version: 66.04
glider: 512
mission: 4
dive: 277
start: 11 9 113 6 45 36
data:
$ID,512
$MISSION,4
$DIVE,277
$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,-111918.71
$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,68
$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,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
$GPS1,061536,2255.772,-15805.042,40,1.2,40,10.1
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-79.6
$GPS2,064442,2256.052,-15805.374,11,1.4,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.041,0.232
$KALMAN_X,49420.5,36.6,-210.6,-58338.6,-404.6
$KALMAN_Y,67905.3,-88.0,62.6,-45717.5,-200.7
$MHEAD_RNG_PITCHd_Wd,359.9,15621,-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,-126.5,0.0,0.0,0,123,0.00,0.00,-102.82,0.000,2,0.000,0.000,8,2522,2964
$GC,129,-0.47,-126.5,2.3,-1.5,12,158,9.73,1.60,-9.60,0.000,4,0.202,0.054,2526,3572,3406
$GC,290,-0.47,-126.5,46.5,-22.7,31,294,0.00,1.55,0.00,0.000,6,0.000,0.020,2528,2496,3406
$GC,562,-0.47,-126.5,105.1,-17.2,56,566,0.00,1.65,0.00,0.000,4,0.000,0.041,2522,3558,3406
$GC,626,-0.47,-126.5,116.6,-16.7,61,634,0.00,1.52,0.00,0.000,6,0.000,0.018,2522,2474,3406
$GC,892,-0.47,-126.5,159.1,-15.3,86,896,0.00,1.67,0.00,0.000,4,0.000,0.041,2514,3557,3406
$GC,975,-0.47,-126.5,171.6,-14.3,93,979,0.00,1.50,0.00,0.000,6,0.000,0.018,2516,2493,3406
$GC,1244,-0.47,-126.5,214.2,-15.5,112,1248,0.00,1.42,0.00,0.000,4,0.000,0.020,2518,1445,3406
$GC,1296,-0.47,-126.5,222.2,-13.0,113,1301,0.12,1.60,0.00,0.000,6,0.130,0.037,2547,2520,3405
$GC,1584,-0.47,-126.5,254.1,-11.4,120,1588,0.00,1.58,0.00,0.000,4,0.000,0.048,2541,3556,3406
$GC,1682,-0.47,-126.5,264.8,-10.0,122,1685,0.00,1.45,0.00,0.000,6,0.000,0.019,2541,2521,3404
$GC,1971,-0.47,-126.5,293.0,-9.6,129,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2514,3403
$GC,2214,-0.47,-126.5,316.8,-9.9,135,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2514,3403
$GC,2458,-0.47,-126.5,340.8,-9.7,141,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2514,3401
$GC,2702,-0.47,-126.5,362.6,-8.9,147,2705,0.00,1.60,0.00,0.000,4,0.000,0.047,2534,3565,3399
$GC,2754,-0.47,-126.5,367.1,-8.6,148,2757,0.00,1.45,0.00,0.000,6,0.000,0.021,2534,2548,3398
$GC,3048,-0.47,-126.5,396.0,-9.6,155,3051,0.00,1.52,0.00,0.000,4,0.000,0.021,2534,1446,3396
$GC,3098,-0.47,-126.5,400.2,-8.0,156,3102,0.00,1.67,0.00,0.000,6,0.000,0.041,2526,2536,3395
$GC,3393,-0.47,-126.5,424.6,-8.5,163,3395,0.00,0.00,-0.08,0.000,6,0.000,0.000,2526,2536,3416
$GC,3636,-0.47,-126.5,448.1,-10.0,169,3640,0.00,1.55,0.00,0.000,4,0.000,0.022,2526,1451,3414
$GC,3693,-0.47,-126.5,454.6,-10.6,170,3697,0.00,1.67,0.00,0.000,6,0.000,0.041,2524,2536,3414
$GC,3976,-0.47,-126.5,480.1,-8.9,177,3980,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3564,3411
