version: 66.04
glider: 512
mission: 4
dive: 235
start: 10 31 113 5 45 52
data:
$ID,512
$MISSION,4
$DIVE,235
$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,-111013.42
$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,75
$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
$GPS1,051335,2253.973,-15733.075,40,1.1,40,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.5
$GPS2,054454,2253.904,-15733.336,10,1.5,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,0.220
$KALMAN_X,33995.1,58.7,-69.2,11645.5,-2014.4
$KALMAN_Y,85484.7,-17.2,82.3,-67354.0,-2210.1
$MHEAD_RNG_PITCHd_Wd,10.4,21638,-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,13,begin dive
$GC,18,-0.47,-126.5,0.0,0.0,0,124,0.00,0.00,-103.07,0.000,2,0.000,0.000,10,2475,3006
$GC,129,-0.47,-126.5,2.6,-2.0,12,158,9.57,1.65,-8.43,0.000,4,0.202,0.050,2530,3567,3418
$GC,171,-0.47,-126.5,17.5,-28.8,16,180,0.00,1.55,0.00,0.000,6,0.000,0.020,2536,2494,3418
$GC,444,-0.47,-126.5,90.6,-20.0,43,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2486,3418
$GC,709,-0.47,-126.5,134.0,-16.1,68,713,0.00,1.60,0.00,0.000,4,0.000,0.038,2530,3562,3418
$GC,760,-0.47,-126.5,142.1,-16.0,72,764,0.00,1.50,0.00,0.000,6,0.000,0.019,2530,2511,3418
$GC,1033,-0.47,-126.5,182.7,-15.0,97,1037,0.00,1.48,0.00,0.000,4,0.000,0.020,2530,1437,3417
$GC,1093,-0.47,-126.5,191.2,-12.7,102,1096,0.00,1.62,0.00,0.000,6,0.000,0.036,2523,2526,3418
$GC,1366,-0.47,-126.5,229.9,-13.8,113,1369,0.00,1.58,0.00,0.000,4,0.000,0.044,2517,3569,3417
$GC,1451,-0.47,-126.5,242.1,-12.7,114,1461,0.00,1.50,0.00,0.000,6,0.000,0.019,2517,2498,3417
$GC,1707,-0.47,-126.5,273.5,-12.4,121,1710,0.00,1.42,0.00,0.000,4,0.000,0.020,2521,1463,3416
$GC,1770,-0.47,-126.5,281.2,-11.2,122,1774,0.00,1.58,0.00,0.000,6,0.000,0.035,2516,2509,3416
$GC,2047,-0.47,-126.5,313.1,-11.5,129,2051,0.00,1.60,0.00,0.000,4,0.000,0.044,2507,3587,3414
$GC,2128,-0.47,-126.5,322.8,-11.8,130,2132,0.08,1.52,0.00,0.000,6,0.115,0.020,2547,2498,3414
$GC,2388,-0.47,-126.5,344.3,-8.5,137,2392,0.00,1.42,0.00,0.000,4,0.000,0.021,2547,1459,3412
$GC,2418,-0.47,-126.5,347.3,-8.7,137,2422,0.00,1.58,0.00,0.000,6,0.000,0.038,2541,2497,3412
$GC,2684,-0.47,-126.5,370.8,-9.1,144,2687,0.00,1.60,0.00,0.000,4,0.000,0.048,2533,3562,3410
$GC,2735,-0.47,-126.5,375.9,-10.3,145,2738,0.00,1.50,0.00,0.000,6,0.000,0.021,2534,2506,3410
$GC,3029,-0.47,-126.5,407.1,-10.6,152,3033,0.00,1.45,-0.08,0.000,4,0.000,0.040,2534,1451,3430
$GC,3070,-0.47,-126.5,411.7,-10.0,152,3078,0.00,1.62,0.00,0.000,6,0.000,0.039,2526,2514,3430
$GC,3325,-0.47,-126.5,436.6,-9.7,159,3328,0.00,1.62,0.00,0.000,4,0.000,0.051,2523,3579,3427
$GC,3378,-0.47,-126.5,441.7,-8.6,160,3382,0.00,1.52,0.00,0.000,6,0.000,0.023,2523,2516,3427
$GC,3667,-0.47,-126.5,468.1,-9.0,167,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2508,3425
$GC,3910,-0.47,-126.5,487.6,-7.8,173,3914,0.00,1.48,0.00,0.000,4,0.000,0.023,2523,1458,3421
$GC,3946,-0.47,-126.5,490.9,-7.9,173,3950,0.00,1.60,0.00,0.000,6,0.000,0.042,2523,2516,3421
$GC,4207,-0.47,-126.5,510.6,-7.9,180,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3419
$GC,4450,-0.47,-126.5,531.2,-8.6,186,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3418
$GC,4694,-0.47,-126.5,553.9,-9.5,192,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3416
$GC,4938,-0.47,-126.5,578.9,-10.4,198,4941,0.00,1.60,0.00,0.000,4,0.000,0.054,2523,3561,3413
$GC,5002,-0.47,-126.5,585.9,-9.9,199,5006,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2497,3413
$GC,5279,-0.47,-126.5,611.7,-9.1,206,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2490,3411
