version: 66.04
glider: 512
mission: 4
dive: 276
start: 11 9 113 1 18 1
data:
$ID,512
$MISSION,4
$DIVE,276
$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,610.54175
$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,-111901.22
$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,62
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2888
$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
$GPS1,005144,2253.478,-15804.934,45,2.7,64,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.2
$GPS2,011707,2253.535,-15805.218,15,1.7,15,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.230
$KALMAN_X,50319.3,41.7,118.6,-59311.1,-744.1
$KALMAN_Y,67331.9,492.0,-2.3,-50305.9,-797.9
$MHEAD_RNG_PITCHd_Wd,1.8,20249,-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,18,-0.47,-126.5,0.0,0.0,0,88,0.00,0.00,-68.38,0.000,2,0.000,0.000,7,2504,2908
$GC,94,-0.47,-126.5,2.3,-1.6,8,122,9.60,1.60,-10.88,0.000,4,0.198,0.048,2523,3575,3405
$GC,219,-0.47,-126.5,37.7,-28.0,24,222,0.00,1.58,0.00,0.000,6,0.000,0.020,2523,2486,3406
$GC,491,-0.47,-126.5,99.1,-19.8,49,495,0.00,1.65,0.00,0.000,4,0.000,0.039,2515,3560,3407
$GC,599,-0.47,-126.5,117.1,-15.4,58,602,0.00,1.52,0.00,0.000,6,0.000,0.018,2517,2486,3407
$GC,870,-0.47,-126.5,164.4,-16.6,83,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2478,3407
$GC,1164,-0.47,-126.5,214.3,-16.4,105,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2478,3406
$GC,1408,-0.47,-126.5,247.5,-13.0,111,1411,0.00,1.62,0.00,0.000,4,0.000,0.040,2511,3564,3406
$GC,1517,-0.47,-126.5,261.7,-12.2,113,1520,0.00,1.50,0.00,0.000,6,0.000,0.019,2515,2495,3406
$GC,1794,-0.47,-126.5,295.5,-12.1,120,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2488,3405
$GC,2038,-0.47,-126.5,323.0,-11.2,126,2041,0.00,1.42,0.00,0.000,4,0.000,0.021,2517,1457,3403
$GC,2152,-0.47,-126.5,335.1,-10.1,128,2156,0.12,1.60,0.00,0.000,6,0.122,0.037,2548,2532,3403
$GC,2424,-0.47,-126.5,357.1,-8.2,135,2428,0.00,1.58,0.00,0.000,4,0.000,0.048,2541,3561,3401
$GC,2489,-0.47,-126.5,363.1,-8.9,136,2492,0.00,1.45,0.00,0.000,6,0.000,0.021,2541,2536,3400
$GC,2766,-0.47,-126.5,388.3,-9.4,143,2770,0.00,1.48,0.00,0.000,4,0.000,0.021,2541,1458,3398
$GC,2824,-0.47,-126.5,393.9,-8.9,144,2828,0.00,1.65,0.00,0.000,6,0.000,0.040,2536,2535,3399
$GC,3108,-0.47,-126.5,418.2,-8.3,151,3110,0.00,0.00,-0.08,0.000,6,0.000,0.000,2537,2535,3418
$GC,3352,-0.47,-126.5,436.6,-7.5,157,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2534,3417
$GC,3595,-0.47,-126.5,454.6,-7.3,163,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2535,3415
$GC,3839,-0.47,-126.5,472.1,-7.1,169,3842,0.00,1.55,0.00,0.000,4,0.000,0.022,2537,1455,3412
$GC,3874,-0.47,-126.5,475.3,-7.6,169,3878,0.00,1.67,0.00,0.000,6,0.000,0.044,2537,2532,3412
