0.000,4,0.000,0.020,2523,1462,3418
$GC,2302,-0.48,-126.5,363.2,-10.7,123,2305,0.00,1.58,0.00,0.000,6,0.000,0.041,2523,2489,3417
$GC,2574,-0.48,-126.5,392.4,-10.9,130,2577,0.00,1.62,0.00,0.000,4,0.000,0.048,2514,3571,3415
$GC,2687,-0.48,-126.5,404.6,-10.7,132,2691,0.00,1.50,0.00,0.000,6,0.000,0.021,2514,2516,3414
$GC,2960,-0.48,-126.5,432.9,-10.6,139,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2508,3412
$GC,3203,-0.48,-126.5,458.7,-10.6,145,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2507,3410
$GC,3447,-0.48,-126.5,484.5,-10.4,151,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2507,3409
$GC,3690,-0.48,-126.5,509.1,-10.0,157,3694,0.00,1.62,0.00,0.000,4,0.000,0.048,2506,3567,3406
$GC,3742,-0.48,-126.5,514.9,-10.2,158,3747,0.08,1.50,0.00,0.000,6,0.114,0.022,2546,2507,3405
$GC,4031,-0.48,-126.5,536.8,-7.7,165,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2503,3403
$GC,4275,-0.48,-126.5,554.0,-6.8,171,4278,0.00,1.45,0.00,0.000,4,0.000,0.023,2546,1473,3401
$GC,4311,-0.48,-126.5,556.7,-6.5,171,4315,0.00,1.60,0.00,0.000,6,0.000,0.044,2541,2526,3401
$GC,4573,-0.48,-126.5,574.6,-7.0,178,4576,0.00,1.60,0.00,0.000,4,0.000,0.054,2534,3572,3399
$GC,4642,-0.48,-126.5,579.8,-7.2,179,4646,0.00,1.50,0.00,0.000,6,0.000,0.025,2535,2535,3398
$GC,4914,-0.48,-126.5,599.5,-7.3,186,4918,0.00,1.52,0.00,0.000,4,0.000,0.024,2534,1453,3396
$GC,4955,-0.48,-126.5,602.7,-7.0,186,4965,0.00,1.67,0.00,0.000,6,0.000,0.045,2527,2531,3397
$GC,5211,-0.48,-126.5,621.3,-7.4,193,5215,0.00,1.62,0.00,0.000,4,0.000,0.055,2523,3565,3394
$GC,5236,-0.48,-126.5,623.6,-7.8,193,5239,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2545,3394
$GC,5508,-0.48,-126.5,645.2,-8.2,200,5512,0.00,1.55,0.00,0.000,4,0.000,0.025,2524,1449,3392
$GC,5573,-0.48,-126.5,650.9,-8.7,201,5577,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2540,3392
$GC,5851,-0.48,-126.5,675.2,-9.0,208,5855,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3577,3390
$GC,5901,-0.48,-126.5,679.8,-9.2,209,5905,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2532,3390
$GC,6195,-0.48,-126.5,706.1,-8.9,216,6199,0.00,1.65,0.00,0.000,4,0.000,0.053,2522,3559,3388
$GC,6247,-0.48,-126.5,710.5,-8.1,217,6251,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2547,3388
$GC,6541,-0.48,-126.5,735.3,-8.3,224,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2539,3387
$GC,6784,-0.48,-126.5,755.4,-8.3,230,6788,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1454,3386
$GC,6835,-0.48,-126.5,759.6,-8.1,231,6838,0.00,1.73,0.00,0.000,6,0.000,0.046,2523,2572,3386
$GC,7130,-0.48,-126.5,783.4,-8.3,238,7133,0.00,1.55,0.00,0.000,4,0.000,0.057,2523,3555,3384
$GC,7160,-0.48,-126.5,786.2,-8.4,238,7164,0.00,1.45,0.00,0.000,6,0.000,0.026,2523,2565,3384
$GC,7426,-0.48,-126.5,807.1,-7.9,245,7430,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1457,3382
$GC,7476,-0.48,-126.5,811.2,-8.2,246,7480,0.00,1.73,0.00,0.000,6,0.000,0.046,2523,2555,3383
