version: 66.04
glider: 512
mission: 4
dive: 313
start: 11 17 113 6 22 37
data:
$ID,512
$MISSION,4
$DIVE,313
$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,-113493.33
$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,105
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2898
$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
$GPS1,055424,2248.596,-15735.097,79,0.8,79,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-84.0
$GPS2,062143,2248.566,-15735.359,17,1.1,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,0.220
$KALMAN_X,38744.3,68.1,-276.3,3640.8,-375.2
$KALMAN_Y,45851.8,-4.3,301.5,-37850.1,-3018.5
$MHEAD_RNG_PITCHd_Wd,354.7,31232,-18.6,-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,-0.50,-110.0,0.0,0.0,0,93,0.00,0.00,-68.57,0.000,2,0.000,0.000,6,2520,2823
$GC,99,-0.50,-126.5,2.3,-1.5,8,128,9.55,1.60,-13.77,0.000,4,0.196,0.055,2516,3577,3414
$GC,277,-0.50,-126.5,43.6,-22.8,29,281,0.00,1.50,0.00,0.000,6,0.000,0.020,2520,2523,3415
$GC,549,-0.50,-126.5,106.4,-17.8,54,552,0.00,1.62,0.00,0.000,4,0.000,0.041,2514,3570,3415
$GC,576,-0.50,-126.5,111.6,-18.3,56,580,0.00,1.55,0.00,0.000,6,0.000,0.019,2518,2475,3415
$GC,847,-0.50,-126.5,155.4,-15.6,81,851,0.00,1.70,0.00,0.000,4,0.000,0.042,2512,3568,3415
$GC,911,-0.50,-126.5,165.7,-15.2,86,920,0.00,1.52,0.00,0.000,6,0.000,0.019,2517,2489,3415
$GC,1207,-0.50,-126.5,206.7,-13.2,111,1211,0.00,1.62,0.00,0.000,4,0.000,0.041,2510,3564,3415
$GC,1243,-0.50,-126.5,211.9,-14.7,111,1246,0.00,1.52,0.00,0.000,6,0.000,0.018,2511,2480,3415
$GC,1504,-0.50,-126.5,245.1,-12.6,118,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2472,3415
$GC,1747,-0.50,-126.5,277.1,-13.3,124,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2472,3414
$GC,1991,-0.50,-126.5,306.3,-11.7,130,1995,0.00,1.65,0.00,0.000,4,0.000,0.043,2503,3567,3413
$GC,2034,-0.50,-126.5,311.5,-11.9,130,2042,0.00,1.52,0.00,0.000,6,0.000,0.020,2508,2486,3412
$GC,2288,-0.50,-126.5,339.8,-11.0,137,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2486,3411
$GC,2532,-0.50,-126.5,365.0,-10.1,143,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2485,3409
$GC,2776,-0.50,-126.5,389.2,-9.8,149,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2486,3406
$GC,3019,-0.50,-126.5,412.6,-9.6,155,3023,0.00,1.70,-0.08,0.000,4,0.000,0.061,2502,3563,3427
$GC,3076,-0.50,-126.5,418.7,-10.2,156,3080,0.00,1.52,0.00,0.000,6,0.000,0.021,2507,2502,3427
$GC,3361,-0.50,-126.5,448.0,-10.8,163,3364,0.00,1.67,0.00,0.000,4,0.000,0.047,2501,3564,3425
$GC,3429,-0.50,-126.5,456.5,-11.1,164,3433,0.00,1.52,0.00,0.000,6,0.000,0.022,2507,2505,3424
$GC,3701,-0.50,-126.5,485.4,-10.6,171,3704,0.00,1.65,0.00,0.000,4,0.000,0.048,2501,3573,3421
$GC,3760,-0.50,-126.5,491.7,-9.6,172,3763,0.00,1.50,0.00,0.000,6,0.000,0.023,2506,2536,3421
$GC,4043,-0.50,-126.5,517.8,-9.2,179,4046,0.00,1.52,0.00,0.000,4,0.000,0.023,2508,1446,3419
$GC,4123,-0.50,-126.5,525.3,-8.6,180,4127,0.10,1.62,0.00,0.000,6,0.119,0.041,2533,2521,3418
$GC,4385,-0.50,-126.5,544.8,-7.6,187,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2521,3415
$GC,4628,-0.50,-126.5,564.0,-7.9,193,4631,0.00,1.60,0.00,0.000,4,0.000,0.053,2527,3566,3414
$GC,4698,-0.50,-126.5,569.9,-7.7,194,4702,0.00,1.52,0.00,0.000,6,0.000,0.025,2526,2517,3412
$GC,4970,-0.50,-126.5,591.5,-8.0,201,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2508,3411
$GC,5214,-0.50,-126.5,610.8,-8.0,207,5218,0.00,1.50,0.00,0.000,4,0.000,0.024,2526,1448,3409
$GC,5265,-0.50,-126.5,614.9,-7.7,208,5269,0.00,1.65,0.00,0.000,6,0.000,0.046,2523,2521,3409
