version: 66.04
glider: 512
mission: 4
dive: 319
start: 11 18 113 15 27 53
data:
$ID,512
$MISSION,4
$DIVE,319
$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,-113624.14
$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,70
$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
$GPS1,151259,2256.433,-15733.053,39,1.2,44,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-82.8
$GPS2,152655,2256.426,-15733.030,14,1.8,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.026,0.234
$KALMAN_X,40158.3,201.2,220.0,5567.1,-318.4
$KALMAN_Y,34012.5,94.1,-486.7,-10757.4,-1221.2
$MHEAD_RNG_PITCHd_Wd,343.5,17165,-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,18,-0.47,-126.5,0.0,0.0,0,89,0.00,0.00,-68.35,0.000,2,0.000,0.000,7,2510,2907
$GC,94,-0.47,-126.5,2.3,-1.6,8,124,9.65,1.62,-11.23,0.000,4,0.197,0.054,2527,3567,3413
$GC,292,-0.47,-126.5,51.3,-21.9,30,295,0.00,1.55,0.00,0.000,6,0.000,0.020,2530,2489,3415
$GC,564,-0.47,-126.5,106.2,-16.5,55,568,0.00,1.42,0.00,0.000,4,0.000,0.019,2534,1444,3415
$GC,626,-0.47,-126.5,115.5,-14.3,60,630,0.00,1.62,0.00,0.000,6,0.000,0.039,2528,2505,3415
$GC,899,-0.47,-126.5,155.8,-14.8,85,903,0.00,1.62,0.00,0.000,4,0.000,0.047,2520,3567,3415
$GC,1028,-0.47,-126.5,174.7,-13.0,96,1038,0.00,1.50,0.00,0.000,6,0.000,0.019,2520,2501,3416
$GC,1300,-0.47,-126.5,211.5,-13.2,116,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2499,3415
$GC,1544,-0.47,-126.5,243.5,-12.8,122,1548,0.00,1.62,0.00,0.000,4,0.000,0.044,2513,3557,3415
$GC,1624,-0.47,-126.5,254.3,-13.2,123,1628,0.00,1.45,0.00,0.000,6,0.000,0.021,2518,2532,3415
$GC,1886,-0.47,-126.5,282.9,-10.9,130,1890,0.00,1.60,0.00,0.000,4,0.000,0.043,2512,3564,3414
$GC,1944,-0.47,-126.5,289.3,-10.4,131,1947,0.00,1.42,0.00,0.000,6,0.000,0.020,2517,2555,3414
$GC,2226,-0.47,-126.5,317.9,-10.4,138,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2547,3412
$GC,2470,-0.47,-126.5,344.1,-10.7,144,2474,0.00,1.52,0.00,0.000,4,0.000,0.021,2520,1448,3411
$GC,2523,-0.47,-126.5,350.0,-9.8,145,2527,0.00,1.65,0.00,0.000,6,0.000,0.038,2514,2556,3411
$GC,2812,-0.47,-126.5,381.9,-11.2,152,2816,0.00,1.55,0.00,0.000,4,0.000,0.048,2507,3567,3409
$GC,2862,-0.47,-126.5,387.7,-10.4,153,2867,0.08,1.45,0.00,0.000,6,0.108,0.021,2539,2545,3408
$GC,3157,-0.47,-126.5,413.9,-8.7,160,3160,0.00,1.60,0.00,0.000,4,0.000,0.047,2533,3559,3405
$GC,3226,-0.47,-126.5,420.2,-8.6,161,3230,0.00,1.40,0.00,0.000,6,0.000,0.023,2533,2580,3404
$GC,3498,-0.47,-126.5,441.2,-7.4,168,3502,0.00,1.58,-0.08,0.000,4,0.000,0.039,2533,1469,3426
$GC,3549,-0.47,-126.5,444.6,-6.2,169,3553,0.00,1.67,0.00,0.000,6,0.000,0.040,2526,2559,3426
$GC,3843,-0.47,-126.5,464.9,-6.9,176,3847,0.00,1.58,0.00,0.000,4,0.000,0.052,2523,3564,3424
$GC,3885,-0.47,-126.5,468.0,-6.3,176,3893,0.00,1.42,0.00,0.000,6,0.000,0.024,2523,2566,3424
$GC,4139,-0.47,-126.5,487.2,-7.9,183,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3421
$GC,4383,-0.47,-126.5,508.2,-8.7,189,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3420
$GC,4627,-0.47,-126.5,529.8,-8.9,195,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3418
$GC,4871,-0.47,-126.5,550.4,-8.3,201,4874,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1473,3416
$GC,4912,-0.47,-126.5,554.0,-8.6,201,4921,0.00,1.73,0.00,0.000,6,0.000,0.045,2523,2580,3416
$GC,5168,-0.47,-126.5,572.9,-7.5,208,5172,0.00,1.52,0.00,0.000,4,0.000,0.054,2523,3553,3414
$GC,5219,-0.47,-126.5,576.8,-7.6,209,5222,0.00,1.40,0.00,0.000,6,0.000,0.027,2523,2594,3414
$GC,5513,-0.47,-126.5,598.8,-7.5,216,5516,0.00,1.60,0.00,0.000,4,0.000,0.025,2523,1443,3412
$GC,5589,-0.47,-126.5,604.9,-7.1,217,5592,0.00,1.73,0.00,0.000,6,0.000,0.045,2523,2569,3412
