version: 66.04
glider: 512
mission: 4
dive: 239
start: 11 1 113 2 46 41
data:
$ID,512
$MISSION,4
$DIVE,239
$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,-111112.84
$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,80
$R_STBD_OVSHOOT,29
$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
$GPS1,023335,2258.598,-15731.369,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.7
$GPS2,024548,2258.554,-15731.461,13,1.3,18,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.011,0.235
$KALMAN_X,28899.2,307.5,-93.6,19708.4,-1422.0
$KALMAN_Y,77389.1,-40.3,-40.5,-50503.1,-2410.7
$MHEAD_RNG_PITCHd_Wd,352.5,14408,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.47,-126.5,0.0,0.0,0,92,0.00,0.00,-68.85,0.000,2,0.000,0.000,10,2506,2961
$GC,98,-0.47,-126.5,2.5,-2.3,8,127,9.65,1.62,-9.38,0.000,4,0.202,0.052,2529,3572,3417
$GC,277,-0.47,-126.5,52.8,-23.2,27,287,0.00,1.55,0.00,0.000,6,0.000,0.021,2531,2512,3417
$GC,543,-0.47,-126.5,112.7,-18.1,52,546,0.00,1.50,0.00,0.000,4,0.000,0.020,2531,1434,3418
$GC,571,-0.47,-126.5,117.7,-17.4,54,574,0.00,1.60,0.00,0.000,6,0.000,0.035,2525,2508,3418
$GC,843,-0.47,-126.5,162.4,-16.6,79,847,0.00,1.60,0.00,0.000,4,0.000,0.044,2517,3560,3419
$GC,882,-0.47,-126.5,169.1,-17.5,82,886,0.00,1.50,0.00,0.000,6,0.000,0.019,2518,2510,3418
$GC,1160,-0.47,-126.5,213.7,-15.6,102,1163,0.00,1.48,0.00,0.000,4,0.000,0.021,2520,1447,3418
$GC,1211,-0.47,-126.5,221.4,-14.2,103,1215,0.00,1.65,0.00,0.000,6,0.000,0.037,2514,2527,3418
$GC,1505,-0.47,-126.5,266.3,-15.5,110,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2528,3418
$GC,1749,-0.47,-126.5,299.7,-13.5,116,1752,0.00,1.58,0.00,0.000,4,0.000,0.044,2506,3564,3417
$GC,1790,-0.47,-126.5,305.8,-13.6,116,1798,0.08,1.50,0.00,0.000,6,0.117,0.019,2536,2489,3417
$GC,2044,-0.47,-126.5,332.2,-9.9,123,2048,0.00,1.40,0.00,0.000,4,0.000,0.021,2536,1466,3416
$GC,2085,-0.47,-126.5,336.5,-8.7,123,2095,0.00,1.60,0.00,0.000,6,0.000,0.039,2536,2514,3416
$GC,2342,-0.47,-126.5,360.2,-9.6,130,2345,0.00,1.60,0.00,0.000,4,0.000,0.048,2529,3559,3415
$GC,2405,-0.47,-126.5,366.9,-9.6,131,2408,0.00,1.48,0.00,0.000,6,0.000,0.021,2529,2524,3414
$GC,2682,-0.47,-126.5,393.6,-9.8,138,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2516,3412
$GC,2926,-0.47,-126.5,415.9,-9.1,144,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2516,3410
$GC,3169,-0.47,-126.5,439.6,-9.7,150,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2516,3408
$GC,3413,-0.47,-126.5,461.5,-8.9,156,3417,0.00,1.62,-0.08,0.000,4,0.000,0.064,2524,3558,3431
$GC,3472,-0.47,-126.5,467.1,-8.7,157,3476,0.00,1.48,0.00,0.000,6,0.000,0.024,2524,2537,3431
$GC,3755,-0.47,-126.5,493.1,-9.5,164,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2529,3427
$GC,3998,-0.47,-126.5,515.9,-9.2,170,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2529,3426
$GC,4242,-0.47,-126.5,540.1,-10.1,176,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2529,3424
$GC,4486,-0.47,-126.5,565.4,-10.3,182,4489,0.00,1.52,0.00,0.000,4,0.000,0.025,2524,1455,3421
$GC,4555,-0.47,-126.5,572.6,-10.5,183,4559,0.00,1.62,0.00,0.000,6,0.000,0.044,2523,2518,3421
$GC,4827,-0.47,-126.5,598.7,-9.6,190,4831,0.00,1.62,0.00,0.000,4,0.000,0.054,2523,3570,3420
$GC,4897,-0.47,-126.5,605.5,-8.7,191,4900,0.00,1.55,0.00,0.000,6,0.000,0.025,2523,2510,3418
$GC,5169,-0.47,-126.5,628.9,-8.6,198,5173,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1447,3416
$GC,5210,-0.47,-126.5,632.6,-7.9,198,5219,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2504,3416
