version: 66.04
glider: 512
mission: 4
dive: 228
start: 10 29 113 16 17 17
data:
$ID,512
$MISSION,4
$DIVE,228
$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,-110888.74
$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,63
$R_STBD_OVSHOOT,32
$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
$GPS1,155636,2244.907,-15734.125,30,0.9,30,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-82.3
$GPS2,161625,2244.823,-15734.335,15,1.3,15,10.1
$SPEED_LIMITS,0.193,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,0.154
$KALMAN_X,48617.6,142.7,217.1,-5062.3,-3638.6
$KALMAN_Y,96538.1,-142.9,131.4,-95154.5,-1083.8
$MHEAD_RNG_PITCHd_Wd,38.8,38208,-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,-0.47,-126.5,0.0,0.0,0,89,0.00,0.00,-68.55,0.000,2,0.000,0.000,10,2508,2936
$GC,95,-0.47,-126.5,2.4,-1.9,8,123,9.60,1.60,-10.27,0.000,4,0.201,0.050,2529,3572,3415
$GC,231,-0.47,-126.5,40.9,-24.9,25,235,0.00,1.58,0.00,0.000,6,0.000,0.021,2529,2501,3416
$GC,503,-0.47,-126.5,98.8,-17.7,50,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2493,3417
$GC,769,-0.47,-126.5,144.9,-16.5,75,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2493,3417
$GC,1036,-0.47,-126.5,190.2,-15.6,100,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2493,3417
$GC,1304,-0.47,-126.5,229.5,-14.1,111,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2493,3417
$GC,1547,-0.47,-126.5,259.6,-11.9,117,1551,0.00,1.48,0.00,0.000,4,0.000,0.019,2529,1421,3417
$GC,1571,-0.47,-126.5,262.6,-11.0,117,1575,0.00,1.60,0.00,0.000,6,0.000,0.035,2524,2504,3417
$GC,1844,-0.47,-126.5,295.7,-12.7,124,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2504,3416
$GC,2087,-0.47,-126.5,327.5,-13.1,130,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2504,3414
$GC,2331,-0.47,-126.5,357.7,-12.1,136,2335,0.00,1.60,0.00,0.000,4,0.000,0.045,2517,3581,3413
$GC,2425,-0.47,-126.5,368.8,-11.3,138,2429,0.00,1.58,0.00,0.000,6,0.000,0.020,2518,2480,3412
$GC,2720,-0.47,-126.5,401.4,-11.0,145,2724,0.00,1.42,0.00,0.000,4,0.000,0.021,2520,1446,3410
$GC,2762,-0.47,-126.5,406.2,-10.2,145,2770,0.00,1.60,0.00,0.000,6,0.000,0.037,2516,2501,3410
$GC,3016,-0.47,-126.5,431.6,-10.1,152,3020,0.00,1.62,-0.08,0.000,4,0.000,0.064,2507,3555,3431
$GC,3084,-0.47,-126.5,438.9,-9.7,153,3088,0.08,1.50,0.00,0.000,6,0.110,0.021,2550,2494,3431
$GC,3357,-0.47,-126.5,458.1,-7.2,160,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2487,3428
$GC,3601,-0.47,-126.5,477.1,-7.9,166,3604,0.00,1.42,0.00,0.000,4,0.000,0.021,2550,1464,3426
$GC,3631,-0.47,-126.5,480.0,-8.1,166,3635,0.00,1.60,0.00,0.000,6,0.000,0.041,2550,2507,3426
$GC,3897,-0.47,-126.5,500.6,-7.8,173,3900,0.00,1.62,0.00,0.000,4,0.000,0.049,2542,3562,3423
