version: 66.04
glider: 512
mission: 4
dive: 244
start: 11 2 113 4 52 35
data:
$ID,512
$MISSION,4
$DIVE,244
$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,-111212.63
$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,35
$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
$GPS1,043600,2305.361,-15733.293,43,1.1,43,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-80.8
$GPS2,045137,2305.306,-15733.310,15,1.4,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.187,0.137
$KALMAN_X,29798.0,180.9,-76.4,15764.0,133.4
$KALMAN_Y,67325.5,-103.6,118.2,-28036.9,-2511.9
$MHEAD_RNG_PITCHd_Wd,296.3,3599,-17.5,-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,-0.48,-122.4,0.0,0.0,0,97,0.00,0.00,-77.03,0.000,2,0.000,0.000,11,2515,2886
$GC,103,-0.48,-126.5,2.4,-1.6,9,131,9.57,1.60,-11.45,0.000,4,0.199,0.054,2523,3561,3417
$GC,338,-0.48,-126.5,65.6,-24.9,34,342,0.00,1.55,0.00,0.000,6,0.000,0.020,2526,2492,3417
$GC,611,-0.48,-126.5,120.0,-18.2,59,615,0.00,1.45,0.00,0.000,4,0.000,0.019,2531,1437,3418
$GC,652,-0.48,-126.5,127.7,-16.4,62,661,0.00,1.60,0.00,0.000,6,0.000,0.037,2525,2486,3418
$GC,917,-0.48,-126.5,173.5,-16.4,87,921,0.00,1.65,0.00,0.000,4,0.000,0.045,2517,3567,3418
$GC,993,-0.48,-126.5,186.2,-14.7,93,1002,0.00,1.50,0.00,0.000,6,0.000,0.018,2518,2504,3418
$GC,1251,-0.48,-126.5,225.1,-15.0,106,1255,0.00,1.45,0.00,0.000,4,0.000,0.020,2521,1447,3418
$GC,1287,-0.48,-126.5,230.5,-13.1,106,1291,0.00,1.62,0.00,0.000,6,0.000,0.035,2515,2519,3418
$GC,1548,-0.48,-126.5,266.7,-14.4,113,1551,0.00,1.58,0.00,0.000,4,0.000,0.046,2507,3555,3417
$GC,1650,-0.48,-126.5,281.2,-13.0,115,1654,0.08,1.45,0.00,0.000,6,0.115,0.019,2536,2509,3417
$GC,1933,-0.48,-126.5,312.3,-11.3,122,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2501,3416
$GC,2177,-0.48,-126.5,338.2,-10.3,128,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2501,3414
$GC,2420,-0.48,-126.5,361.4,-9.3,134,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2501,3413
$GC,2664,-0.48,-126.5,383.4,-9.1,140,2667,0.00,1.62,0.00,0.000,4,0.000,0.046,2531,3568,3412
$GC,2714,-0.48,-126.5,387.9,-8.8,141,2718,0.00,1.45,0.00,0.000,6,0.000,0.021,2531,2549,3411
$GC,3009,-0.48,-126.5,416.1,-9.7,148,3012,0.00,1.52,0.00,0.000,4,0.000,0.023,2531,1455,3409
$GC,3111,-0.48,-126.5,425.8,-8.8,150,3115,0.00,1.60,0.00,0.000,6,0.000,0.041,2523,2516,3408
$GC,3395,-0.48,-126.5,452.4,-9.6,157,3399,0.00,1.62,-0.08,0.000,4,0.000,0.068,2523,3566,3430
$GC,3492,-0.48,-126.5,462.0,-9.6,159,3496,0.00,1.50,0.00,0.000,6,0.000,0.023,2523,2523,3428
$GC,3782,-0.48,-126.5,490.0,-9.9,166,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3426
