version: 66.04
glider: 512
mission: 4
dive: 236
start: 10 31 113 11 6 19
data:
$ID,512
$MISSION,4
$DIVE,236
$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,-111046.84
$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,60
$R_STBD_OVSHOOT,25
$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
$GPS1,103429,2255.060,-15733.012,40,0.8,40,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.7
$GPS2,110527,2254.845,-15733.345,12,2.1,31,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,0.194
$KALMAN_X,31886.4,209.8,225.0,13291.6,-2982.8
$KALMAN_Y,83101.2,-14.9,-200.5,-62949.7,-1996.5
$MHEAD_RNG_PITCHd_Wd,24.1,19919,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.47,-126.5,0.0,0.0,0,93,0.00,0.00,-68.68,0.000,2,0.000,0.000,8,2529,2693
$GC,99,-0.47,-126.5,2.0,-1.2,8,137,9.48,1.60,-20.05,0.000,4,0.196,0.057,2525,3570,3415
$GC,265,-0.47,-126.5,38.1,-23.6,30,268,0.00,1.58,0.00,0.000,6,0.000,0.020,2526,2491,3415
$GC,538,-0.47,-126.5,98.3,-17.9,55,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2484,3415
$GC,803,-0.47,-126.5,145.2,-16.6,80,807,0.00,1.65,0.00,0.000,4,0.000,0.041,2520,3562,3416
$GC,866,-0.47,-126.5,155.0,-15.3,85,870,0.00,1.52,0.00,0.000,6,0.000,0.018,2520,2493,3416
$GC,1137,-0.47,-126.5,197.7,-16.0,110,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2485,3415
$GC,1403,-0.47,-126.5,236.2,-14.3,118,1406,0.00,1.45,0.00,0.000,4,0.000,0.020,2521,1434,3415
$GC,1433,-0.47,-126.5,240.3,-11.8,118,1437,0.00,1.65,0.00,0.000,6,0.000,0.035,2515,2525,3415
$GC,1698,-0.47,-126.5,273.1,-12.5,125,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2525,3414
$GC,1942,-0.47,-126.5,304.2,-12.8,131,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2525,3413
$GC,2186,-0.47,-126.5,334.3,-12.2,137,2190,0.00,1.58,0.00,0.000,4,0.000,0.047,2507,3561,3412
$GC,2221,-0.47,-126.5,339.0,-11.9,137,2225,0.08,1.52,0.00,0.000,6,0.117,0.020,2548,2474,3411
$GC,2481,-0.47,-126.5,362.9,-9.1,144,2485,0.00,1.67,0.00,0.000,4,0.000,0.047,2541,3564,3410
$GC,2533,-0.47,-126.5,367.3,-8.8,145,2536,0.00,1.48,0.00,0.000,6,0.000,0.021,2541,2521,3409
$GC,2827,-0.47,-126.5,393.1,-8.4,152,2831,0.00,1.48,-0.08,0.000,4,0.000,0.041,2541,1446,3428
$GC,2879,-0.47,-126.5,397.6,-7.8,153,2883,0.00,1.62,0.00,0.000,6,0.000,0.041,2537,2505,3428
$GC,3169,-0.47,-126.5,421.8,-8.6,160,3173,0.00,1.62,0.00,0.000,4,0.000,0.051,2530,3574,3425
$GC,3227,-0.47,-126.5,427.2,-9.0,161,3231,0.00,1.50,0.00,0.000,6,0.000,0.022,2530,2520,3425
$GC,3509,-0.47,-126.5,452.9,-9.2,168,3513,0.00,1.48,0.00,0.000,4,0.000,0.022,2530,1460,3422
$GC,3568,-0.47,-126.5,458.6,-9.2,169,3571,0.00,1.60,0.00,0.000,6,0.000,0.041,2524,2522,3421
$GC,3851,-0.47,-126.5,485.2,-9.6,176,3854,0.00,1.52,0.00,0.000,4,0.000,0.024,2524,1460,3419
$GC,3875,-0.47,-126.5,487.9,-9.9,176,3879,0.00,1.65,0.00,0.000,6,0.000,0.043,2523,2525,3419
$GC,4146,-0.47,-126.5,513.4,-9.5,183,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3417
$GC,4390,-0.47,-126.5,537.2,-9.8,189,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2525,3414
$GC,4634,-0.47,-126.5,560.7,-9.6,195,4637,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3567,3413
$GC,4698,-0.47,-126.5,567.0,-8.7,196,4702,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2516,3412
$GC,4975,-0.47,-126.5,592.1,-9.2,203,4979,0.00,1.50,0.00,0.000,4,0.000,0.026,2523,1454,3411
$GC,5011,-0.47,-126.5,595.8,-9.2,203,5014,0.00,1.62,0.00,0.000,6,0.000,0.046,2523,2516,3410
$GC,5272,-0.47,-126.5,618.8,-8.9,210,5275,0.00,1.62,0.00,0.000,4,0.000,0.056,2524,3570,3408
$GC,5330,-0.47,-126.5,624.1,-8.9,211,5334,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2516,3408
