version: 66.04
glider: 512
mission: 4
dive: 316
start: 11 17 113 23 18 22
data:
$ID,512
$MISSION,4
$DIVE,316
$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,612.99469
$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,-113576.72
$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,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,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
$GPS1,224653,2253.000,-15733.577,25,1.2,43,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.1
$GPS2,231730,2252.624,-15733.464,13,1.1,18,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,0.228
$KALMAN_X,38790.1,64.3,594.8,5955.7,-1444.2
$KALMAN_Y,40126.7,59.5,179.1,-24548.3,-2589.9
$MHEAD_RNG_PITCHd_Wd,4.3,23950,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.47,-126.5,0.0,0.0,0,124,0.00,0.00,-102.57,0.000,2,0.000,0.000,7,2507,2940
$GC,130,-0.47,-126.5,2.2,-1.4,12,158,9.62,1.62,-10.57,0.000,4,0.197,0.054,2529,3571,3412
$GC,354,-0.47,-126.5,54.0,-20.8,37,358,0.00,1.52,0.00,0.000,6,0.000,0.020,2531,2500,3413
$GC,626,-0.47,-126.5,107.7,-16.6,62,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2493,3413
$GC,893,-0.47,-126.5,147.9,-14.5,87,896,0.00,1.62,0.00,0.000,4,0.000,0.042,2525,3574,3413
$GC,1010,-0.47,-126.5,163.9,-12.8,97,1013,0.00,1.52,0.00,0.000,6,0.000,0.019,2525,2497,3413
$GC,1281,-0.47,-126.5,200.7,-12.2,122,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2490,3413
$GC,1525,-0.47,-126.5,230.1,-12.0,128,1528,0.00,1.62,0.00,0.000,4,0.000,0.043,2523,3565,3413
$GC,1590,-0.47,-126.5,238.0,-11.6,129,1593,0.00,1.52,0.00,0.000,6,0.000,0.019,2523,2481,3412
$GC,1868,-0.47,-126.5,271.6,-12.5,136,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2475,3411
$GC,2111,-0.47,-126.5,299.0,-10.8,142,2115,0.00,1.65,0.00,0.000,4,0.000,0.043,2515,3568,3410
$GC,2251,-0.47,-126.5,313.9,-10.0,145,2255,0.00,1.50,0.00,0.000,6,0.000,0.020,2515,2510,3409
$GC,2545,-0.47,-126.5,344.9,-10.3,152,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2502,3406
$GC,2789,-0.47,-126.5,368.2,-9.4,158,2793,0.00,1.45,-0.08,0.000,4,0.000,0.038,2515,1451,3426
$GC,2846,-0.47,-126.5,373.8,-9.0,159,2850,0.08,1.62,0.00,0.000,6,0.111,0.038,2539,2519,3426
$GC,3130,-0.47,-126.5,393.8,-7.2,166,3133,0.00,1.60,0.00,0.000,4,0.000,0.049,2533,3558,3424
$GC,3228,-0.47,-126.5,401.9,-8.4,168,3231,0.00,1.42,0.00,0.000,6,0.000,0.023,2533,2558,3423
$GC,3517,-0.47,-126.5,428.5,-9.6,175,3521,0.00,1.52,0.00,0.000,4,0.000,0.021,2533,1456,3420
$GC,3547,-0.47,-126.5,431.9,-10.1,175,3551,0.00,1.70,0.00,0.000,6,0.000,0.040,2526,2568,3420
$GC,3813,-0.47,-126.5,457.5,-9.6,182,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2568,3417
$GC,4057,-0.47,-126.5,477.7,-8.1,188,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2568,3415
