version: 66.04
glider: 512
mission: 4
dive: 274
start: 11 8 113 14 37 30
data:
$ID,512
$MISSION,4
$DIVE,274
$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,-111863.05
$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,69
$R_STBD_OVSHOOT,32
$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
$GPS1,142805,2248.183,-15806.306,39,1.2,39,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-82.0
$GPS2,143636,2248.162,-15806.353,11,1.2,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.222
$KALMAN_X,51361.3,33.2,-11.4,-62147.5,-794.5
$KALMAN_Y,68031.8,-817.1,-329.2,-59317.6,2592.0
$MHEAD_RNG_PITCHd_Wd,8.8,30326,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.47,-126.5,0.0,0.0,0,102,0.00,0.00,-77.85,0.000,2,0.000,0.000,10,2510,2976
$GC,108,-0.47,-126.5,2.4,-1.9,9,135,9.68,1.60,-8.80,0.000,4,0.202,0.052,2527,3561,3408
$GC,198,-0.47,-126.5,33.7,-29.4,21,207,0.00,1.55,0.00,0.000,6,0.000,0.020,2530,2499,3409
$GC,464,-0.47,-126.5,94.3,-18.2,46,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2492,3410
$GC,731,-0.47,-126.5,140.9,-17.7,71,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2492,3410
$GC,996,-0.47,-126.5,184.0,-15.6,96,1000,0.00,1.62,0.00,0.000,4,0.000,0.041,2523,3564,3410
$GC,1058,-0.47,-126.5,193.6,-14.1,101,1062,0.00,1.52,0.00,0.000,6,0.000,0.019,2523,2485,3410
$GC,1350,-0.47,-126.5,235.8,-14.1,111,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2478,3410
$GC,1594,-0.47,-126.5,268.3,-13.3,117,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2478,3410
$GC,1838,-0.47,-126.5,301.0,-13.1,123,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2477,3409
$GC,2082,-0.47,-126.5,330.0,-11.5,129,2085,0.00,1.65,0.00,0.000,4,0.000,0.043,2515,3565,3409
$GC,2207,-0.47,-126.5,344.2,-10.5,131,2211,0.00,1.48,0.00,0.000,6,0.000,0.020,2518,2529,3408
$GC,2467,-0.47,-126.5,372.6,-11.3,138,2471,0.00,1.50,0.00,0.000,4,0.000,0.021,2518,1445,3407
$GC,2503,-0.47,-126.5,377.2,-11.7,138,2508,0.12,1.62,0.00,0.000,6,0.116,0.040,2549,2526,3406
$GC,2765,-0.47,-126.5,399.0,-8.2,145,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2526,3404
$GC,3008,-0.47,-126.5,418.2,-7.8,151,3012,0.00,1.60,0.00,0.000,4,0.000,0.050,2542,3581,3402
$GC,3072,-0.47,-126.5,423.4,-7.4,152,3076,0.00,1.50,0.00,0.000,6,0.000,0.023,2542,2532,3402
$GC,3349,-0.47,-126.5,444.1,-7.5,159,3353,0.00,1.50,0.00,0.000,4,0.000,0.021,2542,1449,3399
$GC,3413,-0.47,-126.5,449.3,-7.6,160,3417,0.00,1.67,0.00,0.000,6,0.000,0.042,2537,2552,3399
$GC,3691,-0.47,-126.5,471.5,-8.2,167,3693,0.00,0.00,-0.08,0.000,6,0.000,0.000,2537,2552,3422
$GC,3935,-0.47,-126.5,490.1,-7.4,173,3938,0.00,1.58,0.00,0.000,4,0.000,0.051,2529,3559,3420
$GC,3967,-0.47,-126.5,492.5,-7.4,173,3970,0.00,1.42,0.00,0.000,6,0.000,0.025,2529,2570,3420
