version: 66.04
glider: 512
mission: 4
dive: 240
start: 11 1 113 7 56 42
data:
$ID,512
$MISSION,4
$DIVE,240
$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,-111130.55
$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,58
$R_STBD_OVSHOOT,36
$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
$GPS1,073453,2300.137,-15731.764,27,1.1,44,10.1
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-84.0
$GPS2,075548,2259.972,-15731.841,12,1.2,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.233
$KALMAN_X,27977.8,87.3,201.4,19912.6,-1776.3
$KALMAN_Y,75248.0,-256.8,249.2,-45814.0,-2763.1
$MHEAD_RNG_PITCHd_Wd,357.6,11802,-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,22,-0.47,-126.5,0.0,0.0,0,84,0.00,0.00,-59.70,0.000,2,0.000,0.000,11,2518,2721
$GC,89,-0.47,-126.5,2.1,-1.2,7,127,9.57,1.60,-17.23,0.000,4,0.198,0.054,2528,3555,3417
$GC,207,-0.47,-126.5,29.4,-24.4,23,216,0.00,1.55,0.00,0.000,6,0.000,0.019,2530,2490,3418
$GC,472,-0.47,-126.5,91.8,-18.6,48,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2482,3418
$GC,739,-0.47,-126.5,138.2,-16.5,73,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2482,3418
$GC,1004,-0.47,-126.5,182.3,-16.1,98,1008,0.00,1.65,0.00,0.000,4,0.000,0.040,2524,3561,3418
$GC,1032,-0.47,-126.5,186.7,-16.4,100,1036,0.00,1.52,0.00,0.000,6,0.000,0.019,2526,2478,3418
$GC,1327,-0.47,-126.5,231.7,-14.9,113,1331,0.00,1.65,0.00,0.000,4,0.000,0.044,2519,3561,3418
$GC,1407,-0.47,-126.5,243.1,-12.6,114,1410,0.00,1.45,0.00,0.000,6,0.000,0.019,2520,2533,3418
$GC,1668,-0.47,-126.5,277.4,-13.2,121,1672,0.00,1.48,0.00,0.000,4,0.000,0.020,2519,1455,3417
$GC,1718,-0.47,-126.5,283.8,-11.5,122,1722,0.10,1.62,0.00,0.000,6,0.133,0.037,2541,2544,3417
$GC,2011,-0.47,-126.5,313.9,-10.0,129,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2544,3416
$GC,2255,-0.47,-126.5,337.0,-9.6,135,2259,0.00,1.55,0.00,0.000,4,0.000,0.048,2535,3557,3414
$GC,2353,-0.47,-126.5,346.4,-8.8,137,2356,0.00,1.48,0.00,0.000,6,0.000,0.021,2535,2522,3413
$GC,2641,-0.47,-126.5,374.5,-10.0,144,2645,0.00,1.48,0.00,0.000,4,0.000,0.021,2535,1455,3412
$GC,2700,-0.47,-126.5,380.9,-10.2,145,2703,0.00,1.60,0.00,0.000,6,0.000,0.039,2528,2523,3412
$GC,2983,-0.47,-126.5,409.1,-10.0,152,2986,0.00,1.60,0.00,0.000,4,0.000,0.050,2523,3554,3409
$GC,3024,-0.47,-126.5,413.2,-9.2,152,3032,0.00,1.48,0.00,0.000,6,0.000,0.022,2523,2522,3409
$GC,3278,-0.47,-126.5,437.6,-9.8,159,3280,0.00,0.00,-0.08,0.000,6,0.000,0.000,2523,2520,3431
$GC,3522,-0.47,-126.5,460.9,-9.5,165,3526,0.00,1.62,0.00,0.000,4,0.000,0.049,2523,3570,3428
$GC,3587,-0.47,-126.5,467.1,-8.8,166,3590,0.00,1.50,0.00,0.000,6,0.000,0.023,2523,2529,3427
$GC,3864,-0.47,-126.5,492.4,-9.2,173,3868,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1445,3426