$GC,3960,-0.47,-126.5,505.8,-7.6,174,3964,0.00,1.48,0.00,0.000,6,0.000,0.022,2542,2532,3422
$GC,4239,-0.47,-126.5,526.4,-7.3,181,4242,0.00,1.50,0.00,0.000,4,0.000,0.022,2543,1455,3420
$GC,4297,-0.47,-126.5,531.2,-7.2,182,4300,0.00,1.65,0.00,0.000,6,0.000,0.042,2537,2523,3420
$GC,4579,-0.47,-126.5,553.1,-7.8,189,4583,0.00,1.60,0.00,0.000,4,0.000,0.051,2529,3557,3418
$GC,4615,-0.47,-126.5,556.4,-8.7,189,4619,0.00,1.48,0.00,0.000,6,0.000,0.023,2529,2531,3417
$GC,4877,-0.47,-126.5,577.1,-8.1,196,4881,0.00,1.50,0.00,0.000,4,0.000,0.023,2529,1459,3415
$GC,4927,-0.47,-126.5,581.2,-7.9,197,4930,0.00,1.62,0.00,0.000,6,0.000,0.042,2524,2526,3415
$GC,5222,-0.47,-126.5,605.4,-8.3,204,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2526,3413
$GC,5465,-0.47,-126.5,625.3,-8.1,210,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2526,3411
$GC,5709,-0.47,-126.5,645.8,-8.6,216,5712,0.00,1.60,0.00,0.000,4,0.000,0.054,2521,3571,3411
$GC,5740,-0.47,-126.5,648.8,-9.2,216,5743,0.00,1.52,0.00,0.000,6,0.000,0.025,2521,2514,3410
$GC,6007,-0.47,-126.5,671.6,-8.8,223,6011,0.00,1.48,0.00,0.000,4,0.000,0.024,2521,1466,3408
$GC,6076,-0.47,-126.5,678.1,-9.0,224,6080,0.00,1.60,0.00,0.000,6,0.000,0.043,2514,2518,3408
$GC,6347,-0.47,-126.5,703.2,-9.4,231,6351,0.00,1.62,0.00,0.000,4,0.000,0.054,2510,3556,3407
$GC,6408,-0.47,-126.5,709.1,-9.8,232,6412,0.08,1.50,0.00,0.000,6,0.107,0.025,2539,2516,3406
$GC,6690,-0.47,-126.5,729.0,-6.9,239,6694,0.00,1.50,0.00,0.000,4,0.000,0.024,2541,1460,3404
$GC,6747,-0.47,-126.5,733.2,-7.1,240,6751,0.00,1.62,0.00,0.000,6,0.000,0.044,2537,2523,3404
$GC,7032,-0.47,-126.5,751.7,-6.6,247,7035,0.00,1.62,0.00,0.000,4,0.000,0.058,2537,3570,3403
$GC,7082,-0.47,-126.5,755.2,-7.0,248,7086,0.00,1.50,0.00,0.000,6,0.000,0.025,2536,2538,3403
$GC,7376,-0.47,-126.5,773.0,-5.9,255,7379,0.00,1.52,0.00,0.000,4,0.000,0.025,2536,1457,3401
$GC,7457,-0.47,-126.5,778.2,-5.7,256,7461,0.00,1.65,0.00,0.000,6,0.000,0.046,2536,2530,3402
$GC,7718,-0.47,-126.5,792.4,-5.5,263,7721,0.00,1.60,0.00,0.000,4,0.000,0.057,2535,3562,3400
$GC,7754,-0.47,-126.5,794.7,-5.9,263,7757,0.00,1.52,0.00,0.000,6,0.000,0.025,2535,2519,3400
$GC,8014,-0.47,-126.5,808.6,-5.4,270,8018,0.00,1.50,0.00,0.000,4,0.000,0.025,2534,1455,3399
$GC,8066,-0.47,-126.5,811.6,-5.1,271,8069,0.00,1.62,0.00,0.000,6,0.000,0.045,2527,2511,3399
$GC,8360,-0.47,-126.5,830.7,-6.5,278,8364,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3558,3399
$GC,8425,-0.47,-126.5,835.6,-7.2,279,8429,0.00,1.52,0.00,0.000,6,0.000,0.025,2524,2514,3398
$GC,8704,-0.47,-126.5,856.5,-7.7,286,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2507,3398
$GC,8948,-0.47,-126.5,874.6,-7.4,292,8951,0.00,1.50,0.00,0.000,4,0.000,0.025,2524,1457,3397