$GC,4086,-0.47,-126.5,489.9,-8.7,179,4089,0.00,1.45,0.00,0.000,6,0.000,0.023,2523,2554,3411
$GC,4363,-0.47,-126.5,514.4,-9.0,186,4367,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3558,3408
$GC,4461,-0.47,-126.5,522.6,-8.2,188,4464,0.00,1.40,0.00,0.000,6,0.000,0.024,2523,2586,3407
$GC,4755,-0.47,-126.5,548.0,-8.6,195,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2578,3405
$GC,4999,-0.47,-126.5,568.6,-8.4,201,5002,0.00,1.55,0.00,0.000,4,0.000,0.050,2516,3561,3403
$GC,5040,-0.47,-126.5,572.3,-8.2,201,5049,0.00,1.40,0.00,0.000,6,0.000,0.025,2517,2584,3403
$GC,5296,-0.47,-126.5,592.1,-7.7,208,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2583,3400
$GC,5540,-0.47,-126.5,609.3,-6.8,214,5543,0.00,1.60,0.00,0.000,4,0.000,0.025,2521,1433,3399
$GC,5642,-0.47,-126.5,616.4,-6.6,216,5645,0.00,1.75,0.00,0.000,6,0.000,0.044,2515,2580,3398
$GC,5926,-0.47,-126.5,636.9,-7.6,223,5930,0.00,1.52,0.00,0.000,4,0.000,0.053,2507,3557,3397
$GC,5976,-0.47,-126.5,641.3,-8.3,224,5981,0.08,1.40,0.00,0.000,6,0.101,0.026,2539,2592,3396
$GC,6270,-0.47,-126.5,659.5,-6.1,231,6274,0.00,1.60,0.00,0.000,4,0.000,0.025,2544,1460,3394
$GC,6341,-0.47,-126.5,664.2,-6.4,232,6345,0.00,1.73,0.00,0.000,6,0.000,0.044,2538,2589,3394
$GC,6613,-0.47,-126.5,682.4,-7.1,239,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2589,3392
$GC,6856,-0.47,-126.5,701.1,-7.8,245,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2589,3391
$GC,7100,-0.47,-126.5,720.2,-7.7,251,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2589,3390
$GC,7344,-0.47,-126.5,737.7,-7.2,257,7348,0.00,1.65,0.00,0.000,4,0.000,0.027,2541,1454,3388
$GC,7385,-0.47,-126.5,740.6,-6.5,257,7393,0.00,1.75,0.00,0.000,6,0.000,0.047,2537,2565,3388
$GC,7640,-0.47,-126.5,757.8,-6.9,264,7644,0.00,1.58,0.00,0.000,4,0.000,0.058,2531,3558,3387
$GC,7675,-0.47,-126.5,760.5,-7.3,264,7679,0.00,1.42,0.00,0.000,6,0.000,0.028,2531,2584,3386
$GC,7937,-0.47,-126.5,777.9,-6.6,271,7941,0.00,1.60,0.00,0.000,4,0.000,0.025,2531,1458,3386
$GC,7973,-0.47,-126.5,780.7,-7.1,271,7977,0.00,1.73,0.00,0.000,6,0.000,0.046,2524,2575,3386
$GC,8234,-0.47,-126.5,798.4,-7.0,278,8237,0.00,1.58,0.00,0.000,4,0.000,0.059,2524,3562,3384
$GC,8270,-0.47,-126.5,801.2,-7.6,278,8273,0.00,1.45,0.00,0.000,6,0.000,0.028,2524,2576,3385
$GC,8530,-0.47,-126.5,818.1,-6.6,285,8534,0.00,1.60,0.00,0.000,4,0.000,0.027,2524,1433,3383
$GC,8584,-0.47,-126.5,821.7,-6.0,286,8587,0.00,1.77,0.00,0.000,6,0.000,0.049,2523,2575,3383
$GC,8872,-0.47,-126.5,839.1,-6.1,293,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2575,3382
$GC,9116,-0.47,-126.5,852.5,-5.6,299,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2574,3381