$GC,3979,-0.47,-126.5,502.9,-8.5,175,3982,0.00,1.62,0.00,0.000,6,0.000,0.041,2515,2520,3424
$GC,4250,-0.47,-126.5,528.0,-9.4,182,4254,0.00,1.60,0.00,0.000,4,0.000,0.051,2508,3571,3421
$GC,4308,-0.47,-126.5,533.9,-9.4,183,4312,0.08,1.52,0.00,0.000,6,0.109,0.024,2538,2508,3421
$GC,4591,-0.47,-126.5,556.2,-7.8,190,4595,0.00,1.48,0.00,0.000,4,0.000,0.024,2539,1461,3419
$GC,4634,-0.47,-126.5,559.8,-7.5,190,4642,0.00,1.62,0.00,0.000,6,0.000,0.044,2537,2507,3420
$GC,4889,-0.47,-126.5,578.8,-7.5,197,4893,0.00,1.65,0.00,0.000,4,0.000,0.053,2530,3564,3417
$GC,4947,-0.47,-126.5,583.4,-7.0,198,4951,0.00,1.52,0.00,0.000,6,0.000,0.025,2530,2520,3416
$GC,5231,-0.47,-126.5,602.4,-6.6,205,5235,0.00,1.50,0.00,0.000,4,0.000,0.025,2530,1453,3414
$GC,5267,-0.47,-126.5,605.1,-6.7,205,5271,0.00,1.65,0.00,0.000,6,0.000,0.044,2523,2513,3414
$GC,5528,-0.47,-126.5,622.7,-7.0,212,5531,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3560,3413
$GC,5564,-0.47,-126.5,625.5,-7.3,212,5567,0.00,1.52,0.00,0.000,6,0.000,0.025,2523,2519,3412
$GC,5825,-0.47,-126.5,645.2,-7.7,219,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2512,3411
$GC,6068,-0.47,-126.5,665.1,-8.2,225,6072,0.00,1.65,0.00,0.000,4,0.000,0.054,2515,3566,3410
$GC,6104,-0.47,-126.5,668.4,-8.8,225,6108,0.00,1.52,0.00,0.000,6,0.000,0.026,2517,2528,3409
$GC,6366,-0.47,-126.5,690.6,-8.5,232,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2520,3408
$GC,6610,-0.47,-126.5,710.6,-8.1,238,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2520,3407
$GC,6853,-0.47,-126.5,730.1,-8.0,244,6857,0.00,1.52,0.00,0.000,4,0.000,0.027,2518,1458,3405
$GC,6905,-0.47,-126.5,734.7,-7.9,245,6909,0.10,1.67,0.00,0.000,6,0.117,0.046,2542,2544,3405
$GC,7193,-0.47,-126.5,752.7,-6.3,252,7196,0.00,1.60,0.00,0.000,4,0.000,0.057,2537,3572,3404
$GC,7223,-0.47,-126.5,755.0,-6.9,252,7227,0.00,1.52,0.00,0.000,6,0.000,0.027,2537,2533,3403
$GC,7490,-0.47,-126.5,773.4,-7.1,259,7494,0.00,1.52,0.00,0.000,4,0.000,0.027,2537,1461,3402
$GC,7541,-0.47,-126.5,777.4,-7.6,260,7545,0.00,1.70,0.00,0.000,6,0.000,0.048,2537,2534,3402
$GC,7835,-0.47,-126.5,799.5,-7.6,267,7839,0.00,1.62,0.00,0.000,4,0.000,0.058,2532,3559,3400
$GC,7886,-0.47,-126.5,803.3,-7.7,268,7890,0.00,1.52,0.00,0.000,6,0.000,0.028,2532,2530,3400
$GC,8180,-0.47,-126.5,826.2,-7.4,275,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2521,3400
$GC,8424,-0.47,-126.5,843.1,-6.8,281,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2521,3399
$GC,8668,-0.47,-126.5,858.5,-6.1,287,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2521,3398
$GC,8911,-0.47,-126.5,873.4,-6.0,293,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2521,3397