$GC,4301,-0.47,-126.5,495.6,-7.1,194,4304,0.00,1.60,0.00,0.000,4,0.000,0.025,2526,1460,3413
$GC,4337,-0.47,-126.5,498.3,-7.0,194,4340,0.00,1.70,0.00,0.000,6,0.000,0.043,2524,2580,3413
$GC,4597,-0.47,-126.5,517.1,-7.5,201,4601,0.00,1.60,0.00,0.000,4,0.000,0.024,2524,1446,3411
$GC,4649,-0.47,-126.5,521.1,-7.4,202,4652,0.00,1.70,0.00,0.000,6,0.000,0.044,2523,2556,3411
$GC,4944,-0.47,-126.5,545.6,-8.6,209,4947,0.00,1.58,0.00,0.000,4,0.000,0.054,2523,3562,3409
$GC,4994,-0.47,-126.5,550.1,-8.9,210,4998,0.00,1.45,0.00,0.000,6,0.000,0.025,2523,2566,3408
$GC,5289,-0.47,-126.5,575.8,-8.7,217,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3406
$GC,5533,-0.47,-126.5,595.2,-7.7,223,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3404
$GC,5777,-0.47,-126.5,612.3,-6.9,229,5780,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1468,3402
$GC,5820,-0.47,-126.5,615.4,-6.8,229,5828,0.00,1.70,0.00,0.000,6,0.000,0.046,2523,2554,3402
$GC,6075,-0.47,-126.5,631.8,-6.5,236,6078,0.00,1.58,0.00,0.000,4,0.000,0.055,2523,3555,3401
$GC,6133,-0.47,-126.5,635.8,-6.7,237,6136,0.00,1.42,0.00,0.000,6,0.000,0.027,2523,2576,3400
$GC,6417,-0.47,-126.5,654.6,-6.8,244,6421,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1467,3399
$GC,6492,-0.47,-126.5,660.4,-7.3,245,6495,0.00,1.67,0.00,0.000,6,0.000,0.046,2523,2558,3399
$GC,6758,-0.47,-126.5,680.8,-8.0,252,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3397
$GC,7002,-0.47,-126.5,701.1,-8.3,258,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3396
$GC,7245,-0.47,-126.5,720.9,-8.0,264,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3395
$GC,7489,-0.47,-126.5,739.1,-7.3,270,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3394
$GC,7733,-0.47,-126.5,756.2,-6.9,276,7736,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3552,3393
$GC,7785,-0.47,-126.5,759.5,-6.4,277,7788,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2569,3392
$GC,8079,-0.47,-126.5,779.3,-6.7,284,8083,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1466,3391
$GC,8121,-0.47,-126.5,782.5,-6.8,284,8128,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2561,3391
$GC,8376,-0.47,-126.5,798.9,-6.6,291,8379,0.00,1.58,0.00,0.000,4,0.000,0.059,2523,3549,3390
$GC,8406,-0.47,-126.5,801.3,-7.0,291,8409,0.00,1.45,0.00,0.000,6,0.000,0.027,2523,2558,3390
$GC,8673,-0.47,-126.5,818.1,-6.4,298,8676,0.00,1.55,0.00,0.000,4,0.000,0.026,2523,1469,3389
$GC,8710,-0.47,-126.5,820.7,-6.3,298,8714,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2566,3389
$GC,8971,-0.47,-126.5,837.0,-6.2,305,8975,0.00,1.58,0.00,0.000,4,0.000,0.058,2518,3553,3388
$GC,9021,-0.47,-126.5,840.3,-6.4,306,9024,0.00,1.45,0.00,0.000,6,0.000,0.028,2518,2574,3387
$GC,9316,-0.47,-126.5,859.0,-6.5,313,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2566,3387
