version: 66.04
glider: 512
mission: 4
dive: 231
start: 10 30 113 8 25 21
data:
$ID,512
$MISSION,4
$DIVE,231
$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,-110943.18
$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,78
$R_STBD_OVSHOOT,54
$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
$GPS1,075829,2248.995,-15732.714,38,0.9,43,10.1
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-82.1
$GPS2,082424,2248.844,-15732.982,12,0.9,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.192
$KALMAN_X,42283.7,297.6,289.5,3353.1,-3060.2
$KALMAN_Y,92886.8,96.6,-84.9,-84079.5,-1230.7
$MHEAD_RNG_PITCHd_Wd,25.1,30996,-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,18,-0.47,-126.5,0.0,0.0,0,80,0.00,0.00,-59.83,0.000,2,0.000,0.000,11,2535,2718
$GC,86,-0.47,-126.5,2.1,-1.2,7,124,9.48,1.55,-17.23,0.000,4,0.196,0.039,2544,1459,3417
$GC,326,-0.47,-126.5,51.8,-19.4,35,330,0.00,1.55,0.00,0.000,6,0.000,0.036,2539,2475,3418
$GC,598,-0.47,-126.5,105.2,-17.4,60,601,0.00,1.62,0.00,0.000,4,0.000,0.044,2530,3562,3418
$GC,662,-0.47,-126.5,116.6,-15.6,65,671,0.00,1.48,0.00,0.000,6,0.000,0.018,2530,2516,3418
$GC,928,-0.47,-126.5,158.8,-15.8,90,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2507,3419
$GC,1195,-0.47,-126.5,199.1,-14.3,115,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2506,3419
$GC,1449,-0.47,-126.5,235.3,-13.8,122,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2506,3419
$GC,1693,-0.47,-126.5,269.3,-14.0,128,1697,0.00,1.45,0.00,0.000,4,0.000,0.019,2530,1450,3418
$GC,1745,-0.47,-126.5,276.3,-12.1,129,1748,0.00,1.62,0.00,0.000,6,0.000,0.035,2524,2547,3418
$GC,2034,-0.47,-126.5,311.3,-11.9,136,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2547,3417
$GC,2277,-0.47,-126.5,337.8,-10.8,142,2281,0.00,1.52,0.00,0.000,4,0.000,0.044,2516,3558,3415
$GC,2320,-0.47,-126.5,342.7,-10.6,142,2328,0.00,1.42,0.00,0.000,6,0.000,0.021,2516,2539,3415
$GC,2575,-0.47,-126.5,370.0,-11.0,149,2579,0.00,1.48,0.00,0.000,4,0.000,0.021,2517,1469,3413
$GC,2638,-0.47,-126.5,377.2,-10.4,150,2642,0.12,1.60,0.00,0.000,6,0.120,0.038,2548,2547,3413
$GC,2917,-0.47,-126.5,399.7,-8.1,157,2920,0.00,1.52,0.00,0.000,4,0.000,0.020,2548,1462,3411
$GC,2969,-0.47,-126.5,404.4,-8.4,158,2972,0.00,1.60,0.00,0.000,6,0.000,0.041,2548,2527,3410
$GC,3257,-0.47,-126.5,426.2,-7.6,165,3261,0.00,1.58,0.00,0.000,4,0.000,0.048,2542,3557,3408
$GC,3309,-0.47,-126.5,430.0,-7.9,166,3312,0.00,1.45,0.00,0.000,6,0.000,0.021,2542,2542,3407
$GC,3603,-0.47,-126.5,455.5,-9.0,173,3607,0.00,1.50,-0.08,0.000,4,0.000,0.038,2541,1450,3429
$GC,3652,-0.47,-126.5,460.2,-9.4,174,3656,0.00,1.67,0.00,0.000,6,0.000,0.041,2537,2536,3429
$GC,3948,-0.47,-126.5,486.7,-8.9,181,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2536,3426
