version: 66.04
glider: 512
mission: 4
dive: 233
start: 10 30 113 19 6 58
data:
$ID,512
$MISSION,4
$DIVE,233
$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,-110976.29
$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,35
$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
$GPS1,182600,2251.794,-15732.414,39,1.3,39,10.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-81.2
$GPS2,190601,2251.479,-15732.910,14,1.3,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,0.203
$KALMAN_X,38232.3,-54.2,222.0,7953.7,-2812.7
$KALMAN_Y,89860.7,-246.2,20.1,-75933.6,-1333.7
$MHEAD_RNG_PITCHd_Wd,20.1,26189,-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,-60.62,0.000,2,0.000,0.000,10,2513,2729
$GC,86,-0.47,-126.5,2.1,-1.2,7,124,9.48,1.60,-17.88,0.000,4,0.198,0.055,2524,3557,3417
$GC,299,-0.47,-126.5,50.2,-23.1,32,302,0.00,1.52,0.00,0.000,6,0.000,0.019,2524,2498,3417
$GC,572,-0.47,-126.5,105.3,-19.4,57,576,0.00,1.62,0.00,0.000,4,0.000,0.041,2516,3553,3417
$GC,611,-0.47,-126.5,113.2,-19.4,60,614,0.00,1.50,0.00,0.000,6,0.000,0.018,2517,2490,3417
$GC,883,-0.47,-126.5,166.3,-19.4,85,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2483,3417
$GC,1146,-0.47,-126.5,214.4,-17.1,104,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2483,3417
$GC,1389,-0.47,-126.5,252.0,-14.5,110,1392,0.00,1.62,0.00,0.000,4,0.000,0.041,2510,3566,3417
$GC,1446,-0.47,-126.5,259.8,-11.4,111,1451,0.08,1.48,0.00,0.000,6,0.114,0.018,2540,2504,3417
$GC,1730,-0.47,-126.5,287.9,-10.1,118,1734,0.00,1.42,0.00,0.000,4,0.000,0.020,2543,1459,3416
$GC,1780,-0.47,-126.5,292.8,-9.4,119,1784,0.00,1.60,0.00,0.000,6,0.000,0.038,2538,2517,3416
$GC,2074,-0.47,-126.5,322.0,-10.1,126,2077,0.00,1.48,0.00,0.000,4,0.000,0.019,2538,1463,3413
$GC,2092,-0.47,-126.5,324.3,-10.4,126,2096,0.00,1.58,0.00,0.000,6,0.000,0.039,2536,2500,3413
$GC,2371,-0.47,-126.5,352.0,-10.1,133,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2500,3411
$GC,2615,-0.47,-126.5,374.0,-8.9,139,2618,0.00,1.60,0.00,0.000,4,0.000,0.048,2529,3566,3410
$GC,2683,-0.47,-126.5,380.8,-9.5,140,2687,0.00,1.48,0.00,0.000,6,0.000,0.021,2529,2528,3409
$GC,2954,-0.47,-126.5,406.3,-9.7,147,2956,0.00,0.00,-0.08,0.000,6,0.000,0.000,2528,2521,3430
$GC,3197,-0.47,-126.5,433.2,-11.2,153,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2520,3427
$GC,3441,-0.47,-126.5,460.7,-11.2,159,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2520,3426
$GC,3685,-0.47,-126.5,486.1,-10.3,165,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2520,3422
$GC,3929,-0.47,-126.5,510.1,-9.7,171,3932,0.00,1.60,0.00,0.000,4,0.000,0.048,2524,3563,3420
$GC,3970,-0.47,-126.5,514.6,-9.9,171,3979,0.00,1.48,0.00,0.000,6,0.000,0.023,2524,2533,3420
$GC,4225,-0.47,-126.5,538.3,-9.6,178,4229,0.00,1.52,0.00,0.000,4,0.000,0.024,2524,1453,3418
$GC,4288,-0.47,-126.5,544.6,-9.5,179,4292,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2518,3417
$GC,4565,-0.47,-126.5,569.5,-9.1,186,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2518,3415
$GC,4810,-0.47,-126.5,590.3,-8.5,192,4813,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3563,3413
$GC,4834,-0.47,-126.5,592.7,-8.7,192,4838,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2527,3412
$GC,5106,-0.47,-126.5,614.8,-8.2,199,5110,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1456,3411
$GC,5164,-0.47,-126.5,619.7,-7.7,200,5168,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2529,3411
$GC,5447,-0.47,-126.5,641.5,-7.8,207,5451,0.00,1.62,0.00,0.000,4,0.000,0.055,2523,3564,3409
$GC,5488,-0.47,-126.5,645.0,-8.3,207,5496,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2524,3409
