version: 66.04
glider: 512
mission: 4
dive: 238
start: 10 31 113 21 43 21
data:
$ID,512
$MISSION,4
$DIVE,238
$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,-111093.44
$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,68
$R_STBD_OVSHOOT,32
$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
$GPS1,211429,2257.823,-15731.670,40,1.1,45,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-82.3
$GPS2,214224,2257.570,-15731.796,13,1.4,30,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,0.218
$KALMAN_X,29493.7,280.1,502.3,17969.6,-2758.8
$KALMAN_Y,79729.1,248.5,-136.1,-54866.7,-1991.9
$MHEAD_RNG_PITCHd_Wd,11.8,15810,-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,-126.5,0.0,0.0,0,89,0.00,0.00,-68.57,0.000,2,0.000,0.000,10,2568,2710
$GC,94,-0.47,-126.5,2.0,-1.1,8,132,9.65,1.52,-19.17,0.000,4,0.203,0.055,2523,3563,3416
$GC,230,-0.47,-126.5,31.3,-24.1,27,239,0.00,1.55,0.00,0.000,6,0.000,0.019,2526,2497,3416
$GC,496,-0.47,-126.5,97.3,-18.9,52,500,0.00,1.62,0.00,0.000,4,0.000,0.038,2520,3573,3416
$GC,516,-0.47,-126.5,101.8,-19.2,53,524,0.00,1.55,0.00,0.000,6,0.000,0.019,2521,2493,3416
$GC,781,-0.47,-126.5,144.6,-15.3,78,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2485,3417
$GC,1048,-0.47,-126.5,187.6,-16.9,103,1051,0.00,1.45,0.00,0.000,4,0.000,0.021,2521,1444,3416
$GC,1087,-0.47,-126.5,193.8,-15.8,106,1091,0.00,1.60,0.00,0.000,6,0.000,0.035,2516,2509,3416
$GC,1370,-0.47,-126.5,237.6,-14.9,115,1373,0.00,1.60,0.00,0.000,4,0.000,0.043,2507,3590,3416
$GC,1420,-0.47,-126.5,245.5,-14.5,116,1424,0.05,1.55,0.00,0.000,6,0.130,0.019,2540,2494,3416
$GC,1713,-0.47,-126.5,275.9,-9.5,123,1717,0.00,1.62,0.00,0.000,4,0.000,0.044,2535,3561,3415
$GC,1754,-0.47,-126.5,280.2,-9.4,123,1764,0.00,1.45,0.00,0.000,6,0.000,0.019,2535,2526,3415
$GC,2010,-0.47,-126.5,305.6,-10.5,130,2014,0.00,1.48,0.00,0.000,4,0.000,0.020,2535,1456,3414
$GC,2060,-0.47,-126.5,310.9,-10.3,131,2064,0.00,1.62,0.00,0.000,6,0.000,0.037,2527,2547,3413
$GC,2354,-0.47,-126.5,341.5,-10.4,138,2357,0.00,1.55,0.00,0.000,4,0.000,0.048,2524,3557,3412
$GC,2378,-0.47,-126.5,344.4,-10.4,138,2382,0.00,1.45,0.00,0.000,6,0.000,0.021,2523,2537,3411
$GC,2650,-0.47,-126.5,373.1,-10.8,145,2654,0.00,1.50,0.00,0.000,4,0.000,0.021,2523,1457,3410
$GC,2700,-0.47,-126.5,378.6,-9.9,146,2704,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2532,3409
$GC,2994,-0.47,-126.5,410.8,-11.0,153,2998,0.00,1.58,-0.08,0.000,4,0.000,0.067,2520,3564,3430
$GC,3045,-0.47,-126.5,416.1,-10.7,154,3049,0.00,1.50,0.00,0.000,6,0.000,0.022,2520,2520,3429
$GC,3339,-0.47,-126.5,445.8,-9.8,161,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2513,3427
$GC,3583,-0.47,-126.5,468.7,-9.4,167,3586,0.00,1.62,0.00,0.000,4,0.000,0.047,2512,3567,3425
$GC,3632,-0.47,-126.5,473.4,-9.5,168,3636,0.00,1.50,0.00,0.000,6,0.000,0.023,2516,2529,3424
$GC,3927,-0.47,-126.5,500.8,-9.4,175,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2520,3421
$GC,4171,-0.47,-126.5,524.5,-9.9,181,4174,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3572,3420
$GC,4251,-0.47,-126.5,533.2,-10.2,182,4255,0.05,1.52,0.00,0.000,6,0.119,0.025,2544,2507,3418
$GC,4511,-0.47,-126.5,553.6,-7.7,189,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2502,3416
$GC,4754,-0.47,-126.5,572.4,-7.7,195,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2502,3414
$GC,4998,-0.47,-126.5,591.1,-7.7,201,5002,0.00,1.65,0.00,0.000,4,0.000,0.052,2538,3564,3412
$GC,5040,-0.47,-126.5,594.7,-8.3,201,5049,0.00,1.48,0.00,0.000,6,0.000,0.025,2538,2540,3411
