version: 66.04
glider: 512
mission: 4
dive: 246
start: 11 2 113 14 59 41
data:
$ID,512
$MISSION,4
$DIVE,246
$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,-111262.55
$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,27
$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
$GPS1,143100,2306.107,-15735.957,40,1.8,40,10.1
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.1
$GPS2,145843,2306.039,-15736.047,14,1.8,14,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.117,0.177
$KALMAN_X,32491.5,34.9,-171.9,8640.6,1612.0
$KALMAN_Y,63467.7,124.1,-202.2,-22724.9,-1934.2
$MHEAD_RNG_PITCHd_Wd,316.4,1556,-19.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.52,-101.0,0.0,0.0,0,80,0.00,0.00,-60.00,0.000,2,0.000,0.000,10,2512,2714
$GC,86,-0.53,-126.5,2.0,-1.0,7,124,9.52,1.52,-17.60,0.000,4,0.200,0.040,2518,1450,3417
$GC,350,-0.53,-126.5,64.6,-26.1,36,353,0.00,1.60,0.00,0.000,6,0.000,0.035,2512,2522,3417
$GC,622,-0.53,-126.5,125.1,-19.5,61,626,0.00,1.58,0.00,0.000,4,0.000,0.044,2504,3558,3418
$GC,675,-0.53,-126.5,136.2,-20.2,65,683,0.00,1.52,0.00,0.000,6,0.000,0.019,2510,2482,3418
$GC,941,-0.53,-126.5,184.8,-17.8,90,945,0.00,1.40,0.00,0.000,4,0.000,0.020,2517,1451,3419
$GC,972,-0.53,-126.5,190.4,-16.8,92,980,0.00,1.62,0.00,0.000,6,0.000,0.035,2511,2525,3419
$GC,1250,-0.53,-126.5,233.3,-15.4,104,1254,0.00,1.58,0.00,0.000,4,0.000,0.044,2503,3565,3419
$GC,1300,-0.53,-126.5,240.9,-14.9,105,1304,0.00,1.48,0.00,0.000,6,0.000,0.018,2508,2525,3418
$GC,1596,-0.53,-126.5,283.8,-14.4,112,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2518,3418
$GC,1839,-0.53,-126.5,318.2,-14.1,118,1842,0.00,1.48,0.00,0.000,4,0.000,0.021,2508,1453,3417
$GC,1881,-0.53,-126.5,324.4,-13.1,118,1889,0.00,1.65,0.00,0.000,6,0.000,0.038,2502,2539,3416
$GC,2136,-0.53,-126.5,358.0,-13.5,125,2140,0.00,1.55,0.00,0.000,4,0.000,0.046,2494,3560,3415
$GC,2199,-0.53,-126.5,367.2,-13.0,126,2203,0.00,1.45,0.00,0.000,6,0.000,0.021,2500,2532,3414
$GC,2478,-0.53,-126.5,403.0,-13.0,133,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2523,3412
$GC,2721,-0.53,-126.5,433.0,-12.1,139,2725,0.00,1.60,0.00,0.000,4,0.000,0.044,2493,3580,3411
$GC,2771,-0.53,-126.5,438.8,-11.3,140,2775,0.00,1.45,0.00,0.000,6,0.000,0.022,2499,2571,3410
$GC,3066,-0.53,-126.5,471.7,-11.0,147,3069,0.00,1.55,0.00,0.000,4,0.000,0.024,2507,1464,3407
$GC,3130,-0.53,-126.5,478.7,-10.0,148,3134,0.00,1.65,-0.08,0.000,6,0.000,0.041,2501,2564,3432
$GC,3407,-0.53,-126.5,506.1,-10.1,155,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3429
$GC,3650,-0.53,-126.5,530.5,-10.0,161,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3427
$GC,3894,-0.53,-126.5,556.9,-11.1,167,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3425
$GC,4137,-0.53,-126.5,585.6,-11.8,173,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2563,3422
$GC,4381,-0.53,-126.5,613.9,-11.5,179,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3420
$GC,4625,-0.53,-126.5,640.6,-10.7,185,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3418
$GC,4869,-0.53,-126.5,665.3,-10.1,191,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3416
$GC,5112,-0.53,-126.5,690.1,-10.2,197,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3414