$GC,9560,-0.47,-126.5,874.8,-6.5,319,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2566,3386
$GC,9803,-0.47,-126.5,890.6,-6.4,325,9807,0.00,1.60,0.00,0.000,4,0.000,0.029,2520,1464,3386
$GC,9847,-0.47,-126.5,893.6,-6.9,325,9854,0.00,1.73,0.00,0.000,6,0.000,0.048,2515,2557,3386
$STATE,9974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9974,begin apogee
$GC,9986,-0.17,0.0,902.3,6.7,329,10099,0.38,0.00,110.10,1.255,6,0.093,0.000,2644,2234,2897
$STATE,10099,end apogee,CONTROL_FINISHED_OK
$STATE,10100,begin climb
$GC,10105,0.47,126.5,905.7,0.0,332,10265,0.52,1.67,129.20,1.158,4,0.031,0.027,2881,1177,2381
$GC,10317,0.47,126.5,889.1,16.8,336,10327,0.00,1.73,0.00,0.000,6,0.000,0.041,2878,2218,2376
$GC,10573,0.47,126.5,848.1,16.4,343,10577,0.00,1.67,0.00,0.000,4,0.000,0.051,2875,3282,2371
$GC,10623,0.47,126.5,838.9,19.3,344,10627,0.08,1.58,0.00,0.000,6,0.156,0.028,2850,2247,2370
$GC,10916,0.47,126.5,795.5,14.6,351,10920,0.00,1.65,0.00,0.000,4,0.000,0.050,2850,3287,2368
$GC,10958,0.47,126.5,789.0,16.0,351,10967,0.00,1.58,0.00,0.000,6,0.000,0.028,2855,2238,2367
$GC,11214,0.47,126.5,752.4,14.4,358,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2232,2367
$GC,11457,0.47,126.5,717.7,14.3,364,11461,0.00,1.67,0.00,0.000,4,0.000,0.048,2850,3282,2366
$GC,11492,0.47,126.5,711.8,15.8,364,11496,0.00,1.55,0.00,0.000,6,0.000,0.027,2855,2243,2366
$GC,11753,0.47,126.5,675.8,13.8,371,11756,0.00,1.58,0.00,0.000,4,0.000,0.030,2860,1172,2365
$GC,11810,0.47,126.5,667.5,12.0,372,11814,0.00,1.70,0.00,0.000,6,0.000,0.042,2860,2255,2365
$GC,12094,0.47,126.5,628.7,14.0,379,12097,0.00,1.60,0.00,0.000,4,0.000,0.051,2860,3275,2365
$GC,12192,0.47,126.5,614.0,15.6,381,12195,0.00,1.50,0.00,0.000,6,0.000,0.027,2867,2267,2364
$GC,12481,0.47,126.5,573.7,13.6,388,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2261,2364
$GC,12724,0.47,126.5,541.2,13.3,394,12728,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3300,2364
$GC,12872,0.47,126.5,520.2,13.1,397,12875,0.00,1.52,0.00,0.000,6,0.000,0.027,2868,2274,2363
$GC,13155,0.47,126.5,484.1,12.8,404,13158,0.00,1.62,0.00,0.000,4,0.000,0.028,2877,1137,2363
$GC,13205,0.47,126.5,477.8,12.1,405,13209,0.00,1.77,0.00,0.000,6,0.000,0.043,2876,2264,2362
$GC,13499,0.47,126.5,441.1,12.6,412,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2265,2362
$GC,13743,0.47,126.5,412.3,11.6,418,13747,0.00,1.60,0.00,0.000,4,0.000,0.052,2875,3280,2362
$GC,13838,0.47,126.5,400.4,12.6,420,13842,0.10,1.52,0.00,0.000,6,0.164,0.028,2850,2261,2362
$GC,14132,0.47,128.9,373.2,8.9,427,14136,0.00,1.60,0.00,0.000,4,0.000,0.028,2857,1162,2361
$GC,14207,0.47,128.9,366.2,9.5,428,14210,0.00,1.73,0.00,0.000,6,0.000,0.042,2857,2284,2361
$GC,14472,0.47,128.9,339.2,10.9,435,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2283,2361
$GC,14716,0.47,128.9,314.9,9.9,441,14719,0.00,1.55,0.00,0.000,4,0.000,0.049,2857,3280,2361
