version: 66.04
glider: 512
mission: 4
dive: 272
start: 11 8 113 4 7 55
data:
$ID,512
$MISSION,4
$DIVE,272
$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,-111833.27
$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,71
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2890
$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
$GPS1,035836,2243.088,-15806.710,31,1.3,31,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-82.6
$GPS2,040701,2243.175,-15806.761,15,1.9,15,10.0
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.050,0.230
$KALMAN_X,52811.1,-113.3,-31.7,-64126.8,-275.1
$KALMAN_Y,67711.1,-107.0,-679.8,-68597.0,2883.0
$MHEAD_RNG_PITCHd_Wd,2.3,39586,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.47,-126.5,0.0,0.0,0,88,0.00,0.00,-68.47,0.000,2,0.000,0.000,10,2519,2830
$GC,94,-0.47,-126.5,2.3,-1.9,8,123,9.62,1.58,-12.93,0.000,4,0.199,0.055,2530,3571,3406
$GC,328,-0.47,-126.5,62.2,-23.5,33,338,0.00,1.55,0.00,0.000,6,0.000,0.019,2530,2499,3407
$GC,594,-0.47,-126.5,115.1,-17.6,58,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2491,3407
$GC,860,-0.47,-126.5,163.4,-16.4,83,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2491,3408
$GC,1145,-0.47,-126.5,207.4,-14.6,107,1149,0.00,1.65,0.00,0.000,4,0.000,0.042,2522,3563,3408
$GC,1208,-0.47,-126.5,216.3,-12.6,108,1212,0.00,1.55,0.00,0.000,6,0.000,0.019,2521,2468,3407
$GC,1486,-0.47,-126.5,253.4,-13.6,115,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2460,3407
$GC,1730,-0.47,-126.5,285.7,-13.1,121,1733,0.00,1.67,0.00,0.000,4,0.000,0.042,2514,3566,3407
$GC,1870,-0.47,-126.5,302.6,-11.7,124,1874,0.00,1.50,0.00,0.000,6,0.000,0.019,2514,2508,3407
$GC,2164,-0.47,-126.5,332.3,-9.9,131,2166,0.10,0.00,0.00,0.000,6,0.136,0.000,2543,2500,3406
$GC,2408,-0.47,-126.5,351.7,-8.0,137,2411,0.00,1.62,0.00,0.000,4,0.000,0.047,2537,3565,3404
$GC,2488,-0.47,-126.5,359.3,-9.3,138,2492,0.00,1.50,0.00,0.000,6,0.000,0.021,2537,2511,3403
$GC,2749,-0.47,-126.5,385.3,-10.4,145,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2503,3402
$GC,2993,-0.47,-126.5,411.1,-10.4,151,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2503,3400
$GC,3236,-0.47,-126.5,433.7,-9.0,157,3240,0.00,1.48,0.00,0.000,4,0.000,0.021,2537,1444,3398
$GC,3294,-0.47,-126.5,439.4,-8.8,158,3298,0.00,1.67,0.00,0.000,6,0.000,0.043,2537,2525,3398
$GC,3577,-0.47,-126.5,464.2,-8.9,165,3581,0.00,1.65,-0.08,0.000,4,0.000,0.067,2529,3567,3420
$GC,3638,-0.47,-126.5,469.6,-8.8,166,3642,0.00,1.50,0.00,0.000,6,0.000,0.023,2529,2526,3419
$GC,3921,-0.47,-126.5,492.4,-8.0,173,3925,0.00,1.65,0.00,0.000,4,0.000,0.049,2523,3560,3417
$GC,3995,-0.47,-126.5,498.3,-7.3,174,3999,0.00,1.48,0.00,0.000,6,0.000,0.024,2523,2535,3417