$GC,5466,-0.47,-126.5,651.2,-7.3,205,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2505,3415
$GC,5710,-0.47,-126.5,669.3,-7.5,211,5714,0.00,1.67,0.00,0.000,4,0.000,0.056,2523,3564,3413
$GC,5761,-0.47,-126.5,673.2,-7.5,212,5764,0.00,1.55,0.00,0.000,6,0.000,0.027,2523,2516,3412
$GC,6055,-0.47,-126.5,695.5,-7.4,219,6059,0.00,1.67,0.00,0.000,4,0.000,0.054,2523,3570,3411
$GC,6096,-0.47,-126.5,698.7,-6.9,219,6106,0.00,1.58,0.00,0.000,6,0.000,0.026,2523,2496,3411
$GC,6353,-0.47,-126.5,716.3,-7.0,226,6356,0.00,1.50,0.00,0.000,4,0.000,0.026,2523,1449,3410
$GC,6388,-0.47,-126.5,719.2,-7.1,226,6392,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2514,3410
$GC,6649,-0.47,-126.5,738.4,-7.6,233,6652,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3557,3409
$GC,6729,-0.47,-126.5,744.9,-7.2,234,6733,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2529,3408
$GC,6991,-0.47,-126.5,764.6,-7.6,241,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3407
$GC,7234,-0.47,-126.5,783.0,-7.6,247,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2520,3405
$GC,7478,-0.47,-126.5,801.5,-7.6,253,7481,0.00,1.65,0.00,0.000,4,0.000,0.055,2519,3566,3404
$GC,7508,-0.47,-126.5,804.2,-8.2,253,7512,0.00,1.52,0.00,0.000,6,0.000,0.028,2518,2537,3403
$GC,7775,-0.47,-126.5,824.6,-7.7,260,7778,0.00,1.55,0.00,0.000,4,0.000,0.027,2521,1454,3402
$GC,7825,-0.47,-126.5,828.4,-7.1,261,7828,0.00,1.70,0.00,0.000,6,0.000,0.047,2515,2528,3403
$GC,8120,-0.47,-126.5,850.2,-7.4,268,8123,0.00,1.62,0.00,0.000,4,0.000,0.057,2507,3569,3401
$GC,8172,-0.47,-126.5,855.3,-7.0,269,8177,0.08,1.55,0.00,0.000,6,0.103,0.028,2538,2517,3401
$GC,8461,-0.47,-126.5,871.6,-5.6,276,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2517,3400
$GC,8704,-0.47,-126.5,885.1,-5.5,282,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2517,3400
$GC,8948,-0.47,-126.5,899.1,-5.8,288,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2517,3399
$STATE,8985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8985,begin apogee
$GC,8996,-0.17,0.0,901.4,5.7,289,9108,0.30,0.00,109.25,1.261,6,0.089,0.000,2647,2208,2900
$STATE,9109,end apogee,CONTROL_FINISHED_OK
$STATE,9109,begin climb
$GC,9114,0.47,126.5,904.9,0.0,292,9269,0.52,1.65,127.18,1.158,4,0.030,0.028,2885,1191,2383
$GC,9298,0.47,126.5,890.9,17.5,296,9302,0.10,1.73,0.00,0.000,6,0.154,0.041,2855,2224,2380
$GC,9586,0.47,126.5,842.5,17.0,303,9589,0.00,1.70,0.00,0.000,4,0.000,0.050,2850,3285,2373
$GC,9661,0.47,126.5,828.8,17.1,304,9665,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2252,2372
$GC,9927,0.47,126.5,784.8,16.5,311,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2246,2370
$GC,10170,0.47,126.5,746.7,15.5,317,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2246,2370
$GC,10414,0.47,126.5,710.1,15.2,323,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2246,2369
$GC,10658,0.47,126.5,673.0,15.2,329,10662,0.00,1.67,0.00,0.000,4,0.000,0.049,2850,3287,2369
$GC,10739,0.47,126.5,659.8,16.5,330,10742,0.00,1.60,0.00,0.000,6,0.000,0.028,2856,2223,2368
$GC,11000,0.47,126.5,623.1,14.0,337,11004,0.00,1.55,0.00,0.000,4,0.000,0.030,2864,1159,2367
$GC,11068,0.47,126.5,613.7,13.6,338,11072,0.00,1.67,0.00,0.000,6,0.000,0.043,2863,2220,2367
$GC,11340,0.47,126.5,578.1,13.3,345,11344,0.00,1.65,0.00,0.000,4,0.000,0.051,2863,3290,2367
$GC,11391,0.47,126.5,570.8,14.6,346,11395,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2224,2366
$GC,11685,0.47,126.5,531.3,13.0,353,11689,0.00,1.55,0.00,0.000,4,0.000,0.030,2877,1158,2366