$GC,4025,-0.48,-126.5,514.1,-9.9,172,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2516,3424
$GC,4269,-0.48,-126.5,537.6,-9.6,178,4272,0.00,1.50,0.00,0.000,4,0.000,0.025,2524,1459,3421
$GC,4304,-0.48,-126.5,541.4,-9.7,178,4308,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2533,3421
$GC,4565,-0.48,-126.5,563.9,-8.8,185,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2533,3419
$GC,4809,-0.48,-126.5,584.9,-8.7,191,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2533,3417
$GC,5052,-0.48,-126.5,606.3,-8.8,197,5056,0.00,1.60,0.00,0.000,4,0.000,0.055,2522,3571,3415
$GC,5094,-0.48,-126.5,610.2,-8.1,197,5102,0.00,1.50,0.00,0.000,6,0.000,0.025,2523,2531,3415
$GC,5349,-0.48,-126.5,631.6,-8.6,204,5352,0.00,1.52,0.00,0.000,4,0.000,0.024,2523,1456,3413
$GC,5400,-0.48,-126.5,635.9,-8.4,205,5404,0.00,1.65,0.00,0.000,6,0.000,0.044,2516,2531,3413
$GC,5695,-0.48,-126.5,662.0,-9.0,212,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2531,3411
$GC,5938,-0.48,-126.5,683.6,-8.8,218,5941,0.00,1.60,0.00,0.000,4,0.000,0.054,2508,3571,3410
$GC,5988,-0.48,-126.5,688.0,-9.0,219,5993,0.08,1.52,0.00,0.000,6,0.103,0.026,2538,2522,3410
$GC,6283,-0.48,-126.5,708.4,-6.7,226,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2521,3408
$GC,6526,-0.48,-126.5,725.1,-6.8,232,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2521,3407
$GC,6770,-0.48,-126.5,742.1,-6.9,238,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2519,3405
$GC,7014,-0.48,-126.5,758.7,-6.7,244,7017,0.00,1.52,0.00,0.000,4,0.000,0.027,2539,1457,3403
$GC,7072,-0.48,-126.5,763.0,-6.8,245,7076,0.00,1.70,0.00,0.000,6,0.000,0.047,2537,2534,3403
$GC,7354,-0.48,-126.5,781.2,-6.5,252,7358,0.00,1.62,0.00,0.000,4,0.000,0.058,2536,3557,3401
$GC,7396,-0.48,-126.5,784.0,-6.3,252,7405,0.00,1.50,0.00,0.000,6,0.000,0.028,2537,2530,3401
$GC,7652,-0.48,-126.5,800.8,-6.8,259,7656,0.00,1.52,0.00,0.000,4,0.000,0.026,2536,1464,3400
$GC,7694,-0.48,-126.5,803.9,-7.0,259,7702,0.00,1.70,0.00,0.000,6,0.000,0.048,2537,2541,3400
$GC,7948,-0.48,-126.5,820.4,-6.5,266,7952,0.00,1.62,0.00,0.000,4,0.000,0.058,2533,3563,3400
$GC,8006,-0.48,-126.5,824.3,-6.1,267,8010,0.00,1.50,0.00,0.000,6,0.000,0.028,2533,2546,3400
$GC,8291,-0.48,-126.5,841.6,-6.1,274,8294,0.00,1.58,0.00,0.000,4,0.000,0.028,2534,1448,3399
$GC,8354,-0.48,-126.5,845.8,-6.3,275,8358,0.00,1.73,0.00,0.000,6,0.000,0.048,2525,2541,3399
$GC,8631,-0.48,-126.5,862.8,-6.2,282,8634,0.00,1.60,0.00,0.000,4,0.000,0.059,2524,3565,3398
$GC,8684,-0.48,-126.5,866.4,-5.8,283,8688,0.00,1.52,0.00,0.000,6,0.000,0.028,2524,2533,3398
$GC,8973,-0.48,-126.5,883.2,-5.8,290,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2525,3396
