version: 66.04
glider: 512
mission: 4
dive: 247
start: 11 2 113 19 35 46
data:
$ID,512
$MISSION,4
$DIVE,247
$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,-111309.3
$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,79
$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,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
$GPS1,191820,2307.442,-15736.911,56,5.2,75,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-80.7
$GPS2,193453,2307.359,-15736.810,31,1.3,45,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.003
$KALMAN_X,33353.4,87.9,-49.6,6307.9,1374.0
$KALMAN_Y,61569.8,320.8,418.5,-19205.8,-3582.2
$MHEAD_RNG_PITCHd_Wd,79.0,4288,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.52,-101.0,0.0,0.0,0,88,0.00,0.00,-68.30,0.000,2,0.000,0.000,10,2499,2931
$GC,94,-0.53,-126.5,2.3,-1.3,8,123,9.43,1.50,-10.45,0.000,4,0.196,0.038,2527,1427,3416
$GC,184,-0.53,-126.5,30.9,-29.7,20,188,0.00,1.62,0.00,0.000,6,0.000,0.038,2522,2505,3417
$GC,456,-0.53,-126.5,100.2,-19.7,45,460,0.00,1.60,0.00,0.000,4,0.000,0.043,2513,3582,3417
$GC,484,-0.53,-126.5,106.1,-21.2,47,488,0.00,1.58,0.00,0.000,6,0.000,0.018,2515,2477,3417
$GC,756,-0.53,-126.5,158.2,-19.3,72,760,0.00,1.67,0.00,0.000,4,0.000,0.040,2509,3561,3418
$GC,783,-0.53,-126.5,163.8,-20.1,74,787,0.00,1.52,0.00,0.000,6,0.000,0.018,2509,2492,3418
$GC,1072,-0.53,-126.5,216.1,-18.1,95,1076,0.00,1.42,0.00,0.000,4,0.000,0.020,2515,1449,3418
$GC,1114,-0.53,-126.5,223.9,-17.4,95,1122,0.00,1.55,0.00,0.000,6,0.000,0.035,2509,2477,3418
$GC,1368,-0.53,-126.5,265.3,-16.3,102,1372,0.00,1.62,0.00,0.000,4,0.000,0.044,2501,3570,3418
$GC,1409,-0.53,-126.5,272.0,-15.3,102,1419,0.00,1.50,0.00,0.000,6,0.000,0.018,2506,2507,3417
$GC,1665,-0.53,-126.5,308.1,-14.3,109,1669,0.00,1.45,0.00,0.000,4,0.000,0.020,2514,1449,3417
$GC,1762,-0.53,-126.5,320.8,-11.6,111,1766,0.00,1.60,0.00,0.000,6,0.000,0.036,2508,2527,3417
$GC,2051,-0.53,-126.5,357.3,-12.8,118,2055,0.00,1.58,0.00,0.000,4,0.000,0.045,2501,3564,3415
$GC,2070,-0.53,-126.5,360.2,-12.7,118,2074,0.00,1.48,0.00,0.000,6,0.000,0.020,2506,2524,3415
$GC,2348,-0.53,-126.5,392.7,-11.8,125,2351,0.00,1.60,0.00,0.000,4,0.000,0.043,2500,3574,3413
$GC,2372,-0.53,-126.5,395.9,-11.4,125,2376,0.00,1.45,0.00,0.000,6,0.000,0.021,2506,2553,3413
$GC,2643,-0.53,-126.5,427.4,-11.8,132,2646,0.00,1.52,0.00,0.000,4,0.000,0.021,2514,1455,3411
$GC,2673,-0.53,-126.5,431.3,-12.3,132,2676,0.00,1.65,0.00,0.000,6,0.000,0.038,2508,2557,3411
$GC,2940,-0.53,-126.5,462.0,-11.8,139,2943,0.00,1.55,0.00,0.000,4,0.000,0.048,2500,3567,3408
$GC,2991,-0.53,-126.5,468.6,-11.2,140,2995,0.00,1.42,0.00,0.000,6,0.000,0.021,2505,2574,3408
$GC,3279,-0.53,-126.5,502.1,-11.8,147,3283,0.00,1.58,0.00,0.000,4,0.000,0.024,2508,1453,3405
$GC,3303,-0.53,-126.5,505.3,-11.7,147,3307,0.00,1.70,0.00,0.000,6,0.000,0.041,2502,2579,3405
$GC,3577,-0.53,-126.5,535.2,-11.1,154,3581,0.00,1.60,0.00,0.000,4,0.000,0.022,2508,1460,3402
$GC,3612,-0.53,-126.5,539.5,-10.3,154,3616,0.00,1.65,0.00,0.000,6,0.000,0.040,2502,2554,3402
$GC,3872,-0.53,-126.5,565.9,-10.2,161,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3399
$GC,4116,-0.53,-126.5,590.5,-10.1,167,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3398
$GC,4360,-0.53,-126.5,615.7,-10.3,173,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2554,3395