$GC,5613,-0.47,-126.5,647.6,-8.4,218,5617,0.00,1.50,0.00,0.000,4,0.000,0.026,2524,1457,3405
$GC,5664,-0.47,-126.5,651.6,-7.1,219,5668,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2511,3405
$GC,5959,-0.47,-126.5,675.9,-8.3,226,5963,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3563,3403
$GC,6061,-0.47,-126.5,684.7,-8.1,228,6065,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2535,3402
$GC,6346,-0.47,-126.5,708.5,-8.6,235,6349,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1456,3401
$GC,6420,-0.47,-126.5,715.5,-9.3,236,6424,0.00,1.65,0.00,0.000,6,0.000,0.047,2523,2526,3400
$GC,6686,-0.47,-126.5,737.4,-8.4,243,6690,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3557,3399
$GC,6738,-0.47,-126.5,741.5,-7.5,244,6742,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2515,3399
$GC,7032,-0.47,-126.5,764.8,-7.6,251,7035,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3556,3397
$GC,7073,-0.47,-126.5,768.3,-7.7,251,7081,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2525,3397
$GC,7328,-0.47,-126.5,786.4,-7.1,258,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3396
$GC,7571,-0.47,-126.5,802.6,-6.6,264,7575,0.00,1.52,0.00,0.000,4,0.000,0.027,2523,1460,3395
$GC,7636,-0.47,-126.5,806.9,-6.8,265,7639,0.00,1.67,0.00,0.000,6,0.000,0.048,2523,2546,3394
$GC,7913,-0.47,-126.5,823.5,-6.2,272,7917,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3573,3393
$GC,7971,-0.47,-126.5,827.5,-6.6,273,7975,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2537,3393
$GC,8255,-0.47,-126.5,845.2,-6.5,280,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3392
$GC,8499,-0.47,-126.5,861.7,-6.7,286,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3392
$GC,8743,-0.47,-126.5,877.8,-6.7,292,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2530,3391
$GC,8986,-0.47,-126.5,894.1,-6.7,298,8990,0.00,1.55,0.00,0.000,4,0.000,0.027,2523,1453,3390
$GC,9036,-0.47,-126.5,897.5,-6.8,299,9040,0.00,1.70,0.00,0.000,6,0.000,0.049,2523,2545,3390
$STATE,9067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9067,begin apogee
$GC,9078,-0.17,0.0,900.1,6.2,299,9189,0.32,0.00,107.90,1.259,6,0.097,0.000,2638,2210,2900
$STATE,9190,end apogee,CONTROL_FINISHED_OK
$STATE,9190,begin climb
$GC,9195,0.47,126.5,902.2,0.0,302,9360,0.55,1.62,128.57,1.146,4,0.035,0.027,2877,1161,2384
$GC,9418,0.47,126.5,881.3,17.6,307,9422,0.00,1.73,0.00,0.000,6,0.000,0.041,2877,2231,2377
$GC,9706,0.47,126.5,829.4,18.1,314,9710,0.00,1.65,0.00,0.000,4,0.000,0.049,2876,3289,2373
$GC,9764,0.47,126.5,818.2,19.3,315,9768,0.10,1.60,0.00,0.000,6,0.176,0.026,2854,2230,2372
$GC,10047,0.47,126.5,774.1,15.2,322,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2224,2370
$GC,10291,0.47,126.5,738.9,14.4,328,10294,0.00,1.67,0.00,0.000,4,0.000,0.049,2854,3293,2369
$GC,10394,0.47,126.5,723.2,15.0,330,10398,0.00,1.60,0.00,0.000,6,0.000,0.027,2860,2207,2369
$GC,10678,0.47,126.5,685.1,13.4,337,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2202,2368
$GC,10921,0.47,126.5,652.4,13.3,343,10925,0.00,1.70,0.00,0.000,4,0.000,0.049,2860,3289,2367
$GC,11007,0.47,126.5,639.5,14.6,344,11015,0.00,1.60,0.00,0.000,6,0.000,0.025,2868,2212,2366
$GC,11261,0.47,126.5,603.6,14.2,351,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2205,2366
$GC,11505,0.47,126.5,567.5,15.0,357,11508,0.00,1.70,0.00,0.000,4,0.000,0.048,2863,3294,2366
$GC,11569,0.47,126.5,556.9,16.2,358,11573,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2247,2366
$GC,11846,0.47,126.5,517.2,14.4,365,11850,0.00,1.62,0.00,0.000,4,0.000,0.049,2864,3283,2365