$GC,4263,-0.47,-126.5,516.9,-6.8,181,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2527,3415
$GC,4507,-0.47,-126.5,535.2,-7.7,187,4511,0.00,1.52,0.00,0.000,4,0.000,0.023,2523,1449,3413
$GC,4559,-0.47,-126.5,539.9,-7.9,188,4563,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2547,3413
$GC,4847,-0.47,-126.5,565.7,-9.4,195,4851,0.00,1.60,0.00,0.000,4,0.000,0.055,2523,3582,3411
$GC,4899,-0.47,-126.5,570.3,-8.8,196,4902,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2570,3411
$GC,5194,-0.47,-126.5,596.5,-8.6,203,5197,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1452,3409
$GC,5235,-0.47,-126.5,600.1,-8.2,203,5243,0.08,1.70,0.00,0.000,6,0.104,0.044,2544,2544,3408
$GC,5490,-0.47,-126.5,616.3,-6.4,210,5493,0.00,1.60,0.00,0.000,4,0.000,0.054,2538,3579,3407
$GC,5541,-0.47,-126.5,619.6,-6.7,211,5545,0.00,1.48,0.00,0.000,6,0.000,0.026,2538,2564,3407
$GC,5836,-0.47,-126.5,640.1,-6.9,218,5839,0.00,1.55,0.00,0.000,4,0.000,0.025,2538,1463,3405
$GC,5866,-0.47,-126.5,642.4,-7.2,218,5870,0.00,1.75,0.00,0.000,6,0.000,0.046,2537,2580,3405
$GC,6132,-0.47,-126.5,661.4,-7.4,225,6136,0.00,1.55,0.00,0.000,4,0.000,0.054,2530,3563,3403
$GC,6202,-0.47,-126.5,667.2,-7.7,226,6206,0.00,1.42,0.00,0.000,6,0.000,0.026,2530,2587,3402
$GC,6474,-0.47,-126.5,687.7,-7.6,233,6478,0.00,1.60,0.00,0.000,4,0.000,0.025,2530,1436,3401
$GC,6570,-0.47,-126.5,694.6,-6.6,235,6574,0.00,1.77,0.00,0.000,6,0.000,0.045,2523,2587,3400
$GC,6865,-0.47,-126.5,715.9,-7.3,242,6868,0.00,1.55,0.00,0.000,4,0.000,0.058,2524,3562,3400
$GC,6906,-0.47,-126.5,719.4,-7.6,242,6914,0.00,1.42,0.00,0.000,6,0.000,0.026,2524,2581,3399
$GC,7161,-0.47,-126.5,737.4,-7.2,249,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2581,3398
$GC,7404,-0.47,-126.5,755.4,-7.5,255,7408,0.00,1.60,0.00,0.000,4,0.000,0.026,2524,1464,3397
$GC,7440,-0.47,-126.5,758.6,-7.9,255,7444,0.00,1.75,0.00,0.000,6,0.000,0.047,2523,2594,3397
$GC,7702,-0.47,-126.5,781.1,-8.9,262,7705,0.00,1.55,0.00,0.000,4,0.000,0.060,2523,3565,3396
$GC,7738,-0.47,-126.5,784.6,-9.4,262,7741,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2596,3396
$GC,7998,-0.47,-126.5,806.6,-8.5,269,8002,0.00,1.62,0.00,0.000,4,0.000,0.026,2523,1454,3395
$GC,8084,-0.47,-126.5,813.8,-7.8,270,8093,0.00,1.77,0.00,0.000,6,0.000,0.048,2523,2576,3394
$GC,8339,-0.47,-126.5,830.7,-6.4,277,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2577,3393
$GC,8583,-0.47,-126.5,845.1,-5.9,283,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2576,3392
$GC,8827,-0.47,-126.5,860.3,-6.2,289,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2576,3392
$GC,9071,-0.47,-126.5,876.2,-6.6,295,9075,0.00,1.62,0.00,0.000,4,0.000,0.028,2523,1450,3391
$GC,9129,-0.47,-126.5,880.6,-7.1,296,9132,0.00,1.80,0.00,0.000,6,0.000,0.050,2523,2582,3391