$GC,14875,0.47,128.9,298.3,10.4,444,14879,0.00,1.52,0.00,0.000,6,0.000,0.026,2864,2246,2361
$GC,15148,0.47,132.2,273.8,8.9,451,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2241,2361
$GC,15391,0.48,157.8,253.9,7.8,457,15429,0.00,1.70,27.83,0.766,4,0.000,0.047,2863,3290,2253
$GC,15471,0.48,157.8,246.7,10.3,458,15477,0.00,1.55,0.00,0.000,6,0.000,0.025,2868,2250,2251
$GC,15725,0.49,172.6,225.2,8.3,465,15744,0.00,1.67,13.98,0.750,4,0.000,0.046,2863,3288,2193
$GC,15805,0.49,183.8,218.4,8.5,466,15821,0.00,1.52,11.43,0.719,6,0.000,0.025,2869,2263,2147
$GC,16083,0.49,183.8,192.7,9.9,477,16087,0.00,1.60,0.00,0.000,4,0.000,0.027,2872,1153,2144
$GC,16135,0.49,187.2,188.1,8.8,481,16148,0.00,1.75,3.53,0.461,6,0.000,0.039,2873,2286,2135
$GC,16410,0.49,187.2,160.7,10.6,506,16418,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2286,2136
$GC,16677,0.49,187.2,134.0,9.9,531,16685,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2286,2135
$GC,16943,0.49,187.2,109.1,9.2,556,16947,0.00,1.52,0.00,0.000,4,0.000,0.044,2873,3283,2135
$GC,16971,0.50,194.2,106.6,8.7,558,16986,0.00,1.48,8.50,0.593,6,0.000,0.022,2880,2262,2106
$GC,17247,0.53,282.3,86.9,4.8,583,17327,0.00,1.58,73.43,0.628,4,0.000,0.023,2886,1169,1745
$GC,17344,0.56,346.8,81.4,5.9,590,17401,0.00,1.73,52.38,0.608,6,0.000,0.034,2886,2291,1484
$GC,17670,0.56,362.7,55.9,8.2,619,17689,0.00,1.67,13.93,0.560,4,0.000,0.025,2886,1179,1418
$GC,17714,0.58,389.8,52.4,7.7,622,17743,0.00,1.65,23.23,0.570,6,0.000,0.033,2885,2268,1308
$GC,18004,0.59,435.4,33.5,6.8,648,18047,0.00,1.60,37.33,0.560,4,0.000,0.044,2885,3277,1122
$GC,18072,0.61,484.6,28.6,6.6,653,18117,0.00,1.52,40.33,0.551,6,0.000,0.020,2885,2234,921
$STATE,18319,end climb,SURFACE_DEPTH_REACHED
$STATE,18319,begin surface coast
$FINISH,0.6,1.001209
$STATE,18346,end surface coast,CONTROL_FINISHED_OK
$STATE,18346,begin surface
$SM_CCo,18371,62.92,0.528,0,0,398,612.99
$SM_GC,1.29,0.00,0.00,62.92,0.000,0.000,0.528,43,2511,398,-8.29,0.37,612.99
$IRIDIUM_FIX,2244.02,-15736.30,110203,232324
$TT8_MAMPS,0.023777
$HUMID,2205
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,26.40
$XPDR_PINGS,7
$24V_AH,23.2,52.998
$10V_AH,10.6,63.786
$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,18.075,118.975,545.150,62.925,0.000,143.914,187.292,1017.023,1.750,0.000,0.000,19.006,1440.999,12528.148,605.488,3599.362,2086.304,33.380,1787.226,0.000,3583.716,0.000,0.545,0.000
$DEVICE_MAMPS,197.119,59.059,1254.812,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,471.507,2284.560,2362.365,1585.457,1528.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57190,694
$CAP_FILE_SIZE,156628,0
$CFSIZE,260165632,237350912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,181113,042706,2253.757,-15733.001,40,0.8,40,10.1