$GC,4233,-0.47,-126.5,510.4,-6.7,180,4236,0.00,1.58,0.00,0.000,4,0.000,0.051,2523,3557,3418
$GC,4298,-0.47,-126.5,514.7,-6.5,181,4301,0.00,1.40,0.00,0.000,6,0.000,0.025,2523,2584,3417
$GC,4575,-0.47,-126.5,533.8,-7.0,188,4579,0.00,1.58,0.00,0.000,4,0.000,0.023,2523,1460,3415
$GC,4639,-0.47,-126.5,539.1,-8.5,189,4642,0.00,1.73,0.00,0.000,6,0.000,0.044,2523,2589,3415
$GC,4917,-0.47,-126.5,562.6,-8.8,196,4921,0.00,1.62,0.00,0.000,4,0.000,0.025,2523,1446,3413
$GC,5021,-0.47,-126.5,573.0,-9.8,198,5024,0.00,1.73,0.00,0.000,6,0.000,0.045,2523,2567,3412
$GC,5304,-0.47,-126.5,599.5,-9.4,205,5308,0.00,1.55,0.00,0.000,4,0.000,0.056,2523,3550,3411
$GC,5355,-0.47,-126.5,604.0,-8.4,206,5358,0.00,1.42,0.00,0.000,6,0.000,0.025,2523,2572,3411
$GC,5649,-0.47,-126.5,627.7,-8.0,213,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2563,3409
$GC,5892,-0.47,-126.5,646.2,-7.7,219,5896,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1462,3408
$GC,5952,-0.47,-126.5,650.7,-6.9,220,5955,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2577,3407
$GC,6235,-0.47,-126.5,672.2,-7.5,227,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2577,3405
$GC,6478,-0.47,-126.5,689.2,-7.1,233,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2577,3403
$GC,6722,-0.47,-126.5,705.6,-6.6,239,6725,0.00,1.55,0.00,0.000,4,0.000,0.057,2523,3552,3403
$GC,6758,-0.47,-126.5,708.2,-7.0,239,6761,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2565,3402
$GC,7019,-0.47,-126.5,724.6,-6.4,246,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3401
$GC,7262,-0.47,-126.5,742.0,-7.2,252,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2556,3400
$GC,7506,-0.47,-126.5,760.2,-7.5,258,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3400
$GC,7750,-0.47,-126.5,776.4,-6.4,264,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3399
$GC,7994,-0.47,-126.5,791.9,-6.4,270,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2557,3397
$GC,8237,-0.47,-126.5,807.4,-6.4,276,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2556,3397
$GC,8481,-0.47,-126.5,823.3,-6.6,282,8484,0.00,1.58,0.00,0.000,4,0.000,0.028,2523,1464,3395
$GC,8511,-0.47,-126.5,825.6,-7.1,282,8515,0.00,1.75,0.00,0.000,6,0.000,0.049,2523,2564,3395
$GC,8778,-0.47,-126.5,843.3,-6.9,289,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3394
$GC,9022,-0.47,-126.5,859.9,-6.7,295,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2564,3394
$GC,9265,-0.47,-126.5,876.0,-6.6,301,9269,0.00,1.60,0.00,0.000,4,0.000,0.061,2523,3576,3393
$GC,9307,-0.47,-126.5,879.3,-7.1,301,9315,0.00,1.48,0.00,0.000,6,0.000,0.030,2523,2574,3393
$GC,9562,-0.47,-126.5,895.3,-6.3,308,9566,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1467,3392
