version: 66.04
glider: 512
mission: 4
dive: 232
start: 10 30 113 13 40 43
data:
$ID,512
$MISSION,4
$DIVE,232
$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,-110956.74
$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,61
$R_STBD_OVSHOOT,41
$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
$GPS1,131906,2250.046,-15732.729,41,0.8,41,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-81.7
$GPS2,133949,2250.071,-15732.869,8,1.6,8,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,0.215
$KALMAN_X,40296.6,231.9,-159.4,6053.9,-2371.0
$KALMAN_Y,91485.1,-98.6,-58.6,-80234.3,-1237.5
$MHEAD_RNG_PITCHd_Wd,13.8,28774,-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,-126.5,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,2,0.000,0.000,10,2524,2702
$GC,85,-0.47,-126.5,2.1,-1.2,7,123,9.45,1.58,-18.55,0.000,4,0.193,0.056,2529,3551,3416
$GC,250,-0.47,-126.5,40.0,-23.9,28,254,0.00,1.52,0.00,0.000,6,0.000,0.020,2531,2495,3416
$GC,523,-0.47,-126.5,104.7,-20.2,53,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2487,3416
$GC,788,-0.47,-126.5,152.3,-16.4,78,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2487,3417
$GC,1055,-0.47,-126.5,193.0,-15.1,103,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2488,3416
$GC,1311,-0.47,-126.5,230.7,-14.3,113,1315,0.00,1.45,0.00,0.000,4,0.000,0.020,2531,1438,3416
$GC,1341,-0.47,-126.5,235.4,-14.0,113,1345,0.00,1.58,0.00,0.000,6,0.000,0.037,2525,2479,3416
$GC,1607,-0.47,-126.5,268.1,-12.5,120,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2479,3416
$GC,1851,-0.47,-126.5,297.5,-12.0,126,1854,0.00,1.45,0.00,0.000,4,0.000,0.019,2525,1439,3416
$GC,1869,-0.47,-126.5,300.1,-11.8,126,1873,0.00,1.58,0.00,0.000,6,0.000,0.037,2523,2477,3416
$GC,2147,-0.47,-126.5,332.7,-12.0,133,2150,0.00,1.62,0.00,0.000,4,0.000,0.048,2516,3562,3414
$GC,2265,-0.47,-126.5,347.4,-12.3,135,2269,0.00,1.55,0.00,0.000,6,0.000,0.020,2516,2466,3413
$GC,2532,-0.47,-126.5,378.9,-11.9,142,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2460,3412
$GC,2776,-0.47,-126.5,406.1,-11.0,148,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2460,3411
$GC,3019,-0.47,-126.5,433.3,-11.3,154,3023,0.00,1.70,0.00,0.000,4,0.000,0.045,2510,3571,3408
$GC,3082,-0.47,-126.5,441.1,-11.4,155,3087,0.08,1.52,0.00,0.000,6,0.105,0.021,2539,2489,3407
$GC,3359,-0.47,-126.5,466.0,-8.9,162,3361,0.00,0.00,-0.08,0.000,6,0.000,0.000,2540,2481,3430
$GC,3603,-0.47,-126.5,487.4,-8.8,168,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2481,3427
$GC,3847,-0.47,-126.5,506.9,-7.9,174,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2481,3425
$GC,4090,-0.47,-126.5,525.6,-7.7,180,4094,0.00,1.67,0.00,0.000,4,0.000,0.050,2533,3568,3423
$GC,4132,-0.47,-126.5,529.1,-7.5,180,4141,0.00,1.52,0.00,0.000,6,0.000,0.023,2533,2498,3423
$GC,4388,-0.47,-126.5,550.3,-8.4,187,4391,0.00,1.45,0.00,0.000,4,0.000,0.023,2534,1462,3421
$GC,4445,-0.47,-126.5,555.6,-8.2,188,4449,0.00,1.58,0.00,0.000,6,0.000,0.042,2526,2484,3421
$GC,4728,-0.47,-126.5,580.7,-8.9,195,4732,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3555,3418
$GC,4789,-0.47,-126.5,585.9,-8.4,196,4793,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2518,3417
$GC,5072,-0.47,-126.5,608.5,-7.7,203,5076,0.00,1.50,0.00,0.000,4,0.000,0.024,2524,1451,3416
$GC,5135,-0.47,-126.5,613.2,-7.0,204,5139,0.00,1.60,0.00,0.000,6,0.000,0.046,2523,2498,3415
$GC,5413,-0.47,-126.5,633.5,-7.6,211,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2498,3413
$GC,5657,-0.47,-126.5,653.1,-8.2,217,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2498,3412