$GC,4191,-0.47,-126.5,505.4,-7.4,187,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2536,3424
$GC,4435,-0.47,-126.5,523.0,-7.3,193,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2536,3422
$GC,4679,-0.47,-126.5,540.2,-7.0,199,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2536,3420
$GC,4923,-0.47,-126.5,556.7,-6.7,205,4926,0.00,1.58,0.00,0.000,4,0.000,0.050,2529,3554,3418
$GC,4986,-0.47,-126.5,561.3,-6.7,206,4990,0.00,1.48,0.00,0.000,6,0.000,0.024,2529,2534,3418
$GC,5263,-0.47,-126.5,581.0,-7.3,213,5266,0.00,1.52,0.00,0.000,4,0.000,0.023,2529,1448,3416
$GC,5299,-0.47,-126.5,584.0,-8.0,213,5302,0.00,1.65,0.00,0.000,6,0.000,0.044,2524,2531,3416
$GC,5561,-0.47,-126.5,604.8,-8.2,220,5564,0.00,1.60,0.00,0.000,4,0.000,0.052,2522,3578,3414
$GC,5597,-0.47,-126.5,608.2,-8.7,220,5600,0.00,1.55,0.00,0.000,6,0.000,0.025,2522,2512,3413
$GC,5858,-0.47,-126.5,630.5,-8.8,227,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2504,3412
$GC,6101,-0.47,-126.5,651.6,-8.7,233,6105,0.00,1.67,0.00,0.000,4,0.000,0.049,2514,3565,3411
$GC,6169,-0.47,-126.5,658.1,-9.4,234,6173,0.00,1.52,0.00,0.000,6,0.000,0.024,2518,2518,3410
$GC,6442,-0.47,-126.5,679.7,-7.9,241,6446,0.00,1.50,0.00,0.000,4,0.000,0.025,2518,1452,3409
$GC,6473,-0.47,-126.5,682.3,-7.5,241,6477,0.10,1.65,0.00,0.000,6,0.114,0.045,2542,2531,3409
$GC,6739,-0.47,-126.5,697.3,-5.6,248,6742,0.00,1.60,0.00,0.000,4,0.000,0.053,2536,3571,3408
$GC,6780,-0.47,-126.5,699.9,-5.9,248,6788,0.00,1.52,0.00,0.000,6,0.000,0.025,2536,2515,3407
$GC,7035,-0.47,-126.5,715.3,-6.2,255,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2514,3406
$GC,7279,-0.47,-126.5,731.3,-6.8,261,7282,0.00,1.50,0.00,0.000,4,0.000,0.025,2536,1459,3404
$GC,7315,-0.47,-126.5,734.2,-7.4,261,7318,0.00,1.65,0.00,0.000,6,0.000,0.047,2536,2533,3405
$GC,7576,-0.47,-126.5,752.6,-7.3,268,7580,0.00,1.60,0.00,0.000,4,0.000,0.054,2530,3572,3402
$GC,7618,-0.47,-126.5,756.1,-7.6,268,7626,0.00,1.50,0.00,0.000,6,0.000,0.026,2530,2531,3403
$GC,7873,-0.47,-126.5,775.5,-7.8,275,7877,0.00,1.52,0.00,0.000,4,0.000,0.025,2529,1460,3401
$GC,7923,-0.47,-126.5,779.5,-8.1,276,7927,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2551,3401
$GC,8219,-0.47,-126.5,803.1,-8.0,283,8222,0.00,1.60,0.00,0.000,4,0.000,0.056,2523,3582,3400
$GC,8269,-0.47,-126.5,807.1,-8.1,284,8272,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2561,3400
$GC,8563,-0.47,-126.5,829.1,-7.4,291,8567,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1472,3400
$GC,8604,-0.47,-126.5,832.6,-7.9,291,8614,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2551,3400
$GC,8861,-0.47,-126.5,850.6,-7.2,298,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2551,3399