$GC,7772,-0.48,-126.5,833.6,-7.5,253,7775,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3583,3381
$GC,7804,-0.48,-126.5,836.2,-7.9,253,7807,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2560,3381
$GC,8070,-0.48,-126.5,855.7,-7.5,260,8073,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1455,3380
$GC,8100,-0.48,-126.5,858.4,-8.4,260,8103,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2554,3380
$GC,8366,-0.48,-126.5,878.3,-7.6,267,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2553,3379
$GC,8610,-0.48,-126.5,897.3,-7.8,273,8613,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3580,3379
$GC,8634,-0.48,-126.5,899.4,-7.7,273,8638,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2543,3378
$STATE,8641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8641,begin apogee
$GC,8653,-0.17,0.0,900.5,7.9,273,8760,0.32,0.00,104.18,1.261,6,0.101,0.000,2637,2197,2900
$STATE,8761,end apogee,CONTROL_FINISHED_OK
$STATE,8761,begin climb
$GC,8766,0.48,126.5,903.7,0.0,276,8898,0.57,1.62,120.95,1.204,4,0.039,0.026,2872,1193,2384
$GC,8940,0.48,126.5,889.9,15.6,279,8950,0.00,1.70,0.00,0.000,6,0.000,0.038,2872,2224,2378
$GC,9196,0.48,126.5,845.4,17.8,286,9200,0.00,1.67,0.00,0.000,4,0.000,0.048,2873,3278,2374
$GC,9271,0.48,126.5,830.1,19.3,287,9274,0.00,1.55,0.00,0.000,6,0.000,0.025,2880,2256,2372
$GC,9536,0.48,126.5,781.0,18.4,294,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2250,2371
$GC,9780,0.48,126.5,736.7,18.2,300,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2250,2370
$GC,10024,0.48,126.5,694.3,17.4,306,10027,0.00,1.62,0.00,0.000,4,0.000,0.046,2878,3291,2369
$GC,10110,0.48,126.5,678.0,19.0,307,10119,0.10,1.58,0.00,0.000,6,0.173,0.025,2856,2236,2369
$GC,10365,0.48,126.5,639.3,14.9,314,10369,0.00,1.65,0.00,0.000,4,0.000,0.046,2856,3290,2368
$GC,10397,0.48,126.5,634.3,15.2,314,10400,0.00,1.55,0.00,0.000,6,0.000,0.025,2862,2248,2367
$GC,10662,0.48,126.5,596.5,13.9,321,10666,0.00,1.58,0.00,0.000,4,0.000,0.028,2870,1177,2367
$GC,10703,0.48,126.5,590.8,12.4,321,10713,0.00,1.67,0.00,0.000,6,0.000,0.041,2870,2251,2367
$GC,10959,0.48,126.5,559.0,12.5,328,10963,0.00,1.60,0.00,0.000,4,0.000,0.049,2870,3277,2366
$GC,11023,0.48,126.5,549.5,14.2,329,11026,0.00,1.52,0.00,0.000,6,0.000,0.025,2877,2246,2366
$GC,11300,0.48,126.5,510.6,14.5,336,11303,0.00,1.58,0.00,0.000,4,0.000,0.028,2885,1157,2366
$GC,11381,0.48,126.5,499.4,12.2,337,11385,0.12,1.65,0.00,0.000,6,0.164,0.041,2853,2238,2365
$GC,11641,0.48,126.5,468.3,12.1,344,11645,0.00,1.62,0.00,0.000,4,0.000,0.048,2850,3301,2364
$GC,11761,0.48,126.5,453.2,11.7,346,11764,0.00,1.55,0.00,0.000,6,0.000,0.025,2856,2258,2364
$GC,12027,0.48,126.5,422.2,11.7,353,12030,0.00,1.60,0.00,0.000,4,0.000,0.028,2864,1159,2364
$GC,12057,0.48,126.5,418.4,11.5,353,12060,0.00,1.73,0.00,0.000,6,0.000,0.041,2863,2270,2364
$GC,12322,0.48,126.5,385.8,12.8,360,12326,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3283,2364