$GC,9155,-0.47,-126.5,887.6,-5.8,299,9159,0.00,1.70,0.00,0.000,4,0.000,0.058,2524,3568,3396
$GC,9213,-0.47,-126.5,891.4,-6.5,300,9216,0.00,1.52,0.00,0.000,6,0.000,0.028,2524,2546,3396
$STATE,9370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9370,begin apogee
$GC,9381,-0.17,0.0,901.1,6.1,304,9494,0.35,0.00,110.10,1.256,6,0.093,0.000,2644,2196,2900
$STATE,9495,end apogee,CONTROL_FINISHED_OK
$STATE,9495,begin climb
$GC,9500,0.47,126.5,904.1,0.0,307,9672,0.57,0.00,133.52,1.120,6,0.028,0.000,2886,2195,2384
$GC,9898,0.47,126.5,849.2,19.4,317,9902,0.15,1.75,0.00,0.000,4,0.179,0.049,2850,3287,2375
$GC,9983,0.47,126.5,833.0,17.1,318,9992,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2258,2374
$GC,10238,0.47,126.5,790.9,16.5,325,10242,0.00,1.65,0.00,0.000,4,0.000,0.049,2850,3294,2372
$GC,10268,0.47,126.5,785.0,18.1,325,10272,0.00,1.58,0.00,0.000,6,0.000,0.027,2856,2254,2371
$GC,10534,0.47,126.5,742.2,16.3,332,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2247,2370
$GC,10777,0.47,126.5,705.0,15.3,338,10781,0.00,1.60,0.00,0.000,4,0.000,0.029,2864,1171,2369
$GC,10796,0.47,126.5,701.8,15.1,338,10800,0.00,1.73,0.00,0.000,6,0.000,0.041,2863,2268,2369
$GC,11073,0.47,126.5,659.8,15.3,345,11076,0.00,1.60,0.00,0.000,4,0.000,0.051,2863,3282,2368
$GC,11126,0.47,126.5,651.2,15.8,346,11129,0.00,1.52,0.00,0.000,6,0.000,0.028,2869,2269,2368
$GC,11414,0.47,126.5,607.0,15.5,353,11418,0.00,1.62,0.00,0.000,4,0.000,0.031,2877,1158,2368
$GC,11438,0.47,126.5,603.0,14.1,353,11442,0.00,1.75,0.00,0.000,6,0.000,0.044,2877,2266,2367
$GC,11710,0.47,126.5,564.5,14.0,360,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2266,2367
$GC,11953,0.47,126.5,531.2,13.7,366,11957,0.00,1.60,0.00,0.000,4,0.000,0.050,2875,3315,2366
$GC,11972,0.47,126.5,528.2,13.5,366,11976,0.10,1.55,0.00,0.000,6,0.171,0.028,2853,2279,2366
$GC,12249,0.47,126.5,494.4,12.2,373,12253,0.00,1.62,0.00,0.000,4,0.000,0.029,2859,1153,2366
$GC,12285,0.47,126.5,489.7,11.4,373,12289,0.00,1.75,0.00,0.000,6,0.000,0.042,2859,2271,2365
$GC,12545,0.47,126.5,457.5,12.4,380,12549,0.00,1.65,0.00,0.000,4,0.000,0.029,2860,1153,2364
$GC,12586,0.47,126.5,452.1,11.2,380,12594,0.00,1.73,0.00,0.000,6,0.000,0.042,2860,2255,2365
$GC,12841,0.47,126.5,422.8,11.6,387,12844,0.00,1.60,0.00,0.000,4,0.000,0.049,2860,3278,2364
$GC,12905,0.47,126.5,414.4,12.8,388,12908,0.00,1.52,0.00,0.000,6,0.000,0.027,2868,2256,2365
$GC,13182,0.47,126.5,382.3,11.3,395,13185,0.00,1.60,0.00,0.000,4,0.000,0.029,2872,1161,2365
$GC,13232,0.47,126.5,376.9,10.8,396,13236,0.00,1.75,0.00,0.000,6,0.000,0.043,2873,2275,2364
$GC,13527,0.47,126.5,343.8,11.4,403,13530,0.00,1.62,0.00,0.000,4,0.000,0.028,2881,1174,2364
