version: 66.04
glider: 512
mission: 4
dive: 242
start: 11 1 113 18 22 32
data:
$ID,512
$MISSION,4
$DIVE,242
$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,-111177.91
$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,74
$R_STBD_OVSHOOT,30
$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
$GPS1,175023,2303.139,-15731.943,43,1.5,43,10.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-81.3
$GPS2,182135,2303.038,-15731.925,17,0.9,33,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.067,0.225
$KALMAN_X,28200.4,341.1,2.5,19485.8,-355.8
$KALMAN_Y,70981.2,417.8,290.0,-36586.8,-3248.7
$MHEAD_RNG_PITCHd_Wd,333.4,7420,-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,-68.57,0.000,2,0.000,0.000,10,2512,2780
$GC,94,-0.47,-126.5,2.0,-1.1,8,124,9.50,1.65,-15.52,0.000,4,0.197,0.054,2524,3574,3417
$GC,210,-0.47,-126.5,30.6,-23.6,24,214,0.00,1.55,0.00,0.000,6,0.000,0.020,2527,2505,3417
$GC,483,-0.47,-126.5,93.3,-20.1,49,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2497,3417
$GC,748,-0.47,-126.5,141.8,-17.3,74,752,0.00,1.62,0.00,0.000,4,0.000,0.040,2520,3563,3418
$GC,822,-0.47,-126.5,154.0,-14.9,80,826,0.00,1.52,0.00,0.000,6,0.000,0.018,2521,2494,3418
$GC,1094,-0.47,-126.5,197.9,-16.4,105,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2486,3418
$GC,1358,-0.47,-126.5,237.9,-14.9,113,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2486,3418
$GC,1602,-0.47,-126.5,271.2,-13.5,119,1606,0.00,1.65,0.00,0.000,4,0.000,0.041,2515,3565,3417
$GC,1653,-0.47,-126.5,277.6,-12.8,120,1656,0.00,1.48,0.00,0.000,6,0.000,0.019,2518,2514,3417
$GC,1948,-0.47,-126.5,311.2,-11.3,127,1951,0.00,1.45,0.00,0.000,4,0.000,0.020,2520,1456,3416
$GC,2022,-0.47,-126.5,319.8,-10.3,128,2026,0.00,1.60,0.00,0.000,6,0.000,0.038,2515,2531,3416
$GC,2288,-0.47,-126.5,349.8,-11.5,135,2292,0.00,1.58,0.00,0.000,4,0.000,0.046,2507,3566,3413
$GC,2369,-0.47,-126.5,359.5,-10.9,136,2373,0.08,1.48,0.00,0.000,6,0.110,0.021,2538,2508,3413
$GC,2630,-0.47,-126.5,381.9,-8.6,143,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2501,3411
$GC,2874,-0.47,-126.5,403.7,-9.0,149,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2500,3409
$GC,3117,-0.47,-126.5,425.7,-8.9,155,3121,0.00,1.65,0.00,0.000,4,0.000,0.047,2533,3560,3407
$GC,3158,-0.47,-126.5,429.8,-9.2,155,3167,0.00,1.48,-0.05,0.000,6,0.000,0.022,2532,2521,3425
$GC,3412,-0.47,-126.5,452.6,-9.1,162,3416,0.00,1.50,0.00,0.000,4,0.000,0.022,2532,1453,3424
$GC,3483,-0.47,-126.5,459.1,-8.9,163,3486,0.00,1.60,0.00,0.000,6,0.000,0.041,2525,2519,3423
$GC,3754,-0.47,-126.5,482.3,-8.5,170,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2518,3421
$GC,3998,-0.47,-126.5,502.3,-8.1,176,4002,0.00,1.62,0.00,0.000,4,0.000,0.052,2523,3561,3418
$GC,4049,-0.47,-126.5,506.2,-7.4,177,4053,0.00,1.50,0.00,0.000,6,0.000,0.024,2523,2524,3418
$GC,4345,-0.47,-126.5,530.4,-8.3,184,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2517,3415
$GC,4588,-0.47,-126.5,551.1,-8.6,190,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2517,3413
$GC,4831,-0.47,-126.5,573.5,-9.3,196,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2517,3411
$GC,5076,-0.47,-126.5,595.7,-8.9,202,5079,0.00,1.50,0.00,0.000,4,0.000,0.025,2523,1459,3410
$GC,5119,-0.47,-126.5,599.7,-8.3,202,5127,0.00,1.65,0.00,0.000,6,0.000,0.045,2523,2517,3410
$GC,5373,-0.47,-126.5,620.6,-8.2,209,5377,0.00,1.62,0.00,0.000,4,0.000,0.054,2524,3555,3408