$GC,4136,-0.47,-126.5,497.5,-8.8,176,4139,0.00,1.60,0.00,0.000,4,0.000,0.051,2532,3581,3411
$GC,4205,-0.47,-126.5,504.1,-8.9,177,4208,0.00,1.48,0.00,0.000,6,0.000,0.024,2532,2563,3410
$GC,4478,-0.47,-126.5,527.4,-8.5,184,4481,0.00,1.55,0.00,0.000,4,0.000,0.023,2532,1456,3408
$GC,4541,-0.47,-126.5,533.3,-8.7,185,4545,0.00,1.73,0.00,0.000,6,0.000,0.044,2525,2567,3408
$GC,4818,-0.47,-126.5,556.6,-8.5,192,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2568,3405
$GC,5062,-0.47,-126.5,576.1,-7.9,198,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2567,3403
$GC,5306,-0.47,-126.5,596.3,-8.4,204,5309,0.00,1.58,0.00,0.000,4,0.000,0.056,2523,3564,3401
$GC,5348,-0.47,-126.5,600.1,-8.4,204,5357,0.00,1.45,0.00,0.000,6,0.000,0.025,2524,2560,3400
$GC,5603,-0.47,-126.5,621.0,-8.2,211,5607,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1472,3400
$GC,5653,-0.47,-126.5,625.1,-7.9,212,5657,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2573,3399
$GC,5948,-0.47,-126.5,648.5,-7.8,219,5952,0.00,1.55,0.00,0.000,4,0.000,0.056,2523,3557,3398
$GC,5989,-0.47,-126.5,652.1,-7.8,219,5999,0.00,1.42,0.00,0.000,6,0.000,0.027,2523,2571,3398
$GC,6246,-0.47,-126.5,671.8,-8.1,226,6250,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1466,3396
$GC,6287,-0.47,-126.5,675.8,-8.6,226,6296,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2562,3395
$GC,6542,-0.47,-126.5,698.8,-9.5,233,6546,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3558,3394
$GC,6583,-0.47,-126.5,703.2,-9.7,233,6591,0.00,1.42,0.00,0.000,6,0.000,0.027,2523,2572,3394
$GC,6837,-0.47,-126.5,725.9,-8.9,240,6841,0.00,1.58,0.00,0.000,4,0.000,0.025,2523,1469,3392
$GC,6899,-0.47,-126.5,731.2,-7.9,241,6902,0.00,1.70,0.00,0.000,6,0.000,0.048,2523,2566,3392
$GC,7181,-0.47,-126.5,752.1,-7.1,248,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3390
$GC,7425,-0.47,-126.5,769.5,-7.1,254,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3390
$GC,7669,-0.47,-126.5,787.0,-7.2,260,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3388
$GC,7913,-0.47,-126.5,805.7,-7.7,266,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2566,3387
$GC,8156,-0.47,-126.5,823.1,-7.0,272,8160,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1474,3386
$GC,8186,-0.47,-126.5,825.4,-7.2,272,8190,0.00,1.70,0.00,0.000,6,0.000,0.051,2523,2563,3386
$GC,8453,-0.47,-126.5,842.3,-6.4,279,8456,0.00,1.60,0.00,0.000,4,0.000,0.060,2523,3580,3386
$GC,8512,-0.47,-126.5,846.3,-6.3,280,8515,0.00,1.45,0.00,0.000,6,0.000,0.029,2523,2602,3385
$GC,8795,-0.47,-126.5,864.0,-6.4,287,8798,0.00,1.60,0.00,0.000,4,0.000,0.028,2523,1460,3385
$GC,8860,-0.47,-126.5,868.2,-6.4,288,8863,0.00,1.75,0.00,0.000,6,0.000,0.050,2523,2584,3384
