version: 66.04
glider: 512
mission: 4
dive: 234
start: 10 31 113 0 24 58
data:
$ID,512
$MISSION,4
$DIVE,234
$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,613.48529
$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,-110997.2
$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,46
$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
$GPS1,235153,2252.566,-15732.483,31,1.2,49,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-81.1
$GPS2,002406,2252.475,-15732.874,14,1.3,20,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,0.225
$KALMAN_X,36299.7,-160.5,-34.2,10310.7,-1970.9
$KALMAN_Y,87825.5,-134.5,-278.3,-71864.3,-984.9
$MHEAD_RNG_PITCHd_Wd,6.4,24382,-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,-126.5,0.0,0.0,0,80,0.00,0.00,-59.83,0.000,2,0.000,0.000,10,2523,2708
$GC,86,-0.47,-126.5,2.0,-0.9,7,124,9.65,1.58,-18.10,0.000,4,0.203,0.056,2529,3547,3416
$GC,251,-0.47,-126.5,38.4,-22.6,28,255,0.00,1.52,0.00,0.000,6,0.000,0.020,2529,2496,3417
$GC,524,-0.47,-126.5,97.4,-19.2,53,528,0.00,1.48,0.00,0.000,4,0.000,0.021,2531,1435,3417
$GC,577,-0.47,-126.5,108.3,-17.3,57,585,0.00,1.58,0.00,0.000,6,0.000,0.036,2525,2474,3416
$GC,844,-0.47,-126.5,153.6,-16.5,82,847,0.00,1.62,0.00,0.000,4,0.000,0.045,2517,3560,3416
$GC,971,-0.47,-126.5,173.9,-14.6,93,975,0.00,1.52,0.00,0.000,6,0.000,0.018,2518,2491,3417
$GC,1270,-0.47,-126.5,219.2,-14.9,112,1273,0.00,1.65,0.00,0.000,4,0.000,0.042,2512,3560,3416
$GC,1311,-0.47,-126.5,225.7,-13.9,112,1320,0.00,1.48,0.00,0.000,6,0.000,0.018,2517,2515,3416
$GC,1565,-0.47,-126.5,260.4,-13.6,119,1569,0.00,1.45,0.00,0.000,4,0.000,0.020,2518,1454,3416
$GC,1628,-0.47,-126.5,268.6,-12.0,120,1633,0.12,1.60,0.00,0.000,6,0.122,0.038,2547,2530,3416
$GC,1907,-0.47,-126.5,299.4,-11.4,127,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2530,3415
$GC,2150,-0.47,-126.5,324.2,-10.0,133,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2530,3414
$GC,2394,-0.47,-126.5,344.7,-8.2,139,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2530,3412
$GC,2638,-0.47,-126.5,364.7,-8.3,145,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2530,3411
$GC,2881,-0.47,-126.5,384.3,-8.0,151,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2530,3409
$GC,3126,-0.47,-126.5,405.5,-8.8,157,3130,0.00,1.58,-0.08,0.000,4,0.000,0.066,2542,3559,3430
$GC,3176,-0.47,-126.5,410.1,-8.8,158,3179,0.00,1.52,0.00,0.000,6,0.000,0.023,2542,2499,3429
$GC,3470,-0.47,-126.5,435.8,-8.4,165,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2491,3426
$GC,3714,-0.47,-126.5,453.0,-6.8,171,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2491,3425
$GC,3957,-0.47,-126.5,471.8,-7.8,177,3961,0.00,1.65,0.00,0.000,4,0.000,0.049,2534,3564,3422
$GC,4008,-0.47,-126.5,476.4,-9.7,178,4012,0.00,1.52,0.00,0.000,6,0.000,0.024,2534,2506,3422
$GC,4302,-0.47,-126.5,506.9,-10.5,185,4306,0.00,1.65,0.00,0.000,4,0.000,0.051,2526,3568,3419
$GC,4338,-0.47,-126.5,511.1,-10.5,185,4342,0.00,1.50,0.00,0.000,6,0.000,0.024,2526,2527,3419
$GC,4598,-0.47,-126.5,538.1,-10.3,192,4602,0.00,1.50,0.00,0.000,4,0.000,0.024,2528,1453,3417
$GC,4649,-0.47,-126.5,542.8,-9.1,193,4653,0.00,1.62,0.00,0.000,6,0.000,0.043,2524,2521,3416
$GC,4944,-0.47,-126.5,569.5,-8.9,200,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2521,3414
$GC,5187,-0.47,-126.5,591.1,-8.9,206,5191,0.00,1.60,0.00,0.000,4,0.000,0.054,2524,3563,3413
$GC,5268,-0.47,-126.5,598.6,-8.5,207,5271,0.00,1.50,0.00,0.000,6,0.000,0.026,2524,2531,3412
$GC,5529,-0.47,-126.5,623.2,-9.8,214,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2523,3411