$GC,9612,-0.47,-126.5,898.6,-7.4,309,9616,0.00,1.73,0.00,0.000,6,0.000,0.050,2523,2564,3393
$STATE,9626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9626,begin apogee
$GC,9637,-0.17,0.0,900.1,6.3,309,9752,0.32,0.00,111.68,1.261,6,0.094,0.000,2639,2227,2890
$STATE,9753,end apogee,CONTROL_FINISHED_OK
$STATE,9753,begin climb
$GC,9758,0.47,126.5,902.7,0.0,312,9913,0.55,1.67,128.40,1.160,4,0.033,0.027,2877,1170,2374
$GC,9976,0.47,126.5,884.0,15.6,316,9984,0.00,1.75,0.00,0.000,6,0.000,0.041,2875,2213,2367
$GC,10230,0.47,126.5,840.9,16.9,323,10234,0.00,1.70,0.00,0.000,4,0.000,0.051,2875,3290,2364
$GC,10305,0.47,126.5,827.1,18.0,324,10309,0.12,1.58,0.00,0.000,6,0.187,0.027,2853,2253,2361
$GC,10571,0.47,126.5,789.4,13.9,331,10575,0.00,1.60,0.00,0.000,4,0.000,0.028,2859,1169,2360
$GC,10601,0.47,126.5,784.8,14.0,331,10605,0.00,1.73,0.00,0.000,6,0.000,0.043,2859,2255,2359
$GC,10867,0.47,126.5,749.0,13.4,338,10871,0.00,1.62,0.00,0.000,4,0.000,0.051,2859,3282,2359
$GC,10896,0.47,126.5,744.4,14.8,338,10900,0.00,1.58,0.00,0.000,6,0.000,0.028,2867,2236,2359
$GC,11162,0.47,126.5,707.1,14.0,345,11166,0.00,1.67,0.00,0.000,4,0.000,0.049,2863,3290,2358
$GC,11258,0.47,126.5,692.5,16.5,347,11262,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2258,2357
$GC,11552,0.47,126.5,650.6,13.9,354,11556,0.00,1.60,0.00,0.000,4,0.000,0.028,2876,1165,2357
$GC,11582,0.47,126.5,646.0,14.5,354,11586,0.00,1.70,0.00,0.000,6,0.000,0.043,2876,2241,2357
$GC,11849,0.47,126.5,606.7,15.0,361,11852,0.00,1.62,0.00,0.000,4,0.000,0.052,2875,3290,2356
$GC,11879,0.47,126.5,601.3,17.7,361,11883,0.10,1.55,0.00,0.000,6,0.166,0.027,2852,2251,2356
$GC,12144,0.47,126.5,567.5,12.3,368,12148,0.00,1.60,0.00,0.000,4,0.000,0.029,2858,1161,2356
$GC,12218,0.47,126.5,558.2,11.7,369,12222,0.00,1.67,0.00,0.000,6,0.000,0.043,2858,2243,2355
$GC,12486,0.47,126.5,526.2,11.9,376,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2243,2355
$GC,12729,0.47,126.5,496.0,12.4,382,12733,0.00,1.62,0.00,0.000,4,0.000,0.053,2858,3273,2355
$GC,12920,0.47,126.5,471.5,13.1,386,12923,0.00,1.55,0.00,0.000,6,0.000,0.027,2865,2233,2355
$GC,13214,0.47,126.5,434.7,12.4,393,13217,0.00,1.55,0.00,0.000,4,0.000,0.028,2873,1171,2354
$GC,13311,0.47,126.5,422.1,12.4,395,13315,0.00,1.65,0.00,0.000,6,0.000,0.041,2873,2244,2355
$GC,13600,0.47,126.5,384.8,13.2,402,13603,0.00,1.62,0.00,0.000,4,0.000,0.051,2873,3299,2354
$GC,13741,0.47,126.5,367.4,11.7,405,13745,0.08,1.52,0.00,0.000,6,0.170,0.026,2847,2277,2354
$GC,14036,0.48,140.0,341.9,8.4,412,14050,0.00,1.60,10.00,0.827,4,0.000,0.028,2847,1162,2319
$GC,14175,0.48,158.5,331.2,8.1,415,14199,0.00,1.70,18.08,0.852,6,0.000,0.043,2847,2242,2243
$GC,14466,0.48,158.5,304.1,9.9,422,14470,0.00,1.60,0.00,0.000,4,0.000,0.049,2847,3278,2238