$GC,4603,-0.53,-126.5,638.4,-9.2,179,4607,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1464,3393
$GC,4678,-0.53,-126.5,645.0,-8.0,180,4681,0.00,1.67,0.00,0.000,6,0.000,0.042,2502,2565,3392
$GC,4945,-0.53,-126.5,668.4,-9.0,187,4948,0.00,1.55,0.00,0.000,4,0.000,0.052,2494,3558,3390
$GC,4981,-0.53,-126.5,672.3,-9.6,187,4984,0.00,1.42,0.00,0.000,6,0.000,0.025,2500,2582,3390
$GC,5241,-0.53,-126.5,696.3,-9.4,194,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3388
$GC,5484,-0.53,-126.5,719.2,-9.5,200,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3387
$GC,5728,-0.53,-126.5,742.9,-9.8,206,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2574,3385
$GC,5972,-0.53,-126.5,766.3,-9.6,212,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3384
$GC,6215,-0.53,-126.5,788.4,-9.0,218,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2574,3382
$GC,6459,-0.53,-126.5,809.0,-8.4,224,6463,0.00,1.58,0.00,0.000,4,0.000,0.052,2494,3563,3381
$GC,6489,-0.53,-126.5,811.8,-9.3,224,6492,0.00,1.42,0.00,0.000,6,0.000,0.026,2499,2594,3380
$GC,6755,-0.53,-126.5,833.0,-7.9,231,6759,0.00,1.60,0.00,0.000,4,0.000,0.028,2507,1451,3379
$GC,6786,-0.53,-126.5,835.7,-8.7,231,6789,0.00,1.75,0.00,0.000,6,0.000,0.046,2502,2568,3379
$GC,7053,-0.53,-126.5,856.4,-7.9,238,7056,0.00,1.55,0.00,0.000,4,0.000,0.055,2494,3551,3378
$GC,7122,-0.53,-126.5,862.4,-8.2,239,7125,0.00,1.40,0.00,0.000,6,0.000,0.027,2499,2601,3378
$GC,7394,-0.53,-126.5,884.0,-8.0,246,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2593,3377
$STATE,7591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7591,begin apogee
$GC,7603,-0.17,0.0,901.0,8.4,251,7714,0.43,0.00,105.15,1.250,6,0.107,0.000,2644,2213,2898
$STATE,7715,end apogee,CONTROL_FINISHED_OK
$STATE,7715,begin climb
$GC,7720,0.53,126.5,904.2,0.0,254,7872,0.57,0.00,126.45,1.155,6,0.027,0.000,2890,2213,2383
$GC,8140,0.53,126.5,844.2,19.2,264,8143,0.00,1.73,0.00,0.000,4,0.000,0.049,2890,3294,2373
$GC,8169,0.53,126.5,837.7,19.5,264,8174,0.12,1.58,0.00,0.000,6,0.193,0.026,2870,2259,2373
$GC,8436,0.53,126.5,791.3,17.4,271,8440,0.00,1.62,0.00,0.000,4,0.000,0.047,2863,3287,2371
$GC,8486,0.53,126.5,782.1,18.3,272,8490,0.00,1.55,0.00,0.000,6,0.000,0.026,2869,2259,2371
$GC,8780,0.53,126.5,731.7,17.0,279,8784,0.00,1.65,0.00,0.000,4,0.000,0.047,2863,3285,2369
$GC,8804,0.53,126.5,727.1,17.7,279,8807,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2266,2369
$GC,9077,0.53,126.5,684.7,15.7,286,9081,0.00,1.62,0.00,0.000,4,0.000,0.048,2864,3280,2368
$GC,9106,0.53,126.5,679.1,16.8,286,9110,0.00,1.48,0.00,0.000,6,0.000,0.028,2869,2291,2368
$GC,9372,0.53,126.5,638.3,15.1,293,9376,0.00,1.60,0.00,0.000,4,0.000,0.048,2864,3284,2367
$GC,9404,0.53,126.5,632.9,16.1,293,9407,0.00,1.48,0.00,0.000,6,0.000,0.027,2869,2292,2367
$GC,9670,0.53,126.5,592.9,15.0,300,9674,0.00,1.65,0.00,0.000,4,0.000,0.030,2877,1171,2366
$GC,9773,0.53,126.5,577.9,13.5,302,9776,0.00,1.70,0.00,0.000,6,0.000,0.042,2875,2275,2365
$GC,10055,0.53,126.5,537.4,14.4,309,10059,0.00,1.58,0.00,0.000,4,0.000,0.050,2875,3279,2364
$GC,10108,0.53,126.5,528.6,15.3,310,10112,0.00,1.50,0.00,0.000,6,0.000,0.028,2882,2272,2364
$GC,10397,0.53,126.5,487.5,14.1,317,10401,0.00,1.62,0.00,0.000,4,0.000,0.029,2890,1155,2364