$GC,5855,-0.47,-126.5,625.1,-7.7,224,5859,0.00,1.55,0.00,0.000,4,0.000,0.056,2523,3552,3411
$GC,5891,-0.47,-126.5,628.2,-7.3,224,5895,0.00,1.40,0.00,0.000,6,0.000,0.027,2523,2590,3411
$GC,6152,-0.47,-126.5,647.2,-7.3,231,6156,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1476,3409
$GC,6206,-0.47,-126.5,651.3,-7.1,232,6210,0.00,1.70,0.00,0.000,6,0.000,0.045,2523,2564,3409
$GC,6494,-0.47,-126.5,671.6,-7.2,239,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3408
$GC,6738,-0.47,-126.5,689.2,-7.3,245,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3406
$GC,6981,-0.47,-126.5,706.0,-6.8,251,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3405
$GC,7226,-0.47,-126.5,722.6,-6.8,257,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3403
$GC,7469,-0.47,-126.5,739.7,-7.1,263,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3403
$GC,7713,-0.47,-126.5,757.2,-7.2,269,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3401
$GC,7956,-0.47,-126.5,775.4,-7.4,275,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3400
$GC,8200,-0.47,-126.5,792.7,-7.0,281,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3400
$GC,8444,-0.47,-126.5,808.1,-6.2,287,8448,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3551,3400
$GC,8480,-0.47,-126.5,810.4,-6.3,287,8483,0.00,1.45,0.00,0.000,6,0.000,0.029,2523,2574,3399
$GC,8740,-0.47,-126.5,825.6,-5.9,294,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2565,3399
$GC,8984,-0.47,-126.5,839.7,-5.7,300,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3398
$GC,9228,-0.47,-126.5,853.8,-5.9,306,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3397
$GC,9471,-0.47,-126.5,867.5,-5.7,312,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3397
$GC,9715,-0.47,-126.5,882.1,-6.0,318,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3396
$GC,9959,-0.47,-126.5,897.7,-6.5,324,9962,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1478,3395
$STATE,9990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9990,begin apogee
$GC,10002,-0.17,0.0,900.3,6.6,324,10117,0.32,0.00,111.47,1.259,6,0.090,0.000,2642,2230,2898
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10123,0.47,126.5,904.1,0.0,327,10320,0.55,1.67,139.07,1.098,4,0.031,0.028,2882,1213,2381
$GC,10350,0.47,126.5,890.2,15.0,332,10354,0.08,1.67,0.00,0.000,6,0.150,0.041,2855,2218,2378
$GC,10637,0.47,126.5,850.7,13.7,339,10641,0.00,1.70,0.00,0.000,4,0.000,0.051,2850,3279,2372
$GC,10708,0.47,126.5,839.9,15.7,340,10711,0.00,1.52,0.00,0.000,6,0.000,0.028,2855,2270,2371
$GC,10979,0.47,126.5,801.2,14.3,347,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2265,2369
$GC,11223,0.47,126.5,765.7,14.6,353,11227,0.00,1.65,0.00,0.000,4,0.000,0.050,2850,3290,2369
$GC,11258,0.47,126.5,759.9,15.6,353,11262,0.00,1.55,0.00,0.000,6,0.000,0.028,2856,2253,2368
$GC,11519,0.47,126.5,721.8,14.7,360,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2248,2368
$GC,11762,0.47,126.5,687.6,14.1,366,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2248,2366
$GC,12006,0.47,126.5,653.0,14.3,372,12009,0.00,1.65,0.00,0.000,4,0.000,0.050,2851,3295,2366
$GC,12030,0.47,126.5,648.9,14.8,372,12034,0.00,1.55,0.00,0.000,6,0.000,0.028,2856,2256,2366
$GC,12303,0.47,126.5,611.7,13.6,379,12306,0.00,1.60,0.00,0.000,4,0.000,0.029,2864,1163,2365
$GC,12360,0.47,126.5,603.4,12.3,380,12364,0.00,1.73,0.00,0.000,6,0.000,0.044,2863,2258,2365
$GC,12643,0.47,126.5,568.0,12.2,387,12646,0.00,1.60,0.00,0.000,4,0.000,0.051,2863,3279,2364
$GC,12667,0.47,126.5,564.6,12.2,387,12670,0.00,1.55,0.00,0.000,6,0.000,0.028,2869,2237,2364
$GC,12940,0.47,126.5,532.9,12.0,394,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2232,2364