$GC,5773,-0.47,-126.5,647.0,-9.6,220,5776,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1452,3409
$GC,5815,-0.47,-126.5,651.4,-9.6,220,5823,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2539,3409
$GC,6070,-0.47,-126.5,673.2,-8.5,227,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2539,3407
$GC,6313,-0.47,-126.5,692.4,-7.8,233,6317,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3569,3406
$GC,6372,-0.47,-126.5,697.0,-7.3,234,6375,0.00,1.48,0.00,0.000,6,0.000,0.026,2523,2562,3405
$GC,6656,-0.47,-126.5,719.2,-8.0,241,6659,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1452,3404
$GC,6706,-0.47,-126.5,723.7,-8.7,242,6709,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2567,3403
$GC,7000,-0.47,-126.5,749.3,-9.0,249,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2567,3402
$GC,7243,-0.47,-126.5,771.2,-8.9,255,7247,0.00,1.62,0.00,0.000,4,0.000,0.027,2523,1436,3401
$GC,7297,-0.47,-126.5,776.2,-8.3,256,7301,0.00,1.75,0.00,0.000,6,0.000,0.048,2523,2568,3400
$GC,7586,-0.47,-126.5,799.0,-7.8,263,7589,0.00,1.60,0.00,0.000,4,0.000,0.026,2523,1450,3399
$GC,7636,-0.47,-126.5,802.8,-7.3,264,7640,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2539,3399
$GC,7932,-0.47,-126.5,824.9,-7.6,271,7935,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3564,3398
$GC,8026,-0.47,-126.5,832.2,-7.2,273,8030,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2566,3398
$GC,8322,-0.47,-126.5,853.3,-7.1,280,8325,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1465,3397
$GC,8407,-0.47,-126.5,859.8,-7.2,281,8416,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2544,3396
$GC,8662,-0.47,-126.5,877.2,-6.9,288,8666,0.00,1.62,0.00,0.000,4,0.000,0.059,2523,3563,3395
$GC,8714,-0.47,-126.5,880.8,-7.7,289,8718,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2567,3395
$STATE,9003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9003,begin apogee
$GC,9015,-0.17,0.0,902.1,7.4,296,9126,0.35,0.00,108.75,1.258,6,0.091,0.000,2644,2217,2900
$STATE,9127,end apogee,CONTROL_FINISHED_OK
$STATE,9127,begin climb
$GC,9132,0.47,126.5,906.5,0.0,299,9286,0.57,0.00,127.32,1.158,6,0.028,0.000,2884,2217,2385
$GC,9532,0.47,126.5,855.1,17.8,309,9536,0.15,1.73,0.00,0.000,4,0.177,0.049,2848,3295,2375
$GC,9628,0.47,126.5,839.1,16.2,311,9631,0.00,1.58,0.00,0.000,6,0.000,0.026,2854,2255,2374
$GC,9922,0.47,126.5,794.0,15.5,318,9926,0.00,1.65,0.00,0.000,4,0.000,0.049,2855,3293,2372
$GC,9946,0.47,126.5,789.3,16.9,318,9950,0.00,1.58,0.00,0.000,6,0.000,0.027,2862,2246,2371
$GC,10218,0.47,126.5,745.3,16.4,325,10222,0.00,1.60,0.00,0.000,4,0.000,0.030,2870,1157,2370
$GC,10331,0.47,126.5,726.8,15.5,327,10335,0.00,1.67,0.00,0.000,6,0.000,0.044,2871,2238,2370
$GC,10604,0.47,126.5,681.9,16.7,334,10607,0.00,1.62,0.00,0.000,4,0.000,0.051,2869,3292,2369
$GC,10711,0.47,126.5,662.4,18.7,336,10714,0.00,1.58,0.00,0.000,6,0.000,0.027,2878,2238,2369
$GC,10989,0.47,126.5,616.6,16.8,343,10993,0.00,1.58,0.00,0.000,4,0.000,0.029,2885,1161,2368
$GC,11064,0.47,126.5,604.2,14.9,344,11068,0.15,1.70,0.00,0.000,6,0.153,0.044,2847,2263,2368
$GC,11329,0.47,126.5,572.5,11.5,351,11333,0.00,1.60,0.00,0.000,4,0.000,0.050,2847,3287,2367
$GC,11405,0.47,126.5,562.2,13.7,352,11408,0.00,1.52,0.00,0.000,6,0.000,0.027,2847,2272,2367
$GC,11671,0.47,126.5,529.4,12.3,359,11674,0.00,1.62,0.00,0.000,4,0.000,0.031,2847,1167,2366
$GC,11751,0.47,126.5,519.9,11.0,360,11754,0.00,1.67,0.00,0.000,6,0.000,0.042,2847,2259,2366
$GC,12012,0.47,126.5,489.8,11.5,367,12016,0.00,1.60,0.00,0.000,4,0.000,0.050,2847,3285,2366