$GC,5744,-0.47,-126.5,664.7,-7.9,214,5748,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1464,3407
$GC,5794,-0.47,-126.5,668.9,-7.7,215,5798,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2516,3407
$GC,6088,-0.47,-126.5,693.0,-8.2,222,6092,0.00,1.65,0.00,0.000,4,0.000,0.056,2523,3564,3404
$GC,6149,-0.47,-126.5,698.0,-7.3,223,6153,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2532,3404
$GC,6432,-0.47,-126.5,718.3,-7.1,230,6436,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1453,3402
$GC,6506,-0.47,-126.5,723.3,-6.3,231,6510,0.00,1.65,0.00,0.000,6,0.000,0.048,2523,2524,3402
$GC,6774,-0.47,-126.5,738.4,-5.6,238,6778,0.00,1.65,0.00,0.000,4,0.000,0.058,2523,3566,3400
$GC,6832,-0.47,-126.5,741.9,-5.5,239,6836,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2541,3400
$GC,7115,-0.47,-126.5,757.6,-5.7,246,7119,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1451,3399
$GC,7180,-0.47,-126.5,761.7,-5.9,247,7184,0.00,1.67,0.00,0.000,6,0.000,0.048,2524,2536,3399
$GC,7458,-0.47,-126.5,779.1,-6.4,254,7461,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3563,3398
$GC,7515,-0.47,-126.5,783.2,-6.3,255,7519,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2524,3397
$GC,7800,-0.47,-126.5,802.3,-7.0,262,7803,0.00,1.52,0.00,0.000,4,0.000,0.026,2523,1451,3396
$GC,7830,-0.47,-126.5,804.7,-7.5,262,7834,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2543,3396
$GC,8096,-0.47,-126.5,823.4,-7.1,269,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2542,3395
$GC,8339,-0.47,-126.5,841.1,-7.3,275,8343,0.00,1.62,0.00,0.000,4,0.000,0.059,2523,3562,3394
$GC,8370,-0.47,-126.5,843.5,-7.8,275,8373,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2531,3394
$GC,8636,-0.47,-126.5,862.3,-7.2,282,8640,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1448,3393
$GC,8687,-0.47,-126.5,866.2,-7.7,283,8691,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2538,3393
$GC,8982,-0.47,-126.5,888.4,-7.7,290,8985,0.00,1.60,0.00,0.000,4,0.000,0.059,2522,3562,3392
$GC,9024,-0.47,-126.5,892.0,-7.3,290,9032,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2538,3391
$STATE,9151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9151,begin apogee
$GC,9163,-0.17,0.0,901.9,7.7,294,9274,0.35,0.00,107.12,1.267,6,0.094,0.000,2643,2209,2899
$STATE,9275,end apogee,CONTROL_FINISHED_OK
$STATE,9275,begin climb
$GC,9280,0.47,126.5,906.4,0.0,297,9412,0.52,1.88,120.00,1.211,4,0.031,0.048,2874,3287,2384
$GC,9436,0.47,126.5,896.8,15.6,300,9440,0.15,1.65,0.00,0.000,6,0.175,0.025,2848,2227,2381
$GC,9713,0.47,126.5,852.8,15.5,307,9717,0.00,1.60,0.00,0.000,4,0.000,0.029,2854,1155,2374
$GC,9788,0.47,126.5,841.0,14.3,308,9792,0.00,1.65,0.00,0.000,6,0.000,0.041,2854,2211,2372
$GC,10054,0.47,126.5,799.8,15.6,315,10058,0.00,1.67,0.00,0.000,4,0.000,0.048,2854,3295,2370
$GC,10112,0.47,126.5,789.9,16.6,316,10116,0.00,1.60,0.00,0.000,6,0.000,0.026,2861,2214,2370
$GC,10395,0.47,126.5,744.5,16.5,323,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2207,2368
$GC,10639,0.47,126.5,706.2,15.8,329,10642,0.00,1.55,0.00,0.000,4,0.000,0.029,2869,1151,2368
$GC,10663,0.47,126.5,701.8,15.8,329,10667,0.00,1.65,0.00,0.000,6,0.000,0.041,2866,2205,2367
$GC,10934,0.47,126.5,661.4,15.0,336,10938,0.00,1.65,0.00,0.000,4,0.000,0.049,2865,3281,2367
$GC,10985,0.47,126.5,653.3,17.3,337,10989,0.00,1.60,0.00,0.000,6,0.000,0.028,2871,2218,2367
$GC,11279,0.47,126.5,608.0,15.1,344,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2211,2367
$GC,11523,0.47,126.5,571.5,14.8,350,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2211,2366
$GC,11766,0.47,126.5,536.7,13.9,356,11770,0.00,1.67,0.00,0.000,4,0.000,0.048,2871,3283,2366