$GC,11750,0.47,126.5,522.3,12.5,354,11753,0.00,1.65,0.00,0.000,6,0.000,0.042,2876,2229,2365
$GC,12028,0.47,126.5,486.6,12.9,361,12031,0.00,1.62,0.00,0.000,4,0.000,0.050,2876,3282,2365
$GC,12091,0.47,126.5,478.0,12.9,362,12095,0.12,1.60,0.00,0.000,6,0.183,0.028,2853,2197,2365
$GC,12367,0.47,126.5,448.0,11.1,369,12371,0.00,1.73,0.00,0.000,4,0.000,0.048,2852,3274,2364
$GC,12516,0.47,126.5,429.0,13.6,372,12519,0.00,1.55,0.00,0.000,6,0.000,0.026,2858,2233,2364
$GC,12800,0.47,126.5,395.9,11.3,379,12801,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2227,2364
$GC,13043,0.47,126.5,369.4,11.2,385,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2227,2364
$GC,13287,0.47,126.5,344.1,9.9,391,13291,0.00,1.55,0.00,0.000,4,0.000,0.029,2860,1171,2364
$GC,13322,0.47,131.0,340.2,8.8,391,13326,0.00,1.65,0.00,0.000,6,0.000,0.041,2860,2249,2364
$GC,13583,0.47,131.0,316.5,9.5,398,13586,0.00,1.60,0.00,0.000,4,0.000,0.049,2860,3298,2364
$GC,13843,0.47,131.0,288.1,10.2,403,13847,0.00,1.48,0.00,0.000,6,0.000,0.025,2867,2298,2364
$GC,14104,0.47,131.0,261.6,10.6,410,14107,0.00,1.58,0.00,0.000,4,0.000,0.048,2863,3284,2364
$GC,14365,0.47,131.1,235.6,9.0,415,14368,0.00,1.42,0.00,0.000,6,0.000,0.025,2868,2317,2364
$GC,14626,0.48,163.8,215.2,7.4,422,14670,0.00,1.55,31.92,0.731,4,0.000,0.046,2863,3284,2231
$GC,14766,0.48,163.8,201.3,11.4,425,14770,0.00,1.40,0.00,0.000,6,0.000,0.025,2868,2348,2228
$GC,15044,0.48,163.8,171.3,10.1,447,15047,0.00,1.70,0.00,0.000,4,0.000,0.026,2877,1157,2228
$GC,15086,0.48,163.8,166.7,9.1,450,15095,0.00,1.88,0.00,0.000,6,0.000,0.039,2876,2357,2227
$GC,15353,0.48,163.8,141.1,9.2,475,15357,0.00,1.42,0.00,0.000,4,0.000,0.044,2876,3281,2227
$GC,15392,0.48,163.8,137.1,10.3,478,15396,0.00,1.35,0.00,0.000,6,0.000,0.023,2881,2358,2227
$GC,15665,0.48,163.8,109.3,9.9,503,15668,0.00,1.70,0.00,0.000,4,0.000,0.025,2890,1156,2227
$GC,15891,0.49,182.5,88.7,8.1,522,15914,0.10,1.83,16.85,0.617,6,0.123,0.037,2856,2341,2156
$GC,16172,0.51,225.8,68.6,6.9,548,16213,0.00,1.75,36.90,0.611,4,0.000,0.023,2857,1154,1977
$GC,16255,0.53,268.7,62.9,6.9,554,16297,0.00,1.77,35.42,0.597,6,0.000,0.036,2857,2310,1804
$GC,16554,0.56,362.5,48.4,4.5,581,16634,0.00,0.00,74.95,0.584,6,0.000,0.000,2857,2310,1421
$GC,16902,0.56,362.5,24.0,10.2,617,16911,0.00,1.70,0.00,0.000,4,0.000,0.023,2857,1162,1415
$GC,17004,0.56,362.5,13.6,9.7,632,17013,0.00,1.75,0.00,0.000,6,0.000,0.034,2857,2303,1415
$STATE,17119,end climb,SURFACE_DEPTH_REACHED
$STATE,17119,begin surface coast
$FINISH,0.6,1.004138
$STATE,17162,end surface coast,CONTROL_FINISHED_OK
$STATE,17162,begin surface
$SM_CCo,17187,11.35,0.502,0,0,1309,390.02
$SM_GC,0.96,0.00,0.00,11.35,0.000,0.000,0.502,34,2517,1309,-8.32,0.48,390.02
$IRIDIUM_FIX,2248.70,-15730.19,250103,212115
$TT8_MAMPS,0.023777
$HUMID,2207
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.30
$XPDR_PINGS,3
$24V_AH,23.6,39.305
$10V_AH,10.7,45.945
$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,18.125,112.500,432.475,11.350,0.000,28.404,32.792,474.686,0.750,0.000,0.000,18.765,1380.852,11430.948,452.805,3448.946,1211.178,33.383,1555.553,0.000,3446.737,0.000,0.546,0.000
$DEVICE_MAMPS,201.721,64.428,1260.948,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,446.545,2161.171,2239.066,1516.808,1487.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53887,656
$CAP_FILE_SIZE,135814,0
$CFSIZE,260165632,242855936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,011113,073453,2300.137,-15731.764,27,1.1,44,10.1