$GC,5523,-0.47,-126.5,630.7,-7.5,212,5527,0.00,1.67,0.00,0.000,4,0.000,0.053,2523,3561,3410
$GC,5573,-0.47,-126.5,634.3,-6.4,213,5577,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2501,3409
$GC,5869,-0.47,-126.5,654.6,-7.1,220,5872,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1443,3408
$GC,5910,-0.47,-126.5,658.1,-7.2,220,5918,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2501,3407
$GC,6165,-0.47,-126.5,677.8,-7.9,227,6169,0.00,1.67,0.00,0.000,4,0.000,0.057,2523,3563,3405
$GC,6251,-0.47,-126.5,685.0,-8.1,228,6261,0.00,1.55,0.00,0.000,6,0.000,0.026,2523,2499,3404
$GC,6507,-0.47,-126.5,705.5,-8.2,235,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2499,3403
$GC,6751,-0.47,-126.5,723.7,-7.5,241,6754,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3563,3401
$GC,6787,-0.47,-126.5,726.6,-7.3,241,6791,0.00,1.52,0.00,0.000,6,0.000,0.026,2523,2527,3401
$GC,7048,-0.47,-126.5,743.3,-6.2,248,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3400
$GC,7291,-0.47,-126.5,758.7,-6.3,254,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3399
$GC,7535,-0.47,-126.5,775.2,-6.8,260,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3398
$GC,7779,-0.47,-126.5,793.3,-7.5,266,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2519,3398
$GC,8022,-0.47,-126.5,811.7,-7.5,272,8026,0.00,1.52,0.00,0.000,4,0.000,0.028,2523,1458,3397
$GC,8064,-0.47,-126.5,815.1,-8.0,272,8072,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2533,3396
$GC,8318,-0.47,-126.5,833.9,-7.4,279,8322,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3573,3395
$GC,8370,-0.47,-126.5,837.8,-7.4,280,8373,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2544,3394
$GC,8664,-0.47,-126.5,859.2,-7.1,287,8668,0.00,1.65,0.00,0.000,4,0.000,0.057,2522,3574,3394
$GC,8706,-0.47,-126.5,862.4,-7.1,287,8714,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2533,3394
$GC,8960,-0.47,-126.5,879.7,-6.9,294,8964,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1458,3393
$GC,8996,-0.47,-126.5,882.3,-6.3,294,9000,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2553,3393
$STATE,9253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9253,begin apogee
$GC,9265,-0.17,0.0,900.6,7.1,301,9376,0.35,0.00,109.35,1.256,6,0.093,0.000,2643,2212,2899
$STATE,9377,end apogee,CONTROL_FINISHED_OK
$STATE,9377,begin climb
$GC,9382,0.47,126.5,904.0,0.0,304,9520,0.52,0.00,123.62,1.189,6,0.031,0.000,2874,2212,2384
$GC,9765,0.47,126.5,854.5,18.0,313,9769,0.00,1.73,0.00,0.000,4,0.000,0.050,2873,3289,2374
$GC,9808,0.47,126.5,844.8,20.9,313,9816,0.10,1.62,0.00,0.000,6,0.173,0.026,2854,2226,2373
$GC,10062,0.47,126.5,800.4,17.4,320,10066,0.00,1.73,0.00,0.000,4,0.000,0.048,2850,3291,2371
$GC,10086,0.47,126.5,795.5,17.8,320,10090,0.00,1.60,0.00,0.000,6,0.000,0.026,2856,2211,2371
$GC,10358,0.47,126.5,750.4,17.0,327,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2212,2370
$GC,10601,0.47,126.5,711.3,16.0,333,10605,0.00,1.73,0.00,0.000,4,0.000,0.048,2857,3302,2369
$GC,10653,0.47,126.5,702.8,18.0,334,10656,0.00,1.62,0.00,0.000,6,0.000,0.028,2865,2207,2369
$GC,10947,0.47,126.5,657.8,14.9,341,10950,0.00,1.73,0.00,0.000,4,0.000,0.051,2863,3297,2368
$GC,11011,0.47,126.5,647.4,15.4,342,11015,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2242,2368
$GC,11289,0.47,126.5,605.3,15.0,349,11293,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3303,2367
$GC,11319,0.47,126.5,599.7,17.3,349,11323,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2250,2366
$GC,11585,0.47,126.5,558.4,15.4,356,11589,0.00,1.65,0.00,0.000,4,0.000,0.050,2863,3296,2366