$GC,5560,-0.50,-126.5,639.3,-8.3,215,5563,0.00,1.62,0.00,0.000,4,0.000,0.056,2523,3570,3407
$GC,5610,-0.50,-126.5,643.5,-8.0,216,5614,0.00,1.55,0.00,0.000,6,0.000,0.026,2523,2517,3407
$GC,5906,-0.50,-126.5,667.7,-8.2,223,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2509,3405
$GC,6149,-0.50,-126.5,686.0,-7.4,229,6153,0.00,1.67,0.00,0.000,4,0.000,0.056,2523,3570,3404
$GC,6200,-0.50,-126.5,689.7,-7.3,230,6204,0.00,1.52,0.00,0.000,6,0.000,0.027,2523,2532,3403
$GC,6494,-0.50,-126.5,711.3,-7.2,237,6497,0.00,1.52,0.00,0.000,4,0.000,0.025,2523,1452,3401
$GC,6524,-0.50,-126.5,713.7,-7.6,237,6528,0.00,1.67,0.00,0.000,6,0.000,0.047,2523,2537,3402
$GC,6791,-0.50,-126.5,731.9,-6.8,244,6795,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3565,3400
$GC,6842,-0.50,-126.5,735.2,-6.2,245,6846,0.00,1.50,0.00,0.000,6,0.000,0.027,2523,2548,3400
$GC,7136,-0.50,-126.5,752.6,-5.9,252,7140,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1454,3399
$GC,7188,-0.50,-126.5,755.4,-5.8,253,7191,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2545,3399
$GC,7482,-0.50,-126.5,772.1,-5.6,260,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3398
$GC,7725,-0.50,-126.5,787.7,-6.5,266,7729,0.00,1.62,0.00,0.000,4,0.000,0.058,2523,3563,3396
$GC,7783,-0.50,-126.5,791.9,-6.9,267,7787,0.00,1.50,0.00,0.000,6,0.000,0.028,2523,2548,3396
$GC,8068,-0.50,-126.5,812.1,-7.4,274,8071,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1449,3395
$GC,8118,-0.50,-126.5,816.1,-7.8,275,8121,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2557,3395
$GC,8412,-0.50,-126.5,838.1,-7.5,282,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2557,3395
$GC,8656,-0.50,-126.5,855.3,-7.0,288,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3394
$GC,8900,-0.50,-126.5,871.7,-6.7,294,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3393
$GC,9143,-0.50,-126.5,887.9,-6.6,300,9146,0.00,1.60,0.00,0.000,4,0.000,0.059,2523,3574,3392
$GC,9179,-0.50,-126.5,890.6,-7.1,300,9183,0.00,1.52,0.00,0.000,6,0.000,0.028,2523,2546,3392
$STATE,9352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9353,begin apogee
$GC,9364,-0.17,0.0,901.8,6.4,305,9477,0.35,0.00,110.32,1.265,6,0.089,0.000,2645,2216,2898
$STATE,9478,end apogee,CONTROL_FINISHED_OK
$STATE,9478,begin climb
$GC,9483,0.50,126.5,905.1,0.0,308,9638,0.57,1.65,128.77,1.163,4,0.030,0.027,2894,1174,2382
$GC,9695,0.50,126.5,887.1,18.4,312,9704,0.10,1.75,0.00,0.000,6,0.166,0.041,2864,2232,2375
$GC,9951,0.50,126.5,846.8,15.8,319,9954,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3284,2371
$GC,9986,0.50,126.5,840.2,17.0,319,9990,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2231,2370
$GC,10246,0.50,126.5,799.0,15.9,326,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2225,2369
$GC,10490,0.50,126.5,761.1,15.5,332,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2225,2367
$GC,10733,0.50,126.5,725.4,14.6,338,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2224,2367
$GC,10977,0.50,126.5,690.4,14.3,344,10980,0.00,1.67,0.00,0.000,4,0.000,0.050,2863,3288,2366
$GC,11008,0.50,126.5,685.6,14.7,344,11012,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2199,2365
$GC,11274,0.50,126.5,644.6,15.8,351,11278,0.00,1.75,0.00,0.000,4,0.000,0.051,2870,3282,2365
$GC,11377,0.50,126.5,626.9,16.6,353,11381,0.00,1.55,0.00,0.000,6,0.000,0.028,2877,2243,2365
$GC,11660,0.50,126.5,581.2,16.3,360,11664,0.00,1.58,0.00,0.000,4,0.000,0.029,2885,1159,2365
$GC,11695,0.50,126.5,575.2,15.4,360,11698,0.00,1.67,0.00,0.000,6,0.000,0.044,2884,2242,2365