$GC,10477,0.53,126.5,476.2,13.6,318,10481,0.00,1.73,0.00,0.000,6,0.000,0.043,2889,2275,2364
$GC,10739,0.53,126.5,440.4,13.8,325,10742,0.00,1.58,0.00,0.000,4,0.000,0.051,2889,3279,2364
$GC,10769,0.53,126.5,435.3,15.8,325,10772,0.00,1.48,0.00,0.000,6,0.000,0.028,2896,2286,2364
$GC,11035,0.53,126.5,398.1,14.2,332,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2279,2364
$GC,11278,0.53,126.5,365.4,12.6,338,11282,0.00,1.58,0.00,0.000,4,0.000,0.046,2891,3276,2364
$GC,11314,0.53,126.5,360.1,14.2,338,11318,0.08,1.48,0.00,0.000,6,0.193,0.026,2875,2281,2364
$GC,11573,0.53,126.5,330.5,11.3,345,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2274,2363
$GC,11817,0.53,126.5,304.3,10.4,351,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2273,2363
$GC,12061,0.53,126.5,278.7,10.8,357,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2274,2363
$GC,12304,0.53,126.5,254.4,9.8,363,12308,0.00,1.62,0.00,0.000,4,0.000,0.027,2882,1135,2364
$GC,12464,0.53,126.5,238.7,9.4,366,12467,0.00,1.83,0.00,0.000,6,0.000,0.041,2877,2328,2363
$GC,12737,0.54,151.8,216.1,7.5,373,12761,0.00,1.48,19.62,0.759,4,0.000,0.046,2876,3280,2281
$GC,12798,0.54,151.8,210.6,10.0,374,12802,0.00,1.42,0.00,0.000,6,0.000,0.024,2881,2310,2280
$GC,13061,0.54,151.8,186.2,10.2,388,13065,0.00,1.65,0.00,0.000,4,0.000,0.025,2889,1165,2278
$GC,13170,0.54,151.8,175.1,9.6,397,13177,0.00,1.75,0.00,0.000,6,0.000,0.038,2889,2297,2277
$GC,13436,0.54,154.6,148.9,8.8,422,13439,0.00,1.52,0.00,0.000,4,0.000,0.043,2889,3293,2277
$GC,13466,0.54,154.6,145.4,11.1,424,13476,0.00,1.52,3.92,0.475,6,0.000,0.022,2897,2241,2268
$GC,13737,0.54,154.6,118.3,10.6,449,13741,0.00,1.60,0.00,0.000,4,0.000,0.042,2891,3290,2268
$GC,13858,0.54,154.6,104.5,9.8,459,13866,0.00,1.48,0.00,0.000,6,0.000,0.021,2897,2270,2269
$GC,14124,0.57,226.4,85.4,4.7,484,14194,0.00,0.00,60.50,0.630,6,0.000,0.000,2897,2264,1975
$GC,14458,0.57,235.0,59.7,8.5,515,14473,0.00,1.60,7.82,0.531,4,0.000,0.040,2897,3283,1942
$GC,14502,0.57,235.0,55.1,9.3,518,14506,0.00,1.52,0.00,0.000,6,0.000,0.022,2899,2255,1941
$GC,14775,0.57,235.0,30.4,9.2,543,14779,0.00,1.58,0.00,0.000,4,0.000,0.024,2902,1156,1940
$GC,14812,0.57,235.0,27.0,9.4,547,14821,0.00,1.67,0.00,0.000,6,0.000,0.035,2902,2252,1939
$STATE,15047,end climb,SURFACE_DEPTH_REACHED
$STATE,15047,begin surface coast
$FINISH,0.5,1.010567
$STATE,15081,end surface coast,CONTROL_FINISHED_OK
$STATE,15081,begin surface
$SM_CCo,15106,62.42,0.536,0,0,1309,390.02
$SM_GC,1.52,0.00,0.00,62.42,0.000,0.000,0.536,44,2529,1309,-8.28,0.85,390.02
$IRIDIUM_FIX,2258.07,-15736.68,270103,191949
$TT8_MAMPS,0.023777
$HUMID,2203
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.50
$XPDR_PINGS,4
$24V_AH,23.7,40.700
$10V_AH,10.7,47.742
$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,17.925,107.750,323.475,62.425,0.000,86.234,105.456,427.340,1.000,0.000,0.000,46.119,1223.152,10236.906,434.080,2998.064,1263.900,33.369,1343.816,0.000,2974.722,0.000,0.545,0.000
$DEVICE_MAMPS,196.352,55.224,1250.210,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,401.597,1940.437,2024.140,1299.239,1346.949,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50811,589
$CAP_FILE_SIZE,121390,0
$CFSIZE,260165632,242323456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,021113,235006,2306.966,-15733.916,43,1.0,43,10.1