$GC,11616,0.47,126.5,553.4,15.4,356,11620,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2254,2366
$GC,11882,0.47,126.5,516.2,13.7,363,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2248,2366
$GC,12126,0.47,126.5,485.7,12.3,369,12129,0.00,1.60,0.00,0.000,4,0.000,0.030,2877,1157,2365
$GC,12177,0.47,126.5,479.5,11.9,370,12180,0.00,1.73,0.00,0.000,6,0.000,0.044,2877,2274,2365
$GC,12471,0.47,126.5,442.9,12.8,377,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2275,2365
$GC,12714,0.47,126.5,412.2,12.5,383,12718,0.00,1.60,0.00,0.000,4,0.000,0.051,2876,3297,2364
$GC,12764,0.47,126.5,405.1,14.9,384,12768,0.10,1.52,0.00,0.000,6,0.164,0.025,2852,2275,2365
$GC,13058,0.47,126.5,369.8,12.0,391,13062,0.00,1.62,0.00,0.000,4,0.000,0.029,2858,1129,2364
$GC,13153,0.47,126.5,358.8,11.6,393,13157,0.00,1.80,0.00,0.000,6,0.000,0.042,2858,2277,2364
$GC,13448,0.47,126.5,325.1,11.6,400,13451,0.00,1.58,0.00,0.000,4,0.000,0.050,2858,3288,2364
$GC,13708,0.47,126.5,294.3,11.0,405,13712,0.00,1.48,0.00,0.000,6,0.000,0.025,2866,2286,2364
$GC,13970,0.48,146.9,272.3,8.0,412,13990,0.00,1.55,15.55,0.805,4,0.000,0.044,2863,3294,2301
$GC,14031,0.48,146.9,266.4,9.6,413,14035,0.00,1.45,0.00,0.000,6,0.000,0.025,2868,2309,2300
$GC,14302,0.48,146.9,240.4,9.5,420,14306,0.00,1.65,0.00,0.000,4,0.000,0.028,2873,1169,2298
$GC,14450,0.48,146.9,225.8,9.6,423,14454,0.00,1.77,0.00,0.000,6,0.000,0.040,2873,2327,2297
$GC,14734,0.48,146.9,197.2,10.1,430,14738,0.00,1.73,0.00,0.000,4,0.000,0.025,2881,1147,2298
$GC,14762,0.48,146.9,194.4,9.6,432,14765,0.00,1.77,0.00,0.000,6,0.000,0.038,2876,2310,2297
$GC,15034,0.48,146.9,168.6,9.7,457,15038,0.00,1.52,0.00,0.000,4,0.000,0.047,2876,3298,2297
$GC,15095,0.48,146.9,162.2,11.5,462,15099,0.08,1.45,0.00,0.000,6,0.150,0.022,2856,2306,2297
$GC,15372,0.48,150.6,139.3,8.8,487,15386,0.00,1.65,4.78,0.530,4,0.000,0.025,2860,1165,2285
$GC,15428,0.48,153.7,133.7,8.9,491,15437,0.00,1.80,4.80,0.522,6,0.000,0.038,2860,2335,2273
$GC,15698,0.49,181.7,110.4,7.7,516,15726,0.00,0.00,25.08,0.649,6,0.000,0.000,2860,2335,2158
$GC,15983,0.49,181.7,85.6,9.3,542,15992,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2335,2155
$GC,16250,0.53,282.7,69.4,4.2,567,16334,0.00,0.00,81.53,0.611,6,0.000,0.000,2860,2335,1747
$GC,16591,0.57,364.2,52.9,5.1,597,16661,0.00,1.80,64.38,0.584,4,0.000,0.023,2860,1171,1414
$GC,16703,0.60,452.5,47.3,4.8,605,16777,0.00,1.77,70.07,0.571,6,0.000,0.032,2860,2331,1055
$GC,17067,0.60,452.5,8.5,11.5,648,17076,0.00,1.73,0.00,0.000,4,0.000,0.022,2860,1170,1050
$STATE,17114,end climb,SURFACE_DEPTH_REACHED
$STATE,17114,begin surface coast
$FINISH,0.5,1.014783
$STATE,17146,end surface coast,CONTROL_FINISHED_OK
$STATE,17146,begin surface
$SM_CCo,17233,0.00,0.000,0,0,1048,454.29
$SM_GC,1.43,7.18,0.00,0.00,0.023,0.000,0.000,40,2533,1048,-8.22,0.74,454.29
$IRIDIUM_FIX,2248.70,-15730.19,250103,050508
$TT8_MAMPS,0.023777
$HUMID,2216
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,6
$24V_AH,23.7,38.585
$10V_AH,10.7,45.014
$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,17.975,119.700,499.150,0.000,0.000,139.975,239.305,1047.285,1.500,0.000,0.000,15.596,1360.255,11753.896,495.451,3392.324,2101.408,33.381,1608.783,0.000,3388.441,0.000,0.545,0.000
$DEVICE_MAMPS,201.721,57.525,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,448.072,2174.360,2249.390,1549.209,1484.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54245,660
$CAP_FILE_SIZE,145758,0
$CFSIZE,260165632,243134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,311013,103429,2255.060,-15733.012,40,0.8,40,10.1