$GC,9104,-0.47,-126.5,867.8,-7.0,304,9108,0.00,1.58,0.00,0.000,4,0.000,0.026,2523,1470,3398
$GC,9146,-0.47,-126.5,871.0,-7.5,304,9154,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2547,3398
$GC,9400,-0.47,-126.5,887.0,-6.3,311,9404,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3557,3397
$GC,9442,-0.47,-126.5,889.9,-7.0,311,9450,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2558,3397
$STATE,9611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9612,begin apogee
$GC,9623,-0.17,0.0,900.2,6.1,316,9735,0.35,0.00,109.25,1.261,6,0.094,0.000,2641,2225,2900
$STATE,9736,end apogee,CONTROL_FINISHED_OK
$STATE,9736,begin climb
$GC,9741,0.47,126.5,902.4,0.0,319,9870,0.55,0.00,120.78,1.208,6,0.031,0.000,2876,2225,2384
$GC,10115,0.47,126.5,849.9,18.7,328,10119,0.00,1.73,0.00,0.000,4,0.000,0.048,2876,3283,2374
$GC,10145,0.47,126.5,843.3,20.6,328,10149,0.12,1.58,0.00,0.000,6,0.180,0.025,2853,2245,2374
$GC,10410,0.47,126.5,800.2,16.2,335,10414,0.00,1.60,0.00,0.000,4,0.000,0.028,2860,1165,2371
$GC,10479,0.47,126.5,789.3,14.5,336,10483,0.00,1.67,0.00,0.000,6,0.000,0.041,2859,2245,2370
$GC,10752,0.47,126.5,748.4,15.1,343,10755,0.00,1.62,0.00,0.000,4,0.000,0.048,2860,3301,2370
$GC,10816,0.47,126.5,737.7,16.0,344,10820,0.00,1.58,0.00,0.000,6,0.000,0.025,2867,2243,2369
$GC,11094,0.47,126.5,695.0,15.4,351,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2237,2368
$GC,11337,0.47,126.5,658.6,15.0,357,11340,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3279,2368
$GC,11361,0.47,126.5,654.3,15.8,357,11365,0.00,1.52,0.00,0.000,6,0.000,0.025,2869,2245,2368
$GC,11633,0.47,126.5,612.8,15.5,364,11637,0.00,1.62,0.00,0.000,4,0.000,0.047,2863,3279,2367
$GC,11669,0.47,126.5,606.5,15.1,364,11673,0.00,1.50,0.00,0.000,6,0.000,0.025,2869,2266,2367
$GC,11929,0.47,126.5,567.5,14.9,371,11933,0.00,1.62,0.00,0.000,4,0.000,0.047,2864,3282,2366
$GC,11970,0.47,126.5,560.6,15.7,371,11979,0.00,1.48,0.00,0.000,6,0.000,0.025,2869,2283,2366
$GC,12225,0.47,126.5,525.0,14.1,378,12229,0.00,1.60,0.00,0.000,4,0.000,0.046,2863,3287,2366
$GC,12266,0.47,126.5,519.0,13.5,378,12275,0.00,1.45,0.00,0.000,6,0.000,0.025,2869,2304,2366
$GC,12522,0.47,126.5,486.5,12.9,385,12526,0.00,1.65,0.00,0.000,4,0.000,0.028,2878,1168,2365
$GC,12585,0.47,126.5,478.2,13.2,386,12588,0.00,1.73,0.00,0.000,6,0.000,0.041,2876,2296,2365
$GC,12862,0.47,126.5,442.9,13.0,393,12865,0.00,1.65,0.00,0.000,4,0.000,0.027,2882,1152,2364
$GC,12921,0.47,126.5,435.3,12.3,394,12924,0.00,1.73,0.00,0.000,6,0.000,0.039,2876,2285,2364
$GC,13203,0.47,126.5,398.9,13.1,401,13207,0.00,1.55,0.00,0.000,4,0.000,0.047,2875,3285,2364
$GC,13244,0.47,126.5,393.2,12.9,401,13253,0.10,1.48,0.00,0.000,6,0.160,0.024,2851,2286,2364