$GC,11986,0.47,126.5,496.9,15.3,368,11990,0.00,1.50,0.00,0.000,6,0.000,0.027,2869,2279,2365
$GC,12281,0.47,126.5,458.7,13.2,375,12284,0.00,1.62,0.00,0.000,4,0.000,0.029,2877,1138,2365
$GC,12384,0.47,126.5,446.0,11.9,377,12387,0.00,1.70,0.00,0.000,6,0.000,0.043,2876,2241,2364
$GC,12666,0.47,126.5,413.2,11.3,384,12670,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3297,2364
$GC,12718,0.47,126.5,407.1,13.1,385,12722,0.08,1.58,0.00,0.000,6,0.138,0.026,2848,2242,2364
$GC,13012,0.47,126.5,379.7,9.2,392,13015,0.00,1.58,0.00,0.000,4,0.000,0.027,2854,1155,2364
$GC,13107,0.48,144.9,371.8,8.1,394,13127,0.00,1.62,13.85,0.883,6,0.000,0.041,2852,2215,2309
$GC,13400,0.48,144.9,341.9,10.4,401,13403,0.00,1.65,0.00,0.000,4,0.000,0.049,2850,3293,2307
$GC,13508,0.48,144.9,326.6,12.9,403,13512,0.00,1.58,0.00,0.000,6,0.000,0.025,2856,2230,2306
$GC,13786,0.48,144.9,295.6,11.2,410,13789,0.00,1.65,0.00,0.000,4,0.000,0.048,2856,3285,2306
$GC,13894,0.48,144.9,282.7,10.8,412,13897,0.00,1.50,0.00,0.000,6,0.000,0.026,2861,2278,2306
$GC,14171,0.48,153.1,257.8,8.6,419,14185,0.00,1.62,8.85,0.746,4,0.000,0.028,2868,1160,2274
$GC,14245,0.48,163.2,251.2,8.5,420,14265,0.00,1.75,10.15,0.746,6,0.000,0.041,2867,2299,2234
$GC,14511,0.48,163.2,226.8,9.1,427,14512,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2299,2231
$GC,14755,0.49,165.5,205.2,8.9,433,14759,0.00,1.67,0.00,0.000,4,0.000,0.026,2873,1158,2232
$GC,14785,0.49,165.5,201.9,9.8,433,14789,0.00,1.67,0.00,0.000,6,0.000,0.039,2873,2257,2231
$GC,15051,0.49,165.5,174.0,11.9,454,15054,0.00,1.58,0.00,0.000,4,0.000,0.044,2873,3283,2231
$GC,15144,0.49,165.5,162.2,11.8,462,15147,0.00,1.48,0.00,0.000,6,0.000,0.023,2880,2271,2231
$GC,15417,0.49,165.5,134.4,9.3,487,15420,0.00,1.58,0.00,0.000,4,0.000,0.044,2876,3278,2231
$GC,15455,0.49,165.5,130.2,11.0,490,15459,0.00,1.42,0.00,0.000,6,0.000,0.022,2881,2293,2230
$GC,15728,0.49,165.5,104.2,10.3,515,15731,0.00,1.60,0.00,0.000,4,0.000,0.025,2889,1148,2231
$GC,15802,0.49,178.7,97.5,8.4,521,15829,0.10,1.77,14.88,0.620,6,0.130,0.037,2857,2304,2170
$GC,16086,0.51,227.4,74.8,6.7,547,16131,0.00,1.52,40.97,0.617,4,0.000,0.041,2857,3284,1972
$GC,16227,0.54,305.2,66.0,5.3,558,16297,0.00,1.45,62.95,0.603,6,0.000,0.021,2857,2290,1654
$GC,16554,0.57,372.8,49.5,5.8,587,16609,0.00,0.00,53.38,0.581,6,0.000,0.000,2856,2290,1379
$GC,16875,0.57,372.8,25.4,9.5,619,16884,0.00,1.55,0.00,0.000,4,0.000,0.043,2857,3277,1374
$GC,16923,0.59,416.0,21.5,6.9,625,16968,0.00,1.42,34.80,0.548,6,0.000,0.020,2857,2287,1201
$STATE,17127,end climb,SURFACE_DEPTH_REACHED
$STATE,17127,begin surface coast
$FINISH,0.6,1.009982
$STATE,17165,end surface coast,CONTROL_FINISHED_OK
$STATE,17166,begin surface
$SM_CCo,17250,0.00,0.000,0,0,1197,417.74
$SM_GC,1.47,7.15,0.00,0.00,0.019,0.000,0.000,36,2564,1197,-8.23,1.84,417.74
$IRIDIUM_FIX,2246.36,-15731.08,250103,111136
$TT8_MAMPS,0.023777
$HUMID,2218
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.40
$XPDR_PINGS,3
$24V_AH,23.7,38.784
$10V_AH,10.7,45.253
$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,17.850,121.500,476.300,0.000,0.000,148.164,197.907,1031.249,0.750,0.000,0.000,32.781,1395.980,11629.200,465.327,3543.288,2060.158,33.378,1616.405,0.000,3505.434,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,58.292,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,449.705,2177.644,2250.646,1574.272,1521.329,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54087,661
$CAP_FILE_SIZE,154619,0
$CFSIZE,260165632,243056640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,311013,155506,2256.417,-15732.761,34,1.2,34,10.1