$GC,5448,-0.47,-126.5,626.9,-7.6,210,5452,0.00,1.48,0.00,0.000,6,0.000,0.027,2523,2544,3408
$GC,5716,-0.47,-126.5,648.5,-8.2,217,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3405
$GC,5959,-0.47,-126.5,668.7,-8.2,223,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2537,3403
$GC,6203,-0.47,-126.5,688.7,-8.2,229,6207,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1451,3402
$GC,6253,-0.47,-126.5,692.7,-7.3,230,6257,0.00,1.70,0.00,0.000,6,0.000,0.051,2523,2540,3401
$GC,6548,-0.47,-126.5,715.8,-7.5,237,6551,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3570,3400
$GC,6623,-0.47,-126.5,721.4,-7.0,238,6627,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2552,3400
$GC,6890,-0.47,-126.5,739.2,-6.6,245,6893,0.00,1.55,0.00,0.000,4,0.000,0.026,2522,1461,3399
$GC,6940,-0.47,-126.5,742.7,-6.4,246,6944,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2554,3399
$GC,7235,-0.47,-126.5,763.2,-7.0,253,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2554,3397
$GC,7479,-0.47,-126.5,780.2,-7.0,259,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2554,3396
$GC,7723,-0.47,-126.5,798.5,-7.5,265,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2554,3395
$GC,7966,-0.47,-126.5,817.3,-7.8,271,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2554,3394
$GC,8210,-0.47,-126.5,836.0,-7.7,277,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2554,3393
$GC,8454,-0.47,-126.5,853.9,-7.3,283,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2554,3392
$GC,8698,-0.47,-126.5,870.9,-7.0,289,8701,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1447,3391
$GC,8755,-0.47,-126.5,875.3,-6.8,290,8759,0.00,1.73,0.00,0.000,6,0.000,0.049,2523,2534,3391
$GC,9039,-0.47,-126.5,895.1,-7.0,297,9042,0.00,1.65,0.00,0.000,4,0.000,0.059,2523,3566,3390
$GC,9091,-0.47,-126.5,898.8,-7.1,298,9094,0.00,1.52,0.00,0.000,6,0.000,0.029,2523,2543,3390
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9110,-0.17,0.0,900.1,7.4,298,9224,0.32,0.00,107.50,1.256,6,0.098,0.000,2639,2208,2900
$STATE,9225,end apogee,CONTROL_FINISHED_OK
$STATE,9225,begin climb
$GC,9230,0.47,126.5,903.7,0.0,301,9384,0.57,0.00,128.43,1.157,6,0.035,0.000,2875,2207,2384
$GC,9630,0.47,126.5,853.2,18.0,311,9634,0.00,1.55,0.00,0.000,4,0.000,0.028,2881,1182,2375
$GC,9659,0.47,126.5,847.4,17.5,311,9663,0.00,1.62,0.00,0.000,6,0.000,0.041,2877,2217,2374
$GC,9925,0.47,126.5,800.0,18.0,318,9929,0.00,1.67,0.00,0.000,4,0.000,0.049,2875,3294,2371
$GC,9961,0.47,126.5,792.8,18.8,318,9965,0.12,1.60,0.00,0.000,6,0.185,0.027,2853,2217,2371
$GC,10222,0.47,126.5,750.7,16.1,325,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2211,2370
$GC,10465,0.47,126.5,711.1,16.1,331,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2211,2369
$GC,10709,0.47,126.5,674.1,15.0,337,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2211,2368
$GC,10952,0.47,126.5,639.9,13.9,343,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2211,2368
$GC,11196,0.47,126.5,608.7,12.4,349,11200,0.00,1.70,0.00,0.000,4,0.000,0.048,2852,3295,2367
$GC,11276,0.47,126.5,597.3,14.3,350,11280,0.00,1.62,0.00,0.000,6,0.000,0.028,2858,2191,2366
$GC,11536,0.47,126.5,564.1,12.9,357,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2185,2366
$GC,11780,0.47,126.5,532.3,13.2,363,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2185,2365
$GC,12024,0.47,126.5,500.8,13.1,369,12028,0.00,1.73,0.00,0.000,4,0.000,0.048,2858,3287,2365
$GC,12083,0.47,126.5,492.2,14.1,370,12086,0.00,1.60,0.00,0.000,6,0.000,0.027,2866,2194,2365