$GC,5296,-0.47,-126.5,614.4,-7.9,208,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2539,3410
$GC,5539,-0.47,-126.5,633.1,-7.5,214,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2540,3409
$GC,5783,-0.47,-126.5,650.1,-6.9,220,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2540,3407
$GC,6027,-0.47,-126.5,665.6,-6.2,226,6030,0.00,1.55,0.00,0.000,4,0.000,0.025,2538,1457,3405
$GC,6077,-0.47,-126.5,668.6,-5.6,227,6081,0.00,1.70,0.00,0.000,6,0.000,0.048,2537,2558,3405
$GC,6371,-0.47,-126.5,686.2,-6.0,234,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2558,3403
$GC,6615,-0.47,-126.5,701.0,-6.1,240,6619,0.00,1.58,0.00,0.000,4,0.000,0.056,2534,3556,3401
$GC,6651,-0.47,-126.5,703.5,-6.4,240,6655,0.00,1.45,0.00,0.000,6,0.000,0.028,2534,2570,3401
$GC,6913,-0.47,-126.5,720.3,-6.6,247,6916,0.00,1.58,0.00,0.000,4,0.000,0.027,2533,1466,3400
$GC,6949,-0.47,-126.5,723.3,-7.2,247,6952,0.00,1.70,0.00,0.000,6,0.000,0.046,2526,2553,3400
$GC,7209,-0.47,-126.5,741.8,-7.2,254,7213,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3580,3399
$GC,7259,-0.47,-126.5,745.5,-7.1,255,7263,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2584,3399
$GC,7555,-0.47,-126.5,768.7,-8.2,262,7558,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1446,3399
$GC,7635,-0.47,-126.5,775.2,-7.0,263,7638,0.00,1.73,0.00,0.000,6,0.000,0.048,2522,2557,3398
$GC,7895,-0.47,-126.5,794.3,-7.5,270,7899,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3561,3397
$GC,7937,-0.47,-126.5,797.8,-7.6,270,7946,0.00,1.45,0.00,0.000,6,0.000,0.028,2522,2572,3396
$GC,8193,-0.47,-126.5,816.4,-7.4,277,8197,0.00,1.60,0.00,0.000,4,0.000,0.027,2522,1466,3395
$GC,8251,-0.47,-126.5,821.4,-8.6,278,8255,0.00,1.67,0.00,0.000,6,0.000,0.048,2522,2545,3395
$GC,8535,-0.47,-126.5,843.3,-7.9,285,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3394
$GC,8778,-0.47,-126.5,861.9,-7.7,291,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2545,3393
$GC,9022,-0.47,-126.5,879.9,-7.3,297,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2545,3392
$GC,9265,-0.47,-126.5,896.4,-6.7,303,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2545,3392
$STATE,9341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9341,begin apogee
$GC,9353,-0.17,0.0,901.2,6.3,305,9464,0.35,0.00,107.38,1.262,6,0.097,0.000,2641,2226,2900
$STATE,9465,end apogee,CONTROL_FINISHED_OK
$STATE,9465,begin climb
$GC,9470,0.47,126.5,903.3,0.0,308,9620,0.57,0.00,126.45,1.163,6,0.031,0.000,2877,2226,2384
$GC,9834,0.47,126.5,853.2,19.2,317,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2226,2374
$GC,10078,0.47,126.5,808.0,18.2,323,10082,0.00,1.58,0.00,0.000,4,0.000,0.029,2884,1177,2372
$GC,10113,0.47,126.5,801.0,18.3,323,10117,0.00,1.65,0.00,0.000,6,0.000,0.041,2878,2238,2372
$GC,10374,0.47,126.5,755.4,17.7,330,10377,0.00,1.62,0.00,0.000,4,0.000,0.049,2875,3289,2371
$GC,10424,0.47,126.5,746.4,18.3,331,10429,0.12,1.60,0.00,0.000,6,0.188,0.028,2853,2233,2370
$GC,10719,0.47,126.5,701.8,14.9,338,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2226,2369
$GC,10962,0.47,126.5,666.4,14.6,344,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2227,2368
$GC,11206,0.47,126.5,633.2,13.4,350,11209,0.00,1.58,0.00,0.000,4,0.000,0.030,2860,1157,2367
$GC,11255,0.47,126.5,626.6,13.9,351,11259,0.00,1.67,0.00,0.000,6,0.000,0.042,2860,2218,2367
$GC,11551,0.47,126.5,588.0,13.1,358,11554,0.00,1.65,0.00,0.000,4,0.000,0.051,2859,3287,2367
$GC,11669,0.47,126.5,570.8,13.7,360,11673,0.00,1.58,0.00,0.000,6,0.000,0.028,2867,2235,2366
$GC,11936,0.47,126.5,536.1,13.0,367,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2228,2365