$GC,13499,0.47,126.5,368.8,9.3,408,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2280,2364
$GC,13742,0.47,126.5,343.9,10.4,414,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2280,2364
$GC,13986,0.47,126.5,317.8,10.6,420,13990,0.00,1.58,0.00,0.000,4,0.000,0.044,2852,3281,2364
$GC,14022,0.47,126.5,314.0,10.2,420,14025,0.00,1.48,0.00,0.000,6,0.000,0.025,2857,2279,2364
$GC,14283,0.47,126.5,289.9,9.2,427,14287,0.00,1.60,0.00,0.000,4,0.000,0.046,2857,3290,2364
$GC,14436,0.47,126.5,273.8,11.6,430,14440,0.00,1.42,0.00,0.000,6,0.000,0.023,2864,2303,2364
$GC,14714,0.48,147.9,250.8,8.0,437,14732,0.00,0.00,16.88,0.788,6,0.000,0.000,2864,2297,2295
$GC,14957,0.48,147.9,229.1,9.1,443,14961,0.00,1.65,0.00,0.000,4,0.000,0.025,2872,1160,2292
$GC,15218,0.49,179.0,207.8,7.5,448,15250,0.00,1.80,27.00,0.751,6,0.000,0.038,2872,2343,2171
$GC,15518,0.49,179.0,178.9,10.6,469,15522,0.00,1.73,0.00,0.000,4,0.000,0.024,2880,1150,2167
$GC,15557,0.49,179.0,173.9,11.1,472,15561,0.00,1.85,0.00,0.000,6,0.000,0.037,2876,2340,2166
$GC,15830,0.49,179.0,142.9,11.1,497,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2340,2166
$GC,16096,0.49,179.3,114.3,9.0,522,16100,0.00,1.70,0.00,0.000,4,0.000,0.023,2882,1154,2166
$GC,16182,0.49,186.0,106.6,8.7,529,16196,0.00,1.80,7.30,0.576,6,0.000,0.036,2876,2327,2141
$GC,16458,0.51,226.5,84.4,7.1,554,16499,0.00,0.00,35.05,0.626,6,0.000,0.000,2876,2327,1975
$GC,16761,0.52,261.1,60.8,7.3,581,16800,0.00,0.00,29.27,0.596,6,0.000,0.000,2876,2327,1833
$GC,17058,0.53,268.2,37.7,8.7,609,17073,0.00,1.73,6.62,0.495,4,0.000,0.021,2882,1151,1806
$GC,17114,0.55,320.7,33.2,6.5,613,17165,0.00,1.75,43.30,0.570,6,0.000,0.034,2882,2306,1591
$STATE,17442,end climb,SURFACE_DEPTH_REACHED
$STATE,17442,begin surface coast
$FINISH,0.6,1.023035
$STATE,17481,end surface coast,CONTROL_FINISHED_OK
$STATE,17481,begin surface
$SM_CCo,17507,27.80,0.528,0,0,1309,390.02
$SM_GC,1.32,0.00,0.00,27.80,0.000,0.000,0.528,42,2532,1309,-8.29,0.90,390.02
$IRIDIUM_FIX,2239.35,-15746.73,240103,080852
$TT8_MAMPS,0.023777
$HUMID,2195
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.60
$XPDR_PINGS,5
$24V_AH,23.6,37.766
$10V_AH,10.7,44.079
$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,18.100,118.375,395.450,27.800,0.000,90.311,114.053,1017.849,1.250,0.000,0.000,22.390,1391.269,11900.050,471.825,3407.939,1914.730,33.373,1536.591,0.000,3402.211,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,57.525,1260.948,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,454.164,2197.359,2280.797,1515.760,1510.113,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57285,667
$CAP_FILE_SIZE,147977,0
$CFSIZE,260165632,243417088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301013,131906,2250.046,-15732.729,41,0.8,41,10.1