$GC,11957,0.50,126.5,534.4,15.5,367,11961,0.00,1.62,0.00,0.000,4,0.000,0.051,2878,3277,2364
$GC,12020,0.50,126.5,523.4,15.7,368,12024,0.00,1.52,0.00,0.000,6,0.000,0.028,2883,2250,2364
$GC,12297,0.50,126.5,484.0,14.1,375,12301,0.00,1.65,0.00,0.000,4,0.000,0.050,2878,3293,2364
$GC,12339,0.50,126.5,477.3,14.1,375,12348,0.00,1.50,0.00,0.000,6,0.000,0.026,2883,2280,2364
$GC,12594,0.50,126.5,443.8,13.0,382,12598,0.00,1.60,0.00,0.000,4,0.000,0.049,2878,3277,2364
$GC,12689,0.50,126.5,430.7,14.3,384,12692,0.00,1.45,0.00,0.000,6,0.000,0.027,2883,2305,2363
$GC,12984,0.50,126.5,394.1,12.1,391,12987,0.00,1.65,0.00,0.000,4,0.000,0.029,2891,1150,2363
$GC,13025,0.50,126.5,388.5,11.7,391,13033,0.08,1.77,0.00,0.000,6,0.163,0.042,2867,2287,2362
$GC,13279,0.50,126.5,359.4,11.5,398,13283,0.00,1.55,0.00,0.000,4,0.000,0.050,2863,3276,2362
$GC,13445,0.50,126.5,340.5,11.5,401,13448,0.00,1.42,0.00,0.000,6,0.000,0.026,2868,2310,2362
$GC,13711,0.50,126.5,312.9,10.3,408,13715,0.00,1.55,0.00,0.000,4,0.000,0.048,2863,3279,2362
$GC,13729,0.50,126.5,310.7,10.8,408,13733,0.00,1.40,0.00,0.000,6,0.000,0.026,2868,2329,2362
$GC,14008,0.50,126.5,282.6,10.4,415,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2324,2362
$GC,14251,0.50,126.5,259.7,9.2,421,14255,0.00,1.70,0.00,0.000,4,0.000,0.028,2877,1158,2362
$GC,14427,0.50,128.6,245.0,8.9,424,14430,0.00,1.85,0.00,0.000,6,0.000,0.042,2876,2361,2362
$GC,14687,0.51,141.5,222.4,8.3,431,14707,0.00,1.40,11.20,0.723,4,0.000,0.047,2875,3284,2322
$GC,14775,0.51,149.4,215.0,8.6,433,14789,0.00,1.35,9.02,0.706,6,0.000,0.025,2881,2361,2288
$GC,15052,0.51,149.4,190.1,9.3,447,15056,0.00,1.45,0.00,0.000,4,0.000,0.047,2876,3278,2286
$GC,15091,0.51,149.4,186.6,9.6,450,15095,0.00,1.30,0.00,0.000,6,0.000,0.024,2880,2387,2286
$GC,15364,0.52,157.1,162.0,8.6,475,15374,0.00,0.00,8.45,0.653,6,0.000,0.000,2881,2381,2257
$GC,15630,0.52,157.2,138.1,9.0,500,15634,0.00,1.75,0.00,0.000,4,0.000,0.025,2889,1155,2256
$GC,15772,0.52,175.7,125.9,8.0,512,15799,0.00,1.90,17.23,0.656,6,0.000,0.038,2889,2411,2181
$GC,16061,0.52,175.7,98.3,10.4,538,16065,0.00,1.83,0.00,0.000,4,0.000,0.023,2897,1148,2179
$GC,16215,0.53,190.8,84.9,8.2,551,16241,0.00,1.90,14.32,0.607,6,0.000,0.036,2897,2380,2118
$GC,16503,0.54,226.8,65.4,7.0,577,16542,0.00,0.00,31.33,0.601,6,0.000,0.000,2897,2379,1971
$GC,16804,0.55,252.0,41.5,7.6,605,16833,0.00,1.80,21.42,0.570,4,0.000,0.022,2900,1169,1870
$GC,16889,0.57,292.3,35.1,6.8,611,16927,0.00,1.85,34.05,0.566,6,0.000,0.035,2900,2365,1705
$STATE,17220,end climb,SURFACE_DEPTH_REACHED
$STATE,17220,begin surface coast
$FINISH,0.5,1.023317
$STATE,17247,end surface coast,CONTROL_FINISHED_OK
$STATE,17247,begin surface
$SM_CCo,17273,39.80,0.532,0,0,1307,390.02
$SM_GC,1.70,0.00,0.00,39.80,0.000,0.000,0.532,36,2540,1307,-8.31,1.13,390.02
$IRIDIUM_FIX,2239.35,-15737.19,110203,060612
$TT8_MAMPS,0.023777
$HUMID,2214
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,6
$24V_AH,23.2,52.337
$10V_AH,10.6,63.041
$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,18.050,116.225,386.125,39.800,0.000,116.023,161.898,964.768,1.500,0.000,0.000,17.450,1395.834,11730.289,457.503,3432.690,1927.624,33.376,1522.318,0.000,3419.426,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,61.360,1264.783,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,452.367,2181.099,2254.532,1539.687,1470.012,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54045,663
$CAP_FILE_SIZE,144827,0
$CFSIZE,260165632,237608960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,171113,111236,2249.914,-15734.616,37,1.0,37,10.1