$GC,9138,-0.47,-126.5,886.0,-6.4,295,9142,0.00,1.55,0.00,0.000,4,0.000,0.058,2521,3556,3383
$GC,9174,-0.47,-126.5,888.7,-6.7,295,9178,0.00,1.42,0.00,0.000,6,0.000,0.029,2521,2592,3383
$STATE,9348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9348,begin apogee
$GC,9360,-0.17,0.0,900.5,6.7,300,9473,0.35,0.00,110.30,1.256,6,0.095,0.000,2640,2223,2888
$STATE,9473,end apogee,CONTROL_FINISHED_OK
$STATE,9473,begin climb
$GC,9479,0.47,126.5,903.2,0.0,303,9634,0.57,1.88,129.02,1.158,4,0.032,0.048,2873,3295,2371
$GC,9658,0.47,126.5,889.3,17.9,307,9663,0.15,1.65,0.00,0.000,6,0.180,0.026,2847,2240,2368
$GC,9930,0.47,126.5,848.7,14.7,314,9934,0.00,1.70,0.00,0.000,4,0.000,0.048,2847,3280,2361
$GC,9948,0.47,126.5,845.5,14.7,314,9952,0.00,1.60,0.00,0.000,6,0.000,0.028,2847,2219,2361
$GC,10226,0.47,126.5,806.5,13.8,321,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2219,2359
$GC,10469,0.47,126.5,772.9,13.9,327,10472,0.00,1.58,0.00,0.000,4,0.000,0.028,2855,1150,2357
$GC,10544,0.47,126.5,762.3,13.7,328,10548,0.00,1.70,0.00,0.000,6,0.000,0.041,2855,2250,2357
$GC,10810,0.47,126.5,725.1,14.2,335,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2250,2356
$GC,11054,0.47,126.5,693.0,13.1,341,11057,0.00,1.62,0.00,0.000,4,0.000,0.051,2855,3301,2356
$GC,11095,0.47,126.5,686.9,14.9,341,11103,0.00,1.60,0.00,0.000,6,0.000,0.028,2862,2236,2355
$GC,11349,0.47,126.5,653.3,13.4,348,11350,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2230,2354
$GC,11593,0.47,126.5,622.6,12.7,354,11597,0.00,1.65,0.00,0.000,4,0.000,0.049,2863,3279,2354
$GC,11634,0.47,126.5,616.0,14.8,354,11644,0.00,1.52,0.00,0.000,6,0.000,0.028,2869,2255,2354
$GC,11890,0.47,126.5,583.3,12.7,361,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2249,2354
$GC,12133,0.47,126.5,550.0,13.9,367,12137,0.00,1.60,0.00,0.000,4,0.000,0.048,2863,3286,2354
$GC,12191,0.47,126.5,541.3,13.9,368,12195,0.00,1.52,0.00,0.000,6,0.000,0.028,2868,2260,2353
$GC,12474,0.47,126.5,501.1,14.0,375,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2254,2353
$GC,12718,0.47,126.5,469.7,12.5,381,12721,0.00,1.62,0.00,0.000,4,0.000,0.046,2863,3300,2353
$GC,12753,0.47,126.5,465.3,11.9,381,12757,0.00,1.55,0.00,0.000,6,0.000,0.027,2868,2254,2352
$GC,13015,0.47,126.5,437.6,10.7,388,13018,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1169,2352
$GC,13162,0.47,126.5,421.7,10.7,391,13166,0.00,1.60,0.00,0.000,6,0.000,0.041,2877,2215,2352
$GC,13445,0.47,126.5,389.6,11.1,398,13448,0.00,1.65,0.00,0.000,4,0.000,0.050,2876,3288,2351
$GC,13520,0.47,126.5,379.6,12.7,399,13524,0.12,1.58,0.00,0.000,6,0.176,0.026,2851,2223,2351
$GC,13786,0.47,126.5,354.6,9.3,406,13790,0.00,1.52,0.00,0.000,4,0.000,0.028,2858,1170,2351
$GC,13816,0.48,142.3,351.7,8.2,406,13839,0.00,1.65,13.85,0.748,6,0.000,0.041,2858,2226,2307