$GC,5901,-0.47,-126.5,673.0,-8.2,223,5904,0.00,1.65,0.00,0.000,4,0.000,0.057,2523,3565,3411
$GC,5936,-0.47,-126.5,676.2,-8.2,223,5940,0.00,1.55,0.00,0.000,6,0.000,0.026,2523,2502,3411
$GC,6197,-0.47,-126.5,696.2,-7.7,230,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2495,3409
$GC,6441,-0.47,-126.5,714.1,-7.3,236,6444,0.00,1.67,0.00,0.000,4,0.000,0.055,2523,3558,3408
$GC,6477,-0.47,-126.5,717.1,-7.5,236,6480,0.00,1.55,0.00,0.000,6,0.000,0.027,2523,2501,3407
$GC,6737,-0.47,-126.5,735.0,-6.9,243,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2494,3406
$GC,6981,-0.47,-126.5,753.0,-7.5,249,6985,0.00,1.70,0.00,0.000,4,0.000,0.057,2523,3570,3404
$GC,7017,-0.47,-126.5,756.2,-8.7,249,7021,0.00,1.58,0.00,0.000,6,0.000,0.026,2523,2495,3404
$GC,7279,-0.47,-126.5,777.1,-8.3,256,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2488,3403
$GC,7523,-0.47,-126.5,798.0,-8.5,262,7526,0.00,1.70,0.00,0.000,4,0.000,0.057,2523,3562,3402
$GC,7565,-0.47,-126.5,801.7,-7.8,262,7572,0.00,1.55,0.00,0.000,6,0.000,0.026,2523,2501,3401
$GC,7819,-0.47,-126.5,822.2,-8.0,269,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2501,3401
$GC,8063,-0.47,-126.5,840.4,-7.4,275,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2501,3400
$GC,8307,-0.47,-126.5,857.2,-6.8,281,8310,0.00,1.70,0.00,0.000,4,0.000,0.058,2523,3553,3400
$GC,8343,-0.47,-126.5,859.8,-6.2,281,8346,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2537,3399
$GC,8603,-0.47,-126.5,876.8,-6.6,288,8607,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1450,3399
$GC,8662,-0.47,-126.5,881.0,-6.1,289,8666,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2530,3399
$GC,8945,-0.47,-126.5,899.6,-6.8,296,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3398
$STATE,8981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8981,begin apogee
$GC,8993,-0.17,0.0,902.3,6.7,297,9104,0.35,0.00,108.57,1.262,6,0.097,0.000,2641,2208,2900
$STATE,9104,end apogee,CONTROL_FINISHED_OK
$STATE,9105,begin climb
$GC,9110,0.47,126.5,905.5,0.0,300,9242,0.55,1.67,120.28,1.209,4,0.031,0.027,2883,1169,2384
$GC,9295,0.47,126.5,889.8,17.6,304,9299,0.08,1.75,0.00,0.000,6,0.165,0.040,2855,2235,2378
$GC,9588,0.47,126.5,842.7,15.9,311,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2234,2373
$GC,9831,0.47,126.5,805.3,15.1,317,9835,0.00,1.65,0.00,0.000,4,0.000,0.048,2850,3281,2371
$GC,9900,0.47,126.5,793.7,16.2,318,9904,0.00,1.58,0.00,0.000,6,0.000,0.026,2856,2235,2370
$GC,10173,0.47,126.5,752.0,15.4,325,10177,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3295,2369
$GC,10230,0.47,126.5,741.8,17.0,326,10234,0.00,1.55,0.00,0.000,6,0.000,0.026,2856,2258,2369
$GC,10513,0.47,126.5,699.1,15.1,333,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2252,2368
$GC,10757,0.47,126.5,663.4,14.7,339,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2253,2367
$GC,11000,0.47,126.5,628.6,14.2,345,11004,0.00,1.60,0.00,0.000,4,0.000,0.030,2864,1160,2367
$GC,11041,0.47,126.5,622.6,13.1,345,11050,0.00,1.73,0.00,0.000,6,0.000,0.044,2863,2260,2367
$GC,11297,0.47,126.5,588.0,13.9,352,11300,0.00,1.62,0.00,0.000,4,0.000,0.028,2869,1155,2366
$GC,11366,0.47,126.5,578.4,12.4,353,11370,0.00,1.70,0.00,0.000,6,0.000,0.042,2865,2243,2366
$GC,11637,0.47,126.5,542.0,13.8,360,11640,0.00,1.62,0.00,0.000,4,0.000,0.051,2863,3301,2365
$GC,11667,0.47,126.5,537.3,14.1,360,11670,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2209,2364
$GC,11934,0.47,126.5,501.7,13.3,367,11937,0.00,1.70,0.00,0.000,4,0.000,0.048,2864,3291,2364