$GC,12180,0.47,126.5,505.1,12.7,373,12183,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3283,2365
$GC,12243,0.47,126.5,495.9,13.8,374,12246,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2230,2365
$GC,12519,0.47,126.5,460.6,12.7,381,12523,0.00,1.67,0.00,0.000,4,0.000,0.051,2864,3293,2365
$GC,12662,0.47,126.5,441.1,13.3,384,12665,0.00,1.58,0.00,0.000,6,0.000,0.028,2869,2236,2365
$GC,12951,0.47,126.5,405.1,12.5,391,12954,0.00,1.65,0.00,0.000,4,0.000,0.050,2864,3285,2364
$GC,13014,0.47,126.5,396.7,13.4,392,13018,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2245,2364
$GC,13291,0.47,126.5,366.6,10.7,399,13295,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3280,2364
$GC,13342,0.47,126.5,360.8,11.0,400,13345,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2245,2364
$GC,13636,0.47,126.5,327.7,11.5,407,13640,0.00,1.62,0.00,0.000,4,0.000,0.050,2864,3279,2364
$GC,13745,0.47,126.5,313.6,13.2,409,13748,0.00,1.50,0.00,0.000,6,0.000,0.027,2869,2268,2365
$GC,14022,0.47,126.5,285.7,9.7,416,14025,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1160,2364
$GC,14096,0.47,126.5,277.9,9.6,417,14099,0.00,1.70,0.00,0.000,6,0.000,0.041,2876,2270,2365
$GC,14363,0.47,128.0,254.0,8.9,424,14364,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2270,2364
$GC,14606,0.49,168.9,235.9,7.0,430,14643,0.00,0.00,34.28,0.790,6,0.000,0.000,2876,2270,2210
$GC,14889,0.49,168.9,205.9,11.3,437,14893,0.00,1.58,0.00,0.000,4,0.000,0.048,2875,3278,2205
$GC,14972,0.49,168.9,195.7,11.6,441,14976,0.00,1.58,0.00,0.000,6,0.000,0.025,2881,2222,2205
$GC,15245,0.49,168.9,167.2,10.3,466,15248,0.00,1.52,0.00,0.000,4,0.000,0.026,2889,1160,2204
$GC,15284,0.49,168.9,163.1,10.2,469,15288,0.10,1.65,0.00,0.000,6,0.141,0.038,2858,2225,2204
$GC,15559,0.49,186.7,140.0,8.2,494,15579,0.00,1.67,15.75,0.666,4,0.000,0.044,2858,3290,2138
$GC,15664,0.49,186.7,129.0,10.7,502,15668,0.00,1.55,0.00,0.000,6,0.000,0.023,2860,2244,2136
$GC,15936,0.49,186.7,103.6,9.2,527,15940,0.00,1.58,0.00,0.000,4,0.000,0.025,2860,1155,2135
$GC,16010,0.51,220.0,97.9,7.4,533,16049,0.00,1.62,28.92,0.635,6,0.000,0.037,2860,2208,2001
$GC,16308,0.54,291.9,75.6,5.6,560,16377,0.00,1.70,58.72,0.616,4,0.000,0.043,2860,3284,1708
$GC,16444,0.57,364.0,68.1,5.5,570,16509,0.00,1.60,58.28,0.601,6,0.000,0.021,2860,2203,1414
$GC,16766,0.57,366.9,49.8,8.9,599,16769,0.00,1.67,0.00,0.000,4,0.000,0.044,2860,3283,1409
$GC,17052,0.57,366.9,22.0,9.2,628,17062,0.00,1.48,0.00,0.000,6,0.000,0.021,2860,2255,1408
$STATE,17251,end climb,SURFACE_DEPTH_REACHED
$STATE,17251,begin surface coast
$FINISH,0.5,1.009896
$STATE,17290,end surface coast,CONTROL_FINISHED_OK
$STATE,17291,begin surface
$SM_CCo,17315,10.90,0.498,0,0,1309,390.02
$SM_GC,1.01,0.00,0.00,10.90,0.000,0.000,0.498,38,2514,1309,-8.30,0.40,390.02
$IRIDIUM_FIX,2246.36,-15731.08,250103,212103
$TT8_MAMPS,0.023777
$HUMID,2242
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.20
$XPDR_PINGS,5
$24V_AH,23.8,39.157
$10V_AH,10.7,45.721
$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,18.100,111.750,429.775,10.900,0.000,84.854,120.114,1125.052,1.250,0.000,0.000,30.769,1376.035,11740.045,492.291,3396.852,1992.010,33.369,1531.549,0.000,3371.406,0.000,0.545,0.000
$DEVICE_MAMPS,203.255,66.729,1262.482,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,453.052,2190.794,2262.319,1565.873,1489.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57391,665
$CAP_FILE_SIZE,142648,0
$CFSIZE,260165632,242917376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,011113,023335,2258.598,-15731.369,38,1.1,38,10.1