$GC,9217,-0.48,-126.5,896.6,-5.5,296,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2525,3396
$STATE,9293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9293,begin apogee
$GC,9305,-0.17,0.0,900.9,5.5,298,9417,0.35,0.00,108.55,1.262,6,0.093,0.000,2643,2214,2900
$STATE,9418,end apogee,CONTROL_FINISHED_OK
$STATE,9418,begin climb
$GC,9423,0.48,126.5,903.1,0.0,301,9578,0.52,1.65,127.03,1.158,4,0.030,0.028,2885,1182,2383
$GC,9619,0.48,126.5,886.1,15.6,305,9623,0.12,1.73,0.00,0.000,6,0.154,0.043,2854,2237,2378
$GC,9895,0.48,126.5,842.2,15.6,312,9899,0.00,1.67,0.00,0.000,4,0.000,0.050,2850,3281,2372
$GC,9960,0.48,126.5,831.5,15.2,313,9964,0.00,1.58,0.00,0.000,6,0.000,0.028,2856,2246,2372
$GC,10237,0.48,126.5,790.6,14.8,320,10241,0.00,1.67,0.00,0.000,4,0.000,0.050,2850,3275,2370
$GC,10295,0.48,126.5,781.0,16.2,321,10298,0.00,1.52,0.00,0.000,6,0.000,0.027,2856,2260,2370
$GC,10578,0.48,126.5,739.6,14.8,328,10582,0.00,1.62,0.00,0.000,4,0.000,0.029,2864,1138,2368
$GC,10630,0.48,126.5,731.7,14.0,329,10633,0.00,1.73,0.00,0.000,6,0.000,0.043,2863,2249,2368
$GC,10918,0.48,126.5,686.9,15.9,336,10922,0.00,1.62,0.00,0.000,4,0.000,0.051,2863,3299,2368
$GC,11014,0.48,126.5,670.8,17.4,338,11017,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2270,2367
$GC,11308,0.48,126.5,622.3,16.5,345,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2264,2366
$GC,11552,0.48,126.5,585.1,14.8,351,11555,0.00,1.62,0.00,0.000,4,0.000,0.030,2877,1137,2366
$GC,11587,0.48,126.5,579.5,14.2,351,11591,0.00,1.77,0.00,0.000,6,0.000,0.044,2875,2279,2365
$GC,11848,0.48,126.5,540.7,15.2,358,11852,0.00,1.58,0.00,0.000,4,0.000,0.050,2876,3286,2365
$GC,11867,0.48,126.5,536.9,15.7,358,11871,0.08,1.52,0.00,0.000,6,0.177,0.027,2849,2265,2365
$GC,12144,0.48,126.5,502.8,11.7,365,12147,0.00,1.60,0.00,0.000,4,0.000,0.028,2856,1176,2365
$GC,12180,0.48,126.5,498.5,11.3,365,12183,0.00,1.67,0.00,0.000,6,0.000,0.041,2855,2266,2364
$GC,12440,0.48,126.5,471.5,10.4,372,12441,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2266,2365
$GC,12683,0.48,126.5,446.2,10.5,378,12687,0.00,1.60,0.00,0.000,4,0.000,0.050,2855,3286,2364
$GC,12742,0.48,126.5,439.1,11.7,379,12746,0.00,1.58,0.00,0.000,6,0.000,0.028,2860,2235,2364
$GC,13025,0.48,126.5,405.1,12.2,386,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2231,2364
$GC,13268,0.48,126.5,376.8,11.5,392,13272,0.00,1.58,0.00,0.000,4,0.000,0.028,2868,1158,2364
$GC,13333,0.48,126.5,369.2,10.6,393,13336,0.00,1.65,0.00,0.000,6,0.000,0.041,2866,2234,2363
$GC,13611,0.48,126.5,339.1,11.0,400,13615,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3297,2364
$GC,13736,0.48,126.5,323.8,11.4,402,13739,0.00,1.58,0.00,0.000,6,0.000,0.025,2869,2234,2364