$GC,12365,0.47,126.5,454.3,13.2,377,12369,0.00,1.73,0.00,0.000,4,0.000,0.048,2863,3292,2365
$GC,12430,0.47,126.5,444.9,14.1,378,12434,0.00,1.60,0.00,0.000,6,0.000,0.027,2869,2199,2364
$GC,12708,0.47,126.5,410.0,12.3,385,12712,0.00,1.73,0.00,0.000,4,0.000,0.049,2870,3293,2365
$GC,12749,0.47,126.5,404.3,13.6,385,12757,0.00,1.60,0.00,0.000,6,0.000,0.026,2877,2217,2365
$GC,13004,0.47,126.5,372.6,12.8,392,13008,0.00,1.70,0.00,0.000,4,0.000,0.048,2878,3279,2364
$GC,13084,0.47,126.5,361.1,14.0,393,13088,0.15,1.58,0.00,0.000,6,0.160,0.027,2846,2224,2365
$GC,13345,0.47,126.5,332.9,10.4,400,13349,0.00,1.55,0.00,0.000,4,0.000,0.031,2847,1166,2364
$GC,13374,0.47,126.5,329.8,9.2,400,13378,0.00,1.62,0.00,0.000,6,0.000,0.041,2847,2229,2364
$GC,13640,0.47,126.5,304.6,9.5,407,13644,0.00,1.62,0.00,0.000,4,0.000,0.048,2846,3289,2364
$GC,13705,0.47,126.5,298.4,9.1,408,13709,0.00,1.55,0.00,0.000,6,0.000,0.025,2854,2237,2364
$GC,13983,0.47,134.3,273.3,8.6,415,13990,0.00,0.00,4.55,0.614,6,0.000,0.000,2855,2231,2352
$GC,14227,0.48,141.9,252.4,8.6,421,14238,0.00,0.00,9.05,0.739,6,0.000,0.000,2855,2231,2321
$GC,14471,0.48,152.5,232.1,8.5,427,14485,0.00,0.00,10.80,0.738,6,0.000,0.000,2855,2230,2277
$GC,14764,0.48,156.3,205.1,8.8,434,14773,0.00,1.55,4.72,0.575,4,0.000,0.028,2857,1174,2262
$GC,14815,0.50,199.2,201.6,6.9,435,14860,0.00,1.62,37.67,0.746,6,0.000,0.037,2857,2240,2087
$GC,15116,0.50,199.2,171.3,10.8,460,15119,0.00,1.60,0.00,0.000,4,0.000,0.044,2857,3286,2082
$GC,15154,0.50,199.2,166.6,12.7,463,15158,0.00,1.55,0.00,0.000,6,0.000,0.024,2864,2243,2081
$GC,15426,0.50,199.2,134.1,12.1,488,15435,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2237,2081
$GC,15693,0.50,199.2,106.3,10.4,513,15700,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2236,2081
$GC,15959,0.51,227.6,83.9,7.6,538,15987,0.00,1.67,24.25,0.624,4,0.000,0.042,2864,3286,1970
$GC,16040,0.52,245.0,77.1,8.2,544,16060,0.00,1.55,15.65,0.595,6,0.000,0.021,2870,2226,1901
$GC,16326,0.55,324.4,58.8,5.2,569,16396,0.00,1.52,63.90,0.598,4,0.000,0.024,2869,1167,1575
$GC,16414,0.58,390.0,53.4,5.9,575,16473,0.00,1.70,52.83,0.584,6,0.000,0.034,2869,2272,1308
$GC,16741,0.61,482.9,37.3,4.5,604,16825,0.00,1.67,73.20,0.567,4,0.000,0.024,2869,1184,929
$GC,16989,0.61,482.9,14.1,11.9,633,16998,0.00,1.65,0.00,0.000,6,0.000,0.031,2869,2259,927
$STATE,17078,end climb,SURFACE_DEPTH_REACHED
$STATE,17078,begin surface coast
$FINISH,0.4,0.998272
$STATE,17105,end surface coast,CONTROL_FINISHED_OK
$STATE,17105,begin surface
$SM_CCo,17190,0.00,0.000,0,0,925,484.46
$SM_GC,1.43,7.20,0.00,0.00,0.021,0.000,0.000,33,2506,925,-8.23,0.17,484.46
$IRIDIUM_FIX,2255.72,-15731.46,260103,181857
$TT8_MAMPS,0.02301
$HUMID,2212
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.40
$XPDR_PINGS,5
$24V_AH,23.7,39.859
$10V_AH,10.7,46.629
$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,17.950,93.575,532.550,0.000,0.000,122.620,203.009,1069.947,1.250,0.000,0.000,33.344,1315.103,11953.406,536.894,3189.077,2059.156,33.380,1528.294,0.000,3178.980,0.000,0.546,0.000
$DEVICE_MAMPS,197.119,59.059,1255.579,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,442.890,2144.396,2215.919,1485.983,1451.870,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54220,651
$CAP_FILE_SIZE,141224,0
$CFSIZE,260165632,242642944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,011113,231029,2304.408,-15731.910,39,1.4,44,10.1