$GC,14498,0.48,158.5,300.9,9.9,422,14501,0.00,1.55,0.00,0.000,6,0.000,0.025,2854,2232,2238
$GC,14764,0.48,161.0,277.2,8.9,429,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2226,2237
$GC,15007,0.48,161.0,253.4,10.1,435,15010,0.00,1.65,0.00,0.000,4,0.000,0.048,2854,3281,2237
$GC,15065,0.48,161.0,246.6,10.7,436,15069,0.00,1.58,0.00,0.000,6,0.000,0.025,2857,2227,2237
$GC,15348,0.49,180.1,221.2,8.1,443,15369,0.00,0.00,19.42,0.750,6,0.000,0.000,2857,2222,2155
$GC,15592,0.50,193.1,201.3,8.4,449,15611,0.00,1.73,12.82,0.704,4,0.000,0.044,2857,3291,2101
$GC,15662,0.50,193.1,194.3,10.6,452,15666,0.00,1.58,0.00,0.000,6,0.000,0.024,2860,2236,2100
$GC,15933,0.50,193.1,165.7,11.3,477,15937,0.00,1.55,0.00,0.000,4,0.000,0.026,2860,1166,2099
$GC,16005,0.50,204.1,158.6,8.5,483,16021,0.00,1.65,10.50,0.646,6,0.000,0.037,2861,2226,2058
$GC,16281,0.50,204.1,132.2,10.4,508,16284,0.00,1.60,0.00,0.000,4,0.000,0.044,2860,3282,2056
$GC,16367,0.50,204.1,122.6,10.3,515,16371,0.00,1.55,0.00,0.000,6,0.000,0.022,2867,2224,2056
$GC,16643,0.51,220.3,99.3,8.2,540,16662,0.00,1.70,15.45,0.611,4,0.000,0.043,2863,3283,1991
$GC,16693,0.52,257.2,94.7,7.2,543,16729,0.00,1.52,31.77,0.621,6,0.000,0.021,2869,2231,1840
$GC,16993,0.53,277.8,74.3,8.0,570,17013,0.00,0.00,17.83,0.589,6,0.000,0.000,2869,2231,1757
$GC,17269,0.55,324.5,51.5,6.8,596,17313,0.00,1.70,38.47,0.582,4,0.000,0.041,2869,3283,1566
$GC,17342,0.57,379.0,46.9,6.4,601,17398,0.00,1.52,44.67,0.572,6,0.000,0.021,2869,2246,1343
$GC,17655,0.60,460.8,32.2,5.1,629,17727,0.00,1.60,64.72,0.558,4,0.000,0.021,2869,1163,1012
$GC,17808,0.60,460.8,20.4,11.8,647,17817,0.00,1.65,0.00,0.000,6,0.000,0.030,2868,2237,1010
$STATE,17966,end climb,SURFACE_DEPTH_REACHED
$STATE,17966,begin surface coast
$FINISH,0.5,0.999438
$STATE,18004,end surface coast,CONTROL_FINISHED_OK
$STATE,18004,begin surface
$SM_CCo,18089,0.00,0.000,0,0,1007,461.89
$SM_GC,1.45,7.22,0.00,0.00,0.026,0.000,0.000,42,2521,1007,-8.21,0.59,461.89
$IRIDIUM_FIX,2209.02,-15817.11,020203,090912
$TT8_MAMPS,0.023777
$HUMID,2178
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.90
$XPDR_PINGS,11
$24V_AH,23.3,45.273
$10V_AH,10.6,53.915
$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,18.200,116.075,523.825,0.000,0.000,30.601,32.893,251.237,2.750,0.000,0.000,16.813,1417.903,12174.968,499.440,3503.250,992.776,33.379,1630.635,0.000,3488.089,0.000,0.546,0.000
$DEVICE_MAMPS,201.721,60.593,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,460.987,2227.072,2300.072,1569.316,1498.527,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57517,677
$CAP_FILE_SIZE,137483,0
$CFSIZE,260165632,240414720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,081113,194035,2250.924,-15805.847,41,1.3,52,10.1