$GC,13997,0.48,127.6,298.5,9.0,409,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2228,2364
$GC,14241,0.48,127.6,276.1,9.4,415,14244,0.00,1.65,0.00,0.000,4,0.000,0.047,2870,3290,2363
$GC,14455,0.48,127.6,253.4,10.2,419,14459,0.00,1.55,0.00,0.000,6,0.000,0.026,2877,2240,2363
$GC,14716,0.48,133.2,230.4,8.7,426,14720,0.00,1.62,0.00,0.000,4,0.000,0.045,2876,3290,2364
$GC,14775,0.49,151.1,225.6,8.1,427,14799,0.00,1.50,18.98,0.763,6,0.000,0.024,2882,2255,2285
$GC,15055,0.49,151.1,199.9,10.2,434,15058,0.00,1.55,0.00,0.000,4,0.000,0.025,2889,1179,2282
$GC,15095,0.49,158.2,196.3,8.7,437,15109,0.10,1.70,7.62,0.661,6,0.133,0.038,2857,2273,2255
$GC,15365,0.50,174.2,173.6,8.2,462,15382,0.00,0.00,15.23,0.699,6,0.000,0.000,2857,2273,2188
$GC,15654,0.50,182.6,148.0,8.6,488,15669,0.00,1.52,8.23,0.621,4,0.000,0.044,2857,3285,2156
$GC,15698,0.50,182.6,143.8,10.1,491,15701,0.00,1.50,0.00,0.000,6,0.000,0.023,2857,2273,2156
$GC,15969,0.50,190.4,120.1,8.6,516,15984,0.00,1.55,8.60,0.599,4,0.000,0.025,2860,1183,2123
$GC,16024,0.52,229.0,115.9,7.1,520,16065,0.00,1.60,33.12,0.648,6,0.000,0.035,2860,2243,1967
$GC,16322,0.52,229.0,89.2,9.6,547,16326,0.00,1.60,0.00,0.000,4,0.000,0.043,2860,3281,1963
$GC,16441,0.52,229.0,78.5,9.3,557,16444,0.00,1.48,0.00,0.000,6,0.000,0.022,2860,2280,1962
$GC,16714,0.55,299.6,60.1,5.5,582,16783,0.00,1.65,57.20,0.598,4,0.000,0.024,2860,1178,1677
$GC,16803,0.59,399.4,55.6,4.1,588,16894,0.00,1.73,79.50,0.587,6,0.000,0.035,2860,2283,1269
$GC,17160,0.59,399.4,22.2,12.0,624,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2283,1265
$STATE,17341,end climb,SURFACE_DEPTH_REACHED
$STATE,17341,begin surface coast
$FINISH,0.5,1.005605
$STATE,17415,end surface coast,CONTROL_FINISHED_OK
$STATE,17415,begin surface
$SM_CCo,17500,0.00,0.000,0,0,1262,401.79
$SM_GC,1.30,7.15,0.00,0.00,0.021,0.000,0.000,37,2509,1262,-8.22,0.25,401.79
$IRIDIUM_FIX,2300.41,-15731.46,270103,040451
$TT8_MAMPS,0.023777
$HUMID,2227
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.90
$XPDR_PINGS,6
$24V_AH,23.6,40.206
$10V_AH,10.7,47.100
$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,18.050,115.125,464.050,0.000,0.000,55.269,77.331,541.430,1.500,0.000,0.000,15.981,1397.655,11761.608,464.382,3465.695,1338.112,33.402,1580.733,0.000,3454.394,0.000,0.546,0.000
$DEVICE_MAMPS,199.420,68.263,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,451.956,2186.879,2262.816,1544.090,1477.071,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54142,664
$CAP_FILE_SIZE,138479,0
$CFSIZE,260165632,242503680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,021113,094554,2306.033,-15734.480,55,2.0,55,10.1