$GC,9412,-0.47,-126.5,898.9,-6.4,303,9416,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3561,3390
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9425,begin apogee
$GC,9438,-0.17,0.0,900.2,6.3,303,9552,0.32,0.00,111.00,1.262,6,0.094,0.000,2637,2216,2890
$STATE,9553,end apogee,CONTROL_FINISHED_OK
$STATE,9553,begin climb
$GC,9558,0.47,126.5,903.0,0.0,306,9713,0.55,1.65,128.15,1.160,4,0.035,0.028,2872,1168,2373
$GC,9743,0.47,126.5,888.9,16.0,310,9746,0.00,1.75,0.00,0.000,6,0.000,0.041,2871,2230,2368
$GC,10031,0.47,126.5,838.1,17.9,317,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2230,2363
$GC,10275,0.47,126.5,796.5,17.1,323,10278,0.00,1.65,0.00,0.000,4,0.000,0.050,2871,3290,2360
$GC,10349,0.47,126.5,783.3,18.6,324,10353,0.00,1.58,0.00,0.000,6,0.000,0.027,2878,2243,2360
$GC,10616,0.47,126.5,743.0,15.0,331,10619,0.00,1.58,0.00,0.000,4,0.000,0.028,2885,1159,2359
$GC,10653,0.47,126.5,737.7,13.1,331,10657,0.15,1.67,0.00,0.000,6,0.156,0.043,2848,2238,2358
$GC,10912,0.47,126.5,709.3,10.7,338,10916,0.00,1.65,0.00,0.000,4,0.000,0.051,2848,3282,2358
$GC,10953,0.47,126.5,704.1,11.9,338,10962,0.00,1.58,0.00,0.000,6,0.000,0.028,2847,2241,2357
$GC,11208,0.47,126.5,673.2,12.3,345,11211,0.00,1.60,0.00,0.000,4,0.000,0.029,2855,1148,2356
$GC,11305,0.47,126.5,661.8,12.0,347,11309,0.00,1.65,0.00,0.000,6,0.000,0.042,2850,2213,2356
$GC,11599,0.47,126.5,624.2,12.9,354,11603,0.00,1.65,0.00,0.000,4,0.000,0.051,2850,3281,2355
$GC,11675,0.47,126.5,613.6,12.6,355,11678,0.00,1.60,0.00,0.000,6,0.000,0.027,2856,2187,2355
$GC,11941,0.47,126.5,579.1,12.8,362,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2181,2355
$GC,12184,0.47,126.5,547.8,12.8,368,12188,0.00,1.73,0.00,0.000,4,0.000,0.051,2857,3277,2354
$GC,12393,0.47,126.5,517.3,13.5,372,12397,0.00,1.58,0.00,0.000,6,0.000,0.026,2864,2215,2354
$GC,12660,0.47,126.5,487.0,10.6,379,12664,0.00,1.70,0.00,0.000,4,0.000,0.048,2863,3291,2354
$GC,12702,0.47,126.5,482.0,11.5,379,12710,0.00,1.58,0.00,0.000,6,0.000,0.027,2870,2229,2354
$GC,12956,0.47,126.5,455.2,10.8,386,12960,0.00,1.67,0.00,0.000,4,0.000,0.048,2864,3275,2354
$GC,13008,0.47,126.5,448.4,12.9,387,13011,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2242,2354
$GC,13297,0.47,126.5,411.8,12.9,394,13300,0.00,1.55,0.00,0.000,4,0.000,0.028,2877,1167,2354
$GC,13391,0.47,126.5,400.0,12.9,396,13395,0.00,1.67,0.00,0.000,6,0.000,0.042,2877,2231,2353
$GC,13686,0.47,126.5,364.0,12.1,403,13689,0.00,1.62,0.00,0.000,4,0.000,0.049,2876,3293,2353
$GC,13810,0.47,126.5,348.6,11.2,405,13814,0.08,1.52,0.00,0.000,6,0.164,0.025,2849,2259,2353
$GC,14071,0.47,134.2,326.3,8.6,412,14077,0.00,0.00,4.18,0.614,6,0.000,0.000,2848,2259,2343