$GC,14123,0.48,142.3,321.0,10.6,414,14126,0.00,1.62,0.00,0.000,4,0.000,0.049,2857,3288,2305
$GC,14248,0.48,142.3,307.0,10.8,416,14252,0.00,1.55,0.00,0.000,6,0.000,0.027,2860,2251,2305
$GC,14508,0.48,142.3,282.6,9.5,423,14512,0.00,1.58,0.00,0.000,4,0.000,0.028,2860,1164,2305
$GC,14590,0.48,153.0,275.0,8.5,424,14607,0.00,1.62,10.93,0.777,6,0.000,0.040,2860,2229,2264
$GC,14897,0.48,160.6,249.6,8.6,432,14907,0.00,0.00,8.30,0.719,6,0.000,0.000,2860,2229,2232
$GC,15185,0.48,160.6,221.0,10.7,439,15189,0.00,1.62,0.00,0.000,4,0.000,0.046,2860,3297,2231
$GC,15304,0.48,160.6,208.4,10.0,441,15307,0.00,1.60,0.00,0.000,6,0.000,0.024,2868,2193,2230
$GC,15566,0.49,184.5,186.7,7.9,459,15594,0.00,1.45,21.67,0.721,4,0.000,0.025,2873,1163,2136
$GC,15634,0.50,190.7,180.9,8.7,464,15648,0.00,1.62,7.07,0.621,6,0.000,0.037,2873,2222,2109
$GC,15912,0.50,190.7,148.1,12.6,489,15915,0.00,1.62,0.00,0.000,4,0.000,0.044,2873,3293,2107
$GC,15986,0.50,190.7,137.4,13.6,495,15989,0.00,1.55,0.00,0.000,6,0.000,0.023,2880,2240,2107
$GC,16257,0.50,190.7,106.7,10.2,520,16261,0.00,1.62,0.00,0.000,4,0.000,0.042,2876,3294,2107
$GC,16377,0.50,190.7,94.2,9.6,530,16381,0.00,1.50,0.00,0.000,6,0.000,0.021,2882,2262,2107
$GC,16650,0.52,244.0,74.6,6.4,555,16706,0.00,1.60,45.03,0.617,4,0.000,0.023,2886,1167,1891
$GC,16771,0.53,288.2,66.1,6.9,564,16814,0.00,1.67,36.90,0.601,6,0.000,0.035,2886,2264,1711
$GC,17071,0.54,297.1,44.5,8.6,591,17085,0.00,1.58,8.18,0.524,4,0.000,0.041,2886,3287,1676
$GC,17152,0.54,297.1,36.3,10.8,597,17161,0.00,1.50,0.00,0.000,6,0.000,0.021,2886,2271,1675
$GC,17453,0.57,370.4,14.6,5.5,639,17523,0.00,1.62,58.95,0.554,4,0.000,0.024,2886,1176,1375
$STATE,17580,end climb,SURFACE_DEPTH_REACHED
$STATE,17580,begin surface coast
$FINISH,0.4,1.023134
$STATE,17624,end surface coast,CONTROL_FINISHED_OK
$STATE,17624,begin surface
$SM_CCo,17651,115.18,0.532,0,0,398,610.54
$SM_GC,1.35,0.00,0.00,115.18,0.000,0.000,0.532,27,2531,398,-8.32,0.74,610.54
$IRIDIUM_FIX,2223.01,-15804.98,030203,010107
$TT8_MAMPS,0.023777
$HUMID,2134
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,26.40
$XPDR_PINGS,7
$24V_AH,23.4,45.606
$10V_AH,10.6,54.382
$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,18.250,121.650,450.200,115.175,0.000,145.278,234.847,672.261,1.750,0.000,0.000,15.537,1392.515,12120.158,611.829,3401.011,1756.618,33.380,1688.700,0.000,3399.481,0.000,0.546,0.000
$DEVICE_MAMPS,197.886,59.826,1255.579,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,450.520,2179.438,2255.363,1520.487,1481.804,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54047,662
$CAP_FILE_SIZE,149996,0
$CFSIZE,260165632,240259072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,091113,061536,2255.772,-15805.042,40,1.2,40,10.1