$GC,5356,-0.53,-126.5,714.5,-9.9,203,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2564,3412
$GC,5600,-0.53,-126.5,737.2,-9.2,209,5604,0.00,1.55,0.00,0.000,4,0.000,0.054,2493,3553,3411
$GC,5650,-0.53,-126.5,741.7,-9.2,210,5654,0.00,1.48,0.00,0.000,6,0.000,0.028,2499,2552,3411
$GC,5945,-0.53,-126.5,766.4,-8.4,217,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2545,3409
$GC,6189,-0.53,-126.5,787.1,-8.5,223,6192,0.00,1.60,0.00,0.000,4,0.000,0.053,2493,3569,3408
$GC,6224,-0.53,-126.5,790.8,-9.3,223,6229,0.05,1.48,0.00,0.000,6,0.125,0.027,2521,2562,3408
$GC,6485,-0.53,-126.5,808.5,-6.7,230,6488,0.00,1.55,0.00,0.000,4,0.000,0.028,2521,1476,3406
$GC,6526,-0.53,-126.5,811.7,-6.9,230,6534,0.00,1.67,0.00,0.000,6,0.000,0.050,2522,2534,3405
$GC,6781,-0.53,-126.5,830.8,-8.0,237,6784,0.00,1.60,0.00,0.000,4,0.000,0.057,2515,3566,3404
$GC,6832,-0.53,-126.5,835.0,-8.1,238,6836,0.00,1.50,0.00,0.000,6,0.000,0.028,2516,2554,3404
$GC,7127,-0.53,-126.5,860.4,-8.5,245,7130,0.00,1.55,0.00,0.000,4,0.000,0.028,2516,1474,3402
$GC,7178,-0.53,-126.5,865.2,-9.2,246,7182,0.00,1.70,0.00,0.000,6,0.000,0.049,2510,2549,3402
$GC,7468,-0.53,-126.5,890.1,-8.9,253,7472,0.00,1.60,0.00,0.000,4,0.000,0.060,2508,3570,3401
$GC,7549,-0.53,-126.5,897.8,-8.7,254,7552,0.00,1.48,0.00,0.000,6,0.000,0.028,2508,2573,3401
$STATE,7602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7602,begin apogee
$GC,7613,-0.17,0.0,902.8,9.3,256,7726,0.40,0.00,109.93,1.253,6,0.099,0.000,2644,2224,2900
$STATE,7727,end apogee,CONTROL_FINISHED_OK
$STATE,7727,begin climb
$GC,7732,0.53,126.5,907.4,0.0,259,7887,0.62,0.00,127.10,1.156,6,0.028,0.000,2895,2223,2384
$GC,8133,0.53,126.5,852.9,19.0,269,8137,0.00,1.73,0.00,0.000,4,0.000,0.049,2891,3284,2375
$GC,8163,0.53,126.5,846.5,20.0,269,8167,0.12,1.58,0.00,0.000,6,0.192,0.028,2870,2248,2374
$GC,8430,0.53,126.5,802.4,16.6,276,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2242,2372
$GC,8673,0.53,126.5,760.8,17.2,282,8676,0.00,1.65,0.00,0.000,4,0.000,0.050,2865,3286,2371
$GC,8724,0.53,126.5,751.9,18.9,283,8727,0.00,1.60,0.00,0.000,6,0.000,0.028,2871,2223,2370
$GC,9018,0.53,126.5,703.2,16.2,290,9021,0.00,1.70,0.00,0.000,4,0.000,0.050,2872,3294,2369
$GC,9068,0.53,126.5,694.9,16.6,291,9072,0.00,1.55,0.00,0.000,6,0.000,0.027,2878,2259,2369
$GC,9363,0.53,126.5,650.3,14.9,298,9366,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3289,2368
$GC,9387,0.53,126.5,645.6,16.5,298,9390,0.00,1.55,0.00,0.000,6,0.000,0.027,2883,2253,2368
$GC,9658,0.53,126.5,604.1,15.2,305,9662,0.00,1.67,0.00,0.000,4,0.000,0.050,2884,3292,2368
$GC,9677,0.53,126.5,600.6,15.0,305,9680,0.00,1.52,0.00,0.000,6,0.000,0.027,2890,2273,2367
$GC,9954,0.53,126.5,558.7,15.2,312,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2267,2367
$GC,10198,0.53,126.5,520.9,15.5,318,10201,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3303,2366
$GC,10239,0.53,126.5,513.8,16.5,318,10249,0.10,1.50,0.00,0.000,6,0.170,0.028,2868,2302,2366
$GC,10495,0.53,126.5,481.2,12.5,325,10498,0.00,1.65,0.00,0.000,4,0.000,0.029,2874,1154,2365
$GC,10589,0.53,126.5,469.4,12.5,327,10593,0.00,1.75,0.00,0.000,6,0.000,0.042,2874,2268,2365
$GC,10884,0.53,126.5,431.2,13.1,334,10888,0.00,1.60,0.00,0.000,4,0.000,0.051,2874,3287,2365