$GC,12387,0.48,126.5,376.4,14.0,361,12391,0.00,1.50,0.00,0.000,6,0.000,0.025,2869,2263,2364
$GC,12663,0.48,126.5,342.8,12.1,368,12667,0.00,1.62,0.00,0.000,4,0.000,0.044,2863,3291,2364
$GC,12790,0.48,126.5,328.1,11.0,370,12793,0.00,1.42,0.00,0.000,6,0.000,0.025,2869,2320,2364
$GC,13050,0.48,126.5,302.4,9.8,377,13053,0.00,1.52,0.00,0.000,4,0.000,0.046,2864,3279,2364
$GC,13100,0.48,126.5,297.4,10.8,378,13103,0.00,1.35,0.00,0.000,6,0.000,0.025,2868,2357,2364
$GC,13395,0.48,126.5,266.6,10.8,385,13398,0.00,1.70,0.00,0.000,4,0.000,0.027,2873,1160,2364
$GC,13599,0.49,133.2,246.2,8.7,389,13602,0.00,1.80,0.00,0.000,6,0.000,0.040,2872,2341,2364
$GC,13871,0.50,153.8,223.9,8.0,396,13897,0.00,1.77,21.52,0.773,4,0.000,0.025,2881,1152,2272
$GC,13939,0.50,157.5,218.0,8.8,397,13948,0.00,1.73,4.78,0.580,6,0.000,0.038,2876,2282,2257
$GC,14208,0.50,157.5,190.8,10.1,410,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2282,2254
$GC,14474,0.50,157.5,160.8,10.7,435,14477,0.00,1.52,0.00,0.000,4,0.000,0.044,2876,3276,2254
$GC,14546,0.50,157.5,152.4,11.1,441,14550,0.05,1.50,0.00,0.000,6,0.176,0.022,2866,2257,2254
$GC,14822,0.50,162.2,126.9,8.8,466,14837,0.00,1.55,5.38,0.550,4,0.000,0.022,2872,1160,2238
$GC,14846,0.50,173.7,124.2,8.4,467,14868,0.00,1.70,11.27,0.632,6,0.000,0.035,2871,2270,2192
$GC,15129,0.50,173.7,99.2,10.0,493,15133,0.00,1.52,0.00,0.000,4,0.000,0.041,2872,3274,2191
$GC,15258,0.50,173.7,84.7,10.6,504,15262,0.00,1.45,0.00,0.000,6,0.000,0.021,2873,2281,2191
$GC,15531,0.52,210.4,62.3,7.1,529,15573,0.00,1.62,31.98,0.607,4,0.000,0.022,2881,1153,2040
$GC,15605,0.53,234.4,56.5,7.8,534,15631,0.00,1.75,21.08,0.584,6,0.000,0.033,2878,2290,1942
$GC,15904,0.54,263.4,34.6,7.5,561,15934,0.00,1.70,24.05,0.567,4,0.000,0.021,2883,1168,1824
$GC,15954,0.55,282.1,30.3,8.1,564,15981,0.00,1.75,16.35,0.548,6,0.000,0.034,2883,2300,1749
$STATE,16263,end climb,SURFACE_DEPTH_REACHED
$STATE,16263,begin surface coast
$FINISH,0.4,1.023025
$STATE,16302,end surface coast,CONTROL_FINISHED_OK
$STATE,16302,begin surface
$SM_CCo,16327,44.30,0.534,0,0,1309,390.02
$SM_GC,1.35,0.00,0.00,44.30,0.000,0.000,0.534,31,2516,1309,-8.33,0.45,390.02
$IRIDIUM_FIX,2234.68,-15732.87,230103,060641
$TT8_MAMPS,0.023777
$HUMID,2183
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.30
$XPDR_PINGS,4
$24V_AH,23.6,37.077
$10V_AH,10.7,43.150
$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,18.050,127.775,361.525,44.300,0.000,23.181,35.758,262.543,1.000,0.000,0.000,12.914,1336.341,10871.190,443.855,3255.680,970.831,33.372,1499.171,0.000,3242.821,0.000,0.546,0.000
$DEVICE_MAMPS,200.954,57.525,1260.948,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,420.948,2034.164,2100.724,1371.427,1383.314,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50903,618
$CAP_FILE_SIZE,133326,0
$CFSIZE,260165632,243720192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291013,155636,2244.907,-15734.125,30,0.9,30,10.1