$GC,11802,0.47,126.5,531.1,14.7,356,11806,0.00,1.58,0.00,0.000,6,0.000,0.027,2878,2226,2365
$GC,12062,0.47,126.5,493.1,14.8,363,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2220,2365
$GC,12306,0.47,126.5,459.0,13.9,369,12309,0.00,1.67,0.00,0.000,4,0.000,0.050,2876,3292,2364
$GC,12403,0.47,126.5,445.1,13.9,371,12407,0.08,1.55,0.00,0.000,6,0.143,0.026,2849,2245,2364
$GC,12692,0.47,126.5,414.8,10.8,378,12695,0.00,1.62,0.00,0.000,4,0.000,0.046,2849,3291,2364
$GC,12743,0.47,126.5,408.6,12.3,379,12746,0.00,1.52,0.00,0.000,6,0.000,0.026,2855,2260,2364
$GC,13037,0.47,126.5,373.6,11.7,386,13040,0.00,1.62,0.00,0.000,4,0.000,0.048,2855,3302,2363
$GC,13078,0.47,126.5,368.2,12.1,386,13086,0.00,1.52,0.00,0.000,6,0.000,0.027,2860,2279,2363
$GC,13332,0.47,126.5,340.7,10.8,393,13336,0.00,1.62,0.00,0.000,4,0.000,0.028,2868,1132,2363
$GC,13452,0.47,126.5,328.6,9.8,395,13456,0.00,1.70,0.00,0.000,6,0.000,0.041,2864,2243,2363
$GC,13718,0.47,126.5,300.7,10.8,402,13722,0.00,1.62,0.00,0.000,4,0.000,0.050,2863,3307,2363
$GC,13759,0.47,126.5,295.6,12.0,402,13769,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2261,2362
$GC,14015,0.47,126.5,269.8,10.0,409,14018,0.00,1.58,0.00,0.000,4,0.000,0.027,2877,1163,2363
$GC,14133,0.47,126.5,258.3,9.2,411,14137,0.00,1.70,0.00,0.000,6,0.000,0.041,2876,2275,2363
$GC,14401,0.49,174.5,238.7,6.7,418,14449,0.00,0.00,40.62,0.769,6,0.000,0.000,2875,2274,2188
$GC,14690,0.49,174.5,209.1,11.2,425,14694,0.00,1.65,0.00,0.000,4,0.000,0.026,2882,1167,2181
$GC,14740,0.49,174.5,203.1,11.5,426,14744,0.00,1.73,0.00,0.000,6,0.000,0.038,2876,2288,2181
$GC,15019,0.49,174.5,173.0,10.5,448,15027,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2287,2180
$GC,15286,0.49,174.5,144.6,10.5,473,15290,0.00,1.52,0.00,0.000,4,0.000,0.044,2876,3279,2180
$GC,15304,0.49,174.5,142.1,10.5,474,15313,0.00,1.48,0.00,0.000,6,0.000,0.023,2882,2268,2180
$GC,15570,0.49,174.5,115.6,11.2,499,15574,0.00,1.60,0.00,0.000,4,0.000,0.043,2878,3281,2181
$GC,15657,0.49,174.5,104.7,11.3,506,15666,0.00,1.40,0.00,0.000,6,0.000,0.023,2883,2314,2180
$GC,15924,0.49,186.9,82.1,8.4,531,15941,0.00,1.67,11.40,0.594,4,0.000,0.026,2886,1166,2137
$GC,16072,0.52,249.0,70.1,6.0,543,16129,0.00,1.73,51.62,0.613,6,0.000,0.036,2886,2309,1885
$GC,16385,0.53,281.2,47.8,7.5,571,16417,0.00,1.52,26.98,0.581,4,0.000,0.041,2886,3291,1752
$GC,16454,0.53,281.2,41.9,9.1,576,16458,0.00,1.45,0.00,0.000,6,0.000,0.021,2886,2307,1751
$GC,16755,0.53,286.0,14.6,8.8,613,16765,0.00,1.67,5.05,0.438,4,0.000,0.023,2886,1160,1733
$GC,16827,0.55,317.5,8.5,7.5,623,16863,0.00,1.75,26.40,0.542,6,0.000,0.035,2886,2299,1605
$STATE,16895,end climb,SURFACE_DEPTH_REACHED
$STATE,16895,begin surface coast
$FINISH,0.4,1.001619
$STATE,16940,end surface coast,CONTROL_FINISHED_OK
$STATE,16940,begin surface
$SM_CCo,16966,30.40,0.528,0,0,1309,390.02
$SM_GC,1.14,0.00,0.00,30.40,0.000,0.000,0.528,35,2528,1309,-8.32,0.79,390.02
$IRIDIUM_FIX,2244.02,-15734.14,240103,191935
$TT8_MAMPS,0.023777
$HUMID,2208
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.40
$XPDR_PINGS,6
$24V_AH,23.6,38.161
$10V_AH,10.6,44.540
$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,17.950,124.825,389.200,30.400,0.000,138.032,200.355,1601.787,1.500,0.000,0.000,18.912,1357.087,11617.261,445.236,3337.646,2637.913,33.378,1511.644,0.000,3328.248,0.000,0.547,0.000
$DEVICE_MAMPS,197.886,59.059,1267.084,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,435.506,2103.305,2184.584,1480.557,1455.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53990,639
$CAP_FILE_SIZE,154054,0
$CFSIZE,260165632,243273728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,301013,235153,2252.566,-15732.483,31,1.2,49,10.1