$GC,10925,0.53,126.5,425.3,13.9,334,10933,0.00,1.55,0.00,0.000,6,0.000,0.026,2882,2242,2365
$GC,11179,0.53,126.5,394.2,12.1,341,11183,0.00,1.67,0.00,0.000,4,0.000,0.047,2876,3291,2364
$GC,11198,0.53,126.5,391.6,11.8,341,11202,0.00,1.52,0.00,0.000,6,0.000,0.025,2881,2258,2364
$GC,11476,0.53,126.5,359.2,11.9,348,11479,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3296,2364
$GC,11527,0.53,126.5,352.0,13.6,349,11530,0.00,1.50,0.00,0.000,6,0.000,0.025,2883,2286,2365
$GC,11821,0.53,126.5,317.8,11.1,356,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2279,2364
$GC,12064,0.53,126.5,293.6,9.9,362,12068,0.00,1.62,0.00,0.000,4,0.000,0.026,2891,1138,2364
$GC,12117,0.54,152.8,289.5,7.4,363,12142,0.00,1.77,20.70,0.828,6,0.000,0.040,2891,2279,2277
$GC,12398,0.54,152.8,258.5,11.7,370,12402,0.00,1.65,0.00,0.000,4,0.000,0.026,2897,1161,2273
$GC,12434,0.54,152.8,254.4,9.8,370,12437,0.00,1.70,0.00,0.000,6,0.000,0.038,2891,2274,2273
$GC,12694,0.54,152.8,226.0,11.6,377,12698,0.00,1.60,0.00,0.000,4,0.000,0.025,2897,1165,2272
$GC,12859,0.54,152.8,207.6,10.6,380,12863,0.00,1.65,0.00,0.000,6,0.000,0.039,2892,2249,2272
$GC,13123,0.54,152.8,178.6,10.2,398,13126,0.00,1.58,0.00,0.000,4,0.000,0.044,2891,3278,2272
$GC,13196,0.54,152.8,170.4,11.4,404,13199,0.00,1.50,0.00,0.000,6,0.000,0.024,2897,2247,2272
$GC,13468,0.54,152.8,142.7,10.7,429,13472,0.00,1.55,0.00,0.000,4,0.000,0.026,2900,1168,2272
$GC,13566,0.54,152.8,133.4,9.9,437,13570,0.08,1.65,0.00,0.000,6,0.135,0.036,2874,2246,2273
$GC,13843,0.54,156.6,108.2,8.8,462,13852,0.00,0.00,4.62,0.492,6,0.000,0.000,2874,2246,2261
$GC,14110,0.57,229.0,92.3,4.7,487,14177,0.00,1.58,60.55,0.630,4,0.000,0.041,2874,3273,1967
$GC,14292,0.57,244.3,79.5,8.1,501,14310,0.00,1.50,14.00,0.582,6,0.000,0.021,2874,2251,1903
$GC,14583,0.58,256.0,57.6,8.3,527,14598,0.00,1.60,10.75,0.551,4,0.000,0.023,2874,1165,1855
$GC,14640,0.59,287.8,53.0,7.1,531,14672,0.00,1.65,27.17,0.577,6,0.000,0.035,2874,2258,1725
$GC,14940,0.60,311.7,31.7,7.6,558,14969,0.00,1.58,19.90,0.552,4,0.000,0.039,2874,3282,1628
$GC,15000,0.60,323.2,26.8,8.3,564,15019,0.00,1.50,10.43,0.518,6,0.000,0.020,2874,2248,1582
$STATE,15296,end climb,SURFACE_DEPTH_REACHED
$STATE,15296,begin surface coast
$FINISH,0.4,1.023122
$STATE,15341,end surface coast,CONTROL_FINISHED_OK
$STATE,15341,begin surface
$SM_CCo,15366,27.25,0.525,0,0,1309,390.02
$SM_GC,1.42,0.00,0.00,27.25,0.000,0.000,0.525,38,2501,1309,-8.30,0.03,390.02
$IRIDIUM_FIX,2255.72,-15736.68,270103,141426
$TT8_MAMPS,0.023777
$HUMID,2225
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,27.00
$XPDR_PINGS,6
$24V_AH,23.7,40.562
$10V_AH,10.7,47.538
$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,18.125,102.100,405.150,27.250,0.000,149.211,188.105,875.549,1.500,0.000,0.000,14.555,1269.862,10348.240,470.784,3082.158,1885.298,33.372,1414.054,0.000,3104.923,0.000,0.546,0.000
$DEVICE_MAMPS,200.187,59.826,1253.278,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,419.839,2032.658,2112.157,1434.813,1425.602,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50803,617
$CAP_FILE_SIZE,135074,0
$CFSIZE,260165632,242376704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,021113,191820,2307.442,-15736.911,56,5.2,75,10.1