$GC,11975,0.47,126.5,495.3,14.0,367,11983,0.00,1.58,0.00,0.000,6,0.000,0.026,2870,2230,2364
$GC,12229,0.47,126.5,463.4,12.8,374,12233,0.00,1.67,0.00,0.000,4,0.000,0.049,2864,3278,2364
$GC,12303,0.47,126.5,453.9,12.6,375,12306,0.00,1.52,0.00,0.000,6,0.000,0.027,2870,2251,2364
$GC,12570,0.47,126.5,423.3,11.3,382,12574,0.00,1.65,0.00,0.000,4,0.000,0.050,2870,3277,2364
$GC,12600,0.47,126.5,419.3,12.3,382,12603,0.00,1.52,0.00,0.000,6,0.000,0.028,2877,2251,2364
$GC,12866,0.47,126.5,388.0,11.8,389,12869,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3283,2364
$GC,12902,0.47,126.5,383.1,13.4,389,12906,0.10,1.48,0.00,0.000,6,0.173,0.026,2842,2287,2364
$GC,13162,0.47,126.5,358.2,9.5,396,13165,0.00,1.62,0.00,0.000,4,0.000,0.028,2847,1150,2363
$GC,13192,0.47,134.5,355.1,8.6,396,13201,0.00,1.73,4.62,0.673,6,0.000,0.039,2847,2283,2351
$GC,13458,0.47,134.5,328.6,10.3,403,13459,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2283,2351
$GC,13701,0.47,134.5,302.9,10.4,409,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2283,2351
$GC,13945,0.47,134.5,278.5,10.0,415,13949,0.00,1.55,0.00,0.000,4,0.000,0.047,2847,3287,2351
$GC,13997,0.47,134.5,272.5,11.3,416,14001,0.00,1.50,0.00,0.000,6,0.000,0.024,2854,2264,2351
$GC,14286,0.48,152.3,246.8,8.2,423,14315,0.00,1.60,19.48,0.729,4,0.000,0.028,2857,1167,2278
$GC,14539,0.49,177.3,225.2,7.8,428,14566,0.00,1.62,22.40,0.763,6,0.000,0.039,2857,2234,2177
$GC,14821,0.49,177.3,197.0,10.7,436,14825,0.00,1.62,0.00,0.000,4,0.000,0.045,2857,3281,2172
$GC,14960,0.49,177.3,182.0,10.9,448,14964,0.00,1.52,0.00,0.000,6,0.000,0.023,2864,2247,2171
$GC,15232,0.49,177.3,156.5,9.1,473,15235,0.00,1.60,0.00,0.000,4,0.000,0.044,2863,3279,2171
$GC,15261,0.49,177.3,153.7,9.7,475,15264,0.00,1.50,0.00,0.000,6,0.000,0.023,2868,2254,2171
$GC,15532,0.49,177.3,125.9,10.6,500,15536,0.00,1.55,0.00,0.000,4,0.000,0.025,2876,1165,2171
$GC,15561,0.49,177.3,122.9,10.8,502,15564,0.00,1.67,0.00,0.000,6,0.000,0.038,2876,2271,2172
$GC,15834,0.49,177.3,93.6,9.8,527,15838,0.00,1.55,0.00,0.000,4,0.000,0.044,2876,3287,2171
$GC,15864,0.49,177.3,89.9,11.3,529,15872,0.00,1.48,0.00,0.000,6,0.000,0.022,2881,2262,2171
$GC,16131,0.49,185.1,66.7,8.6,554,16145,0.00,1.58,7.68,0.549,4,0.000,0.040,2876,3279,2145
$GC,16270,0.51,235.3,56.7,6.6,565,16316,0.00,1.42,42.72,0.602,6,0.000,0.021,2882,2283,1939
$GC,16579,0.53,269.6,34.1,7.4,592,16611,0.00,1.60,28.25,0.572,4,0.000,0.022,2883,1169,1799
$GC,16653,0.54,301.7,28.6,7.5,598,16689,0.00,1.77,26.62,0.559,6,0.000,0.034,2883,2320,1670
$STATE,16928,end climb,SURFACE_DEPTH_REACHED
$STATE,16928,begin surface coast
$FINISH,0.7,1.023100
$STATE,16967,end surface coast,CONTROL_FINISHED_OK
$STATE,16967,begin surface
$SM_CCo,16993,36.12,0.533,0,0,1309,390.02
$SM_GC,1.55,0.00,0.00,36.12,0.000,0.000,0.533,44,2518,1309,-8.28,0.45,390.02
$IRIDIUM_FIX,2241.69,-15734.14,240103,131359
$TT8_MAMPS,0.023777
$HUMID,2199
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,5
$24V_AH,23.6,37.936
$10V_AH,10.7,44.302
$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,17.850,109.150,380.625,36.125,0.000,57.164,70.909,858.263,1.250,0.000,0.000,12.927,1341.952,11599.023,439.710,3244.496,1639.881,33.384,1445.710,0.000,3244.448,0.000,0.546,0.000
$DEVICE_MAMPS,192.517,57.525,1262.482,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,440.530,2127.658,2201.962,1469.973,1445.671,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54149,646
$CAP_FILE_SIZE,138441,0
$CFSIZE,260165632,243359744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,301013,182600,2251.794,-15732.414,39,1.3,39,10.1