$GC,14315,0.47,134.2,303.2,9.6,418,14319,0.00,1.62,0.00,0.000,4,0.000,0.045,2848,3283,2343
$GC,14367,0.47,134.2,297.8,9.8,419,14370,0.00,1.52,0.00,0.000,6,0.000,0.025,2854,2247,2343
$GC,14655,0.48,149.5,272.7,8.3,426,14684,0.00,1.70,17.95,0.736,4,0.000,0.048,2854,3293,2279
$GC,14761,0.48,149.5,262.5,9.8,428,14765,0.00,1.50,0.00,0.000,6,0.000,0.025,2860,2284,2278
$GC,15039,0.48,154.0,238.7,8.8,435,15048,0.00,1.60,5.28,0.628,4,0.000,0.025,2868,1157,2262
$GC,15135,0.49,182.3,230.9,7.6,437,15165,0.00,1.70,25.95,0.767,6,0.000,0.039,2866,2262,2146
$GC,15420,0.49,182.3,202.9,10.1,444,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2262,2141
$GC,15672,0.49,182.3,176.9,10.4,465,15676,0.00,1.58,0.00,0.000,4,0.000,0.046,2863,3276,2140
$GC,15713,0.49,182.3,171.7,13.0,468,15722,0.00,1.50,0.00,0.000,6,0.000,0.023,2869,2253,2140
$GC,15980,0.49,182.3,142.6,10.6,493,15984,0.00,1.62,0.00,0.000,4,0.000,0.044,2864,3280,2140
$GC,16087,0.49,182.3,131.4,9.7,502,16091,0.00,1.45,0.00,0.000,6,0.000,0.023,2868,2280,2140
$GC,16365,0.50,205.9,110.1,7.9,527,16392,0.00,1.55,20.90,0.639,4,0.000,0.024,2873,1175,2049
$GC,16423,0.51,214.2,104.2,8.6,531,16435,0.00,1.73,8.65,0.578,6,0.000,0.036,2873,2287,2015
$GC,16702,0.52,239.6,77.6,7.8,556,16730,0.00,1.52,22.17,0.610,4,0.000,0.042,2873,3291,1912
$GC,16821,0.53,266.6,68.1,7.7,565,16848,0.00,1.45,23.27,0.596,6,0.000,0.021,2873,2300,1803
$GC,17115,0.56,343.5,51.9,5.3,591,17184,0.00,1.65,62.15,0.587,4,0.000,0.021,2873,1158,1488
$GC,17237,0.59,421.4,44.4,5.3,600,17307,0.00,1.77,62.70,0.574,6,0.000,0.034,2872,2315,1169
$GC,17588,0.61,472.3,19.0,6.6,640,17634,0.00,1.75,40.80,0.545,4,0.000,0.021,2873,1164,963
$STATE,17746,end climb,SURFACE_DEPTH_REACHED
$STATE,17746,begin surface coast
$FINISH,0.3,0.999428
$STATE,17783,end surface coast,CONTROL_FINISHED_OK
$STATE,17783,begin surface
$SM_CCo,17870,0.00,0.000,0,0,959,473.67
$SM_GC,1.33,7.25,0.00,0.00,0.023,0.000,0.000,40,2525,959,-8.21,0.74,473.67
$IRIDIUM_FIX,2150.42,-15759.83,010203,232325
$TT8_MAMPS,0.023777
$HUMID,2210
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.20
$XPDR_PINGS,7
$24V_AH,23.3,44.944
$10V_AH,10.6,53.464
$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,18.150,129.150,533.150,0.000,0.000,28.986,33.628,244.099,1.750,0.000,0.000,15.630,1423.956,11856.564,505.500,3586.887,989.897,33.375,1701.648,0.000,3571.338,0.000,0.546,0.000
$DEVICE_MAMPS,198.653,67.496,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,454.384,2199.869,2271.097,1542.421,1484.007,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57465,668
$CAP_FILE_SIZE,140518,0
$CFSIZE,260165632,240549888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,081113,090706,2245.567,-15806.454,38,0.9,38,10.0