$GC,8991,-0.47,-126.5,878.1,-7.4,292,8999,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2520,3397
$GC,9246,-0.47,-126.5,895.0,-6.7,299,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2520,3396
$STATE,9323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9323,begin apogee
$GC,9334,-0.17,0.0,900.4,6.6,301,9446,0.35,0.00,107.93,1.263,6,0.099,0.000,2640,2208,2900
$STATE,9446,end apogee,CONTROL_FINISHED_OK
$STATE,9447,begin climb
$GC,9452,0.47,126.5,903.0,0.0,304,9611,0.55,1.58,128.48,1.143,4,0.031,0.025,2882,1184,2384
$GC,9657,0.47,126.5,884.1,18.4,308,9661,0.00,1.70,0.00,0.000,6,0.000,0.039,2878,2234,2380
$GC,9923,0.47,126.5,832.2,19.8,315,9926,0.00,1.67,0.00,0.000,4,0.000,0.046,2877,3286,2374
$GC,9983,0.47,126.5,819.6,20.0,316,9987,0.15,1.58,0.00,0.000,6,0.183,0.024,2848,2241,2372
$GC,10265,0.47,126.5,772.5,16.5,323,10269,0.00,1.58,0.00,0.000,4,0.000,0.027,2854,1166,2371
$GC,10300,0.47,126.5,766.2,16.0,323,10304,0.00,1.65,0.00,0.000,6,0.000,0.039,2851,2240,2370
$GC,10560,0.47,126.5,725.9,15.7,330,10564,0.00,1.60,0.00,0.000,4,0.000,0.027,2856,1172,2370
$GC,10590,0.47,126.5,720.9,14.5,330,10594,0.00,1.65,0.00,0.000,6,0.000,0.040,2856,2225,2369
$GC,10856,0.47,126.5,679.0,15.9,337,10860,0.00,1.62,0.00,0.000,4,0.000,0.048,2856,3285,2369
$GC,10925,0.47,126.5,667.0,16.5,338,10929,0.00,1.52,0.00,0.000,6,0.000,0.025,2863,2256,2368
$GC,11196,0.47,126.5,625.3,15.4,345,11199,0.00,1.58,0.00,0.000,4,0.000,0.028,2870,1189,2368
$GC,11249,0.47,126.5,616.9,14.4,346,11252,0.00,1.65,0.00,0.000,6,0.000,0.041,2870,2265,2368
$GC,11537,0.47,126.5,573.2,15.2,353,11541,0.00,1.58,0.00,0.000,4,0.000,0.048,2870,3273,2367
$GC,11573,0.47,126.5,566.9,16.7,353,11577,0.00,1.52,0.00,0.000,6,0.000,0.025,2877,2239,2367
$GC,11833,0.47,126.5,527.1,15.4,360,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2234,2367
$GC,12077,0.47,126.5,489.6,15.2,366,12080,0.00,1.65,0.00,0.000,4,0.000,0.047,2878,3293,2366
$GC,12163,0.47,126.5,475.7,15.8,367,12170,0.10,1.52,0.00,0.000,6,0.173,0.025,2854,2263,2366
$GC,12418,0.47,126.5,443.4,12.5,374,12421,0.00,1.62,0.00,0.000,4,0.000,0.045,2853,3306,2365
$GC,12459,0.47,126.5,438.3,12.6,374,12467,0.00,1.52,0.00,0.000,6,0.000,0.025,2859,2274,2365
$GC,12714,0.47,126.5,410.6,10.9,381,12717,0.00,1.62,0.00,0.000,4,0.000,0.028,2867,1134,2365
$GC,12778,0.47,126.5,403.3,9.7,382,12781,0.00,1.77,0.00,0.000,6,0.000,0.041,2865,2295,2364
$GC,13055,0.47,126.5,373.3,11.1,389,13058,0.00,1.52,0.00,0.000,4,0.000,0.048,2863,3277,2364
$GC,13150,0.47,126.5,362.2,11.4,391,13154,0.00,1.42,0.00,0.000,6,0.000,0.025,2869,2310,2364
$GC,13444,0.47,126.5,329.1,10.9,398,13448,0.00,1.65,0.00,0.000,4,0.000,0.028,2873,1153,2364
$GC,13553,0.47,126.5,318.4,9.7,400,13556,0.00,1.80,0.00,0.000,6,0.000,0.038,2873,2335,2364