$GC,13579,0.47,126.5,338.0,9.9,404,13583,0.00,1.70,0.00,0.000,6,0.000,0.040,2877,2265,2364
$GC,13867,0.47,126.5,308.9,10.4,411,13871,0.00,1.60,0.00,0.000,4,0.000,0.050,2875,3283,2364
$GC,14089,0.47,126.5,283.1,11.3,415,14098,0.10,1.50,0.00,0.000,6,0.157,0.026,2851,2275,2364
$GC,14344,0.48,147.3,262.8,8.0,422,14364,0.00,1.58,16.33,0.799,4,0.000,0.046,2850,3291,2298
$GC,14490,0.48,147.3,247.8,9.9,425,14494,0.00,1.45,0.00,0.000,6,0.000,0.025,2855,2311,2296
$GC,14768,0.49,177.4,225.2,7.6,432,14813,0.00,1.70,28.67,0.737,4,0.000,0.027,2857,1165,2175
$GC,14855,0.50,210.8,218.1,7.4,433,14889,0.00,1.80,29.40,0.752,6,0.000,0.039,2856,2307,2040
$GC,15142,0.50,210.8,186.9,11.6,446,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2307,2034
$GC,15408,0.50,210.8,156.4,11.4,471,15412,0.00,1.70,0.00,0.000,4,0.000,0.025,2860,1165,2034
$GC,15447,0.50,210.8,152.0,10.4,474,15451,0.00,1.80,0.00,0.000,6,0.000,0.038,2859,2332,2033
$GC,15720,0.50,210.8,123.2,10.7,499,15727,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2332,2033
$GC,15985,0.50,210.8,95.3,9.2,524,15989,0.00,1.45,0.00,0.000,4,0.000,0.043,2860,3280,2033
$GC,16026,0.50,210.8,91.6,9.5,527,16029,0.00,1.38,0.00,0.000,6,0.000,0.022,2860,2344,2033
$GC,16298,0.52,260.8,71.3,6.6,552,16344,0.00,1.73,41.15,0.617,4,0.000,0.026,2860,1157,1835
$GC,16404,0.55,332.5,65.5,5.6,560,16474,0.00,1.83,57.65,0.607,6,0.000,0.036,2860,2349,1543
$GC,16731,0.58,393.9,51.0,6.1,589,16787,0.00,1.80,49.08,0.583,4,0.000,0.023,2860,1164,1295
$GC,16841,0.60,456.8,45.1,6.0,597,16897,0.00,1.77,51.12,0.571,6,0.000,0.031,2860,2327,1036
$GC,17186,0.60,456.8,3.2,12.5,641,17195,0.00,1.48,0.00,0.000,4,0.000,0.047,2860,3276,1032
$STATE,17202,end climb,SURFACE_DEPTH_REACHED
$STATE,17202,begin surface coast
$FINISH,0.4,1.011443
$STATE,17229,end surface coast,CONTROL_FINISHED_OK
$STATE,17229,begin surface
$SM_CCo,17315,0.00,0.000,0,0,1030,458.70
$SM_GC,1.44,7.18,0.00,0.00,0.023,0.000,0.000,43,2478,1030,-8.21,-0.62,458.70
$IRIDIUM_FIX,2248.70,-15733.25,260103,070734
$TT8_MAMPS,0.023777
$HUMID,2237
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.10
$XPDR_PINGS,72
$24V_AH,23.8,39.490
$10V_AH,10.7,46.172
$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,18.300,125.025,517.025,0.000,0.000,77.844,118.212,732.399,18.000,0.000,0.000,17.084,1362.766,11681.245,562.661,3351.920,1600.436,33.376,1656.881,0.000,3343.023,0.000,0.545,0.000
$DEVICE_MAMPS,197.886,58.292,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,439.977,2131.087,2198.898,1493.881,1437.482,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54116,647
$CAP_FILE_SIZE,145562,0
$CFSIZE,260165632,242778112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,011113,124636,2301.365,-15731.431,35,0.9,35,10.1