$GC,13183,0.47,126.5,503.4,12.1,400,13187,0.00,1.67,0.00,0.000,4,0.000,0.048,2863,3281,2364
$GC,13233,0.47,126.5,496.9,12.4,401,13237,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2239,2364
$GC,13528,0.47,126.5,462.0,11.8,408,13531,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3287,2364
$GC,13592,0.47,126.5,453.4,13.0,409,13595,0.00,1.55,0.00,0.000,6,0.000,0.028,2868,2246,2364
$GC,13869,0.47,126.5,421.3,11.7,416,13873,0.00,1.65,0.00,0.000,4,0.000,0.050,2863,3292,2363
$GC,13910,0.47,126.5,416.1,12.1,416,13918,0.00,1.52,0.00,0.000,6,0.000,0.026,2869,2261,2362
$GC,14165,0.47,126.5,388.6,10.9,423,14168,0.00,1.62,0.00,0.000,4,0.000,0.048,2863,3297,2363
$GC,14251,0.47,126.5,378.5,11.4,424,14259,0.00,1.50,0.00,0.000,6,0.000,0.026,2868,2285,2363
$GC,14506,0.47,126.5,352.3,10.0,431,14510,0.00,1.62,0.00,0.000,4,0.000,0.028,2877,1141,2363
$GC,14646,0.47,126.5,338.5,9.9,434,14650,0.00,1.73,0.00,0.000,6,0.000,0.041,2875,2261,2362
$GC,14941,0.47,133.8,310.4,8.7,441,14950,0.00,1.60,4.47,0.626,4,0.000,0.049,2875,3279,2352
$GC,15112,0.47,133.8,294.6,9.4,444,15116,0.10,1.48,0.00,0.000,6,0.170,0.026,2851,2285,2352
$GC,15373,0.49,167.6,275.0,7.4,451,15416,0.00,0.00,33.83,0.785,6,0.000,0.000,2851,2279,2214
$GC,15662,0.49,167.6,248.8,9.4,458,15664,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2278,2208
$GC,15906,0.49,167.6,226.7,9.1,464,15910,0.00,1.62,0.00,0.000,4,0.000,0.026,2856,1161,2208
$GC,15957,0.49,180.9,222.8,8.4,465,15975,0.00,1.75,12.27,0.737,6,0.000,0.040,2857,2299,2160
$GC,16249,0.50,194.7,199.3,8.3,472,16267,0.00,1.67,13.55,0.716,4,0.000,0.025,2857,1155,2103
$GC,16330,0.51,216.4,192.6,8.0,478,16356,0.00,1.67,20.00,0.717,6,0.000,0.038,2857,2245,2014
$GC,16613,0.51,216.4,167.0,9.4,504,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2245,2010
$GC,16880,0.51,232.5,142.9,8.2,529,16899,0.00,1.62,14.50,0.659,4,0.000,0.044,2857,3279,1950
$GC,16973,0.52,240.5,134.6,8.6,536,16988,0.00,1.55,8.57,0.604,6,0.000,0.023,2857,2242,1917
$GC,17249,0.52,255.7,112.9,8.3,561,17268,0.00,1.60,14.35,0.623,4,0.000,0.025,2860,1159,1853
$GC,17354,0.54,302.5,104.3,6.8,569,17398,0.00,1.62,39.58,0.634,6,0.000,0.036,2860,2226,1664
$GC,17659,0.55,338.6,79.7,7.3,596,17701,0.00,1.67,29.80,0.604,4,0.000,0.040,2860,3290,1516
$GC,17754,0.57,368.3,72.9,7.6,603,17784,0.00,1.60,25.50,0.591,6,0.000,0.021,2859,2179,1396
$GC,18045,0.57,368.3,48.8,10.4,629,18054,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2179,1391
$GC,18333,0.57,368.3,19.5,10.5,662,18342,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2179,1391
$STATE,18490,end climb,SURFACE_DEPTH_REACHED
$STATE,18490,begin surface coast
$FINISH,0.5,0.998703
$STATE,18528,end surface coast,CONTROL_FINISHED_OK
$STATE,18528,begin surface
$SM_CCo,18553,9.52,0.492,0,0,1307,390.02
$SM_GC,1.12,0.00,0.00,9.52,0.000,0.000,0.492,24,2529,1307,-8.35,0.82,390.02
$IRIDIUM_FIX,2246.36,-15735.41,120203,151557
$TT8_MAMPS,0.023777
$HUMID,2239
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.20
$XPDR_PINGS,5
$24V_AH,23.3,53.470
$10V_AH,10.6,64.502
$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,17.925,107.925,466.975,9.525,0.000,55.102,80.811,433.334,1.250,0.000,0.000,15.005,1429.658,12639.814,502.664,3521.142,1300.764,33.378,1613.629,0.000,3531.605,0.000,0.545,0.000
$DEVICE_MAMPS,197.119,58.292,1259.414,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,472.067,2279.744,2378.514,1481.305,1514.896,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57533,692
$CAP_FILE_SIZE,141563,0
$CFSIZE,260165632,237170688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,10,0
$GPS,181113,203835,2258.613,-15733.449,30,1.4,30,10.1