$GC,13830,0.47,126.5,291.2,10.0,407,13833,0.00,1.73,0.00,0.000,4,0.000,0.027,2881,1134,2364
$GC,13915,0.47,126.5,282.2,10.2,408,13924,0.00,1.83,0.00,0.000,6,0.000,0.039,2876,2309,2364
$GC,14171,0.47,126.5,254.5,11.0,415,14175,0.00,1.67,0.00,0.000,4,0.000,0.026,2882,1138,2364
$GC,14251,0.48,144.8,246.5,8.1,416,14278,0.00,1.80,16.15,0.702,6,0.000,0.040,2876,2320,2309
$GC,14557,0.48,147.6,219.1,8.9,424,14561,0.00,1.48,0.00,0.000,4,0.000,0.045,2876,3280,2306
$GC,14652,0.48,147.6,209.6,10.0,426,14661,0.00,1.38,3.78,0.509,6,0.000,0.022,2881,2328,2298
$GC,14922,0.48,147.6,181.6,11.1,442,14926,0.00,1.48,0.00,0.000,4,0.000,0.041,2876,3277,2298
$GC,14984,0.48,147.6,174.1,12.1,447,14994,0.08,1.30,0.00,0.000,6,0.163,0.022,2857,2372,2297
$GC,15255,0.48,148.9,151.1,8.9,472,15258,0.00,1.73,0.00,0.000,4,0.000,0.023,2864,1155,2297
$GC,15339,0.49,164.5,143.4,8.3,479,15367,0.00,1.88,16.17,0.674,6,0.000,0.036,2863,2399,2229
$GC,15628,0.49,185.0,119.3,8.0,505,15655,0.00,1.83,18.50,0.650,4,0.000,0.021,2870,1155,2145
$GC,15707,0.50,200.4,112.4,8.3,511,15733,0.00,1.85,14.75,0.628,6,0.000,0.035,2870,2371,2081
$GC,15994,0.50,200.4,83.2,9.3,537,15998,0.00,1.40,0.00,0.000,4,0.000,0.040,2870,3291,2078
$GC,16057,0.50,200.4,77.2,9.5,542,16060,0.00,1.35,0.00,0.000,6,0.000,0.021,2873,2359,2078
$GC,16330,0.53,276.0,57.0,5.4,567,16399,0.00,1.73,61.45,0.601,4,0.000,0.022,2873,1158,1773
$GC,16442,0.56,339.4,49.8,6.0,575,16497,0.00,1.92,50.75,0.582,6,0.000,0.035,2873,2389,1516
$GC,16771,0.57,366.9,24.9,7.7,607,16799,0.00,1.88,22.83,0.550,4,0.000,0.021,2872,1153,1403
$GC,16842,0.59,424.9,19.8,6.2,616,16896,0.00,1.88,46.78,0.548,6,0.000,0.031,2872,2368,1166
$STATE,17055,end climb,SURFACE_DEPTH_REACHED
$STATE,17055,begin surface coast
$FINISH,0.6,1.023101
$STATE,17094,end surface coast,CONTROL_FINISHED_OK
$STATE,17094,begin surface
$SM_CCo,17179,0.00,0.000,0,0,1161,426.57
$SM_GC,1.42,7.20,0.00,0.00,0.018,0.000,0.000,34,2543,1161,-8.21,1.22,426.57
$IRIDIUM_FIX,2234.68,-15732.87,230103,161635
$TT8_MAMPS,0.023777
$HUMID,2200
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.70
$XPDR_PINGS,7
$24V_AH,23.7,37.242
$10V_AH,10.6,43.378
$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,18.175,131.675,487.550,0.000,0.000,110.389,164.485,518.385,1.750,0.000,0.000,15.296,1384.944,11547.009,486.048,3460.084,1477.350,33.369,1639.997,0.000,3440.730,0.000,0.545,0.000
$DEVICE_MAMPS,200.954,63.661,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,443.703,2145.760,2222.795,1522.995,1480.290,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54027,653
$CAP_FILE_SIZE,145500,0
$CFSIZE,260165632,243634176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,291013,210500,2245.677,-15733.338,41,1.7,41,10.1