$GC,12114,0.47,126.5,476.1,12.3,369,12118,0.00,1.52,0.00,0.000,6,0.000,0.027,2854,2258,2366
$GC,12398,0.47,126.5,445.5,11.0,376,12401,0.00,1.62,0.00,0.000,4,0.000,0.049,2855,3293,2366
$GC,12472,0.47,126.5,435.3,13.2,377,12476,0.00,1.52,0.00,0.000,6,0.000,0.028,2862,2262,2366
$GC,12738,0.47,126.5,402.8,12.4,384,12742,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3282,2365
$GC,12819,0.47,126.5,391.8,12.0,385,12822,0.00,1.42,0.00,0.000,6,0.000,0.027,2869,2317,2365
$GC,13079,0.47,126.5,361.8,11.6,392,13083,0.00,1.67,0.00,0.000,4,0.000,0.029,2877,1164,2365
$GC,13159,0.47,126.5,352.7,11.2,393,13163,0.00,1.77,0.00,0.000,6,0.000,0.043,2877,2302,2365
$GC,13420,0.47,126.5,324.3,10.6,400,13424,0.00,1.65,0.00,0.000,4,0.000,0.027,2884,1171,2365
$GC,13439,0.47,126.5,321.9,10.2,400,13443,0.12,1.70,0.00,0.000,6,0.157,0.041,2852,2287,2365
$GC,13716,0.47,126.7,297.1,9.0,407,13719,0.00,1.55,0.00,0.000,4,0.000,0.048,2852,3289,2365
$GC,13785,0.47,126.7,289.4,10.2,408,13788,0.00,1.48,0.00,0.000,6,0.000,0.025,2857,2284,2364
$GC,14058,0.48,143.2,266.0,8.2,415,14082,0.00,1.60,14.62,0.701,4,0.000,0.048,2858,3289,2316
$GC,14153,0.48,143.2,257.0,9.8,417,14156,0.00,1.48,0.00,0.000,6,0.000,0.025,2865,2282,2315
$GC,14443,0.48,160.2,232.1,8.2,424,14463,0.00,1.60,16.42,0.762,4,0.000,0.025,2873,1164,2246
$GC,14645,0.48,160.2,212.0,9.5,428,14648,0.00,1.73,0.00,0.000,6,0.000,0.040,2872,2289,2242
$GC,14906,0.48,160.2,186.6,10.2,443,14909,0.00,1.52,0.00,0.000,4,0.000,0.047,2872,3277,2242
$GC,14989,0.48,160.2,177.3,10.4,450,14993,0.00,1.45,0.00,0.000,6,0.000,0.023,2880,2284,2241
$GC,15262,0.48,160.2,148.1,9.7,475,15265,0.00,1.60,0.00,0.000,4,0.000,0.025,2886,1147,2242
$GC,15380,0.48,160.2,135.9,9.2,485,15385,0.12,1.65,0.00,0.000,6,0.139,0.037,2853,2239,2242
$GC,15657,0.50,193.8,114.4,7.4,510,15698,0.00,1.62,28.95,0.653,4,0.000,0.042,2853,3278,2108
$GC,15810,0.50,211.7,101.8,8.1,522,15837,0.00,1.55,16.42,0.620,6,0.000,0.021,2857,2223,2035
$GC,16102,0.51,219.2,78.6,8.7,548,16117,0.00,1.52,7.18,0.541,4,0.000,0.025,2860,1164,2007
$GC,16146,0.53,265.8,74.7,6.8,551,16192,0.00,1.67,39.58,0.608,6,0.000,0.035,2859,2274,1814
$GC,16460,0.55,338.2,55.5,5.5,579,16530,0.00,1.60,57.85,0.590,4,0.000,0.042,2860,3277,1520
$GC,16548,0.58,413.6,50.6,5.4,585,16618,0.00,1.48,60.58,0.577,6,0.000,0.020,2859,2270,1213
$GC,16891,0.58,413.6,19.2,10.4,621,16901,0.00,1.60,0.00,0.000,4,0.000,0.044,2860,3282,1209
$STATE,17062,end climb,SURFACE_DEPTH_REACHED
$STATE,17062,begin surface coast
$FINISH,0.5,0.998011
$STATE,17105,end surface coast,CONTROL_FINISHED_OK
$STATE,17105,begin surface
$SM_CCo,17130,96.80,0.531,0,0,398,613.49
$SM_GC,1.35,0.00,0.00,96.80,0.000,0.000,0.531,31,2476,398,-8.30,-0.68,613.49
$IRIDIUM_FIX,2241.69,-15731.08,250103,000046
$TT8_MAMPS,0.023777
$HUMID,2179
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,26.20
$XPDR_PINGS,5
$24V_AH,23.7,38.380
$10V_AH,10.7,44.778
$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,18.425,124.025,477.675,96.800,0.000,138.633,192.146,1122.902,1.250,0.000,0.000,20.270,1396.661,11507.220,610.502,3482.263,2155.156,33.376,1720.554,0.000,3473.254,0.000,0.545,0.000
$DEVICE_MAMPS,203.255,65.962,1257.880,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,445.304,2154.588,2227.716,1514.388,1466.611,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54056,654
$CAP_FILE_SIZE,152459,0
$CFSIZE,260165632,243171328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,311013,051335,2253.973,-15733.075,40,1.1,40,10.1