$GC,9360,-0.47,-126.5,866.4,-5.8,305,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2574,3380
$GC,9603,-0.47,-126.5,881.5,-6.4,311,9607,0.00,1.60,0.00,0.000,4,0.000,0.028,2524,1463,3379
$GC,9633,-0.47,-126.5,883.7,-7.7,311,9637,0.00,1.75,0.00,0.000,6,0.000,0.048,2523,2566,3379
$STATE,9894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9894,begin apogee
$GC,9906,-0.17,0.0,900.5,6.3,318,10019,0.35,0.00,110.07,1.257,6,0.100,0.000,2640,2231,2888
$STATE,10020,end apogee,CONTROL_FINISHED_OK
$STATE,10020,begin climb
$GC,10025,0.47,126.5,903.4,0.0,321,10179,0.55,1.67,128.00,1.161,4,0.035,0.027,2876,1166,2371
$GC,10215,0.47,126.5,888.1,16.4,325,10218,0.00,1.75,0.00,0.000,6,0.000,0.041,2875,2232,2366
$GC,10497,0.47,126.5,839.0,17.7,332,10501,0.00,1.65,0.00,0.000,4,0.000,0.049,2875,3283,2361
$GC,10516,0.47,126.5,835.2,17.1,332,10520,0.10,1.62,0.00,0.000,6,0.174,0.028,2853,2220,2361
$GC,10792,0.47,126.5,792.3,15.4,339,10796,0.00,1.58,0.00,0.000,4,0.000,0.028,2859,1153,2359
$GC,10833,0.47,126.5,786.0,14.0,339,10843,0.00,1.67,0.00,0.000,6,0.000,0.041,2860,2213,2358
$GC,11089,0.47,126.5,749.2,14.9,346,11093,0.00,1.67,0.00,0.000,4,0.000,0.050,2860,3274,2357
$GC,11175,0.47,126.5,734.9,15.9,347,11183,0.00,1.55,0.00,0.000,6,0.000,0.027,2867,2238,2356
$GC,11430,0.47,126.5,696.4,15.6,354,11434,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3284,2356
$GC,11466,0.47,126.5,690.1,17.3,354,11469,0.00,1.52,0.00,0.000,6,0.000,0.028,2868,2263,2356
$GC,11727,0.47,126.5,651.2,15.0,361,11730,0.00,1.60,0.00,0.000,4,0.000,0.028,2876,1164,2355
$GC,11807,0.47,126.5,638.7,13.7,362,11811,0.00,1.70,0.00,0.000,6,0.000,0.043,2876,2265,2354
$GC,12067,0.47,126.5,601.2,14.6,369,12071,0.00,1.65,0.00,0.000,4,0.000,0.028,2882,1164,2354
$GC,12121,0.47,126.5,593.2,13.2,370,12124,0.00,1.70,0.00,0.000,6,0.000,0.043,2876,2244,2354
$GC,12409,0.47,126.5,552.9,13.6,377,12413,0.00,1.62,0.00,0.000,4,0.000,0.052,2876,3274,2353
$GC,12557,0.47,126.5,530.6,14.0,380,12561,0.08,1.52,0.00,0.000,6,0.165,0.027,2849,2250,2353
$GC,12839,0.47,126.5,497.2,11.9,387,12843,0.00,1.65,0.00,0.000,4,0.000,0.049,2848,3277,2352
$GC,12904,0.47,126.5,488.9,11.6,388,12907,0.00,1.48,0.00,0.000,6,0.000,0.026,2854,2274,2352
$GC,13181,0.47,126.5,459.7,10.7,395,13184,0.00,1.62,0.00,0.000,4,0.000,0.051,2850,3279,2352
$GC,13261,0.47,126.5,450.0,11.2,396,13264,0.00,1.45,0.00,0.000,6,0.000,0.026,2856,2292,2352
$GC,13523,0.47,126.5,423.4,10.1,403,13527,0.00,1.65,0.00,0.000,4,0.000,0.029,2860,1167,2352
$GC,13573,0.47,126.5,418.2,10.0,404,13577,0.00,1.75,0.00,0.000,6,0.000,0.042,2860,2301,2352
$GC,13867,0.47,126.5,387.2,10.9,411,13871,0.00,1.52,0.00,0.000,4,0.000,0.049,2860,3277,2351
$GC,13963,0.47,126.5,376.6,11.3,413,13966,0.00,1.48,0.00,0.000,6,0.000,0.025,2867,2276,2352
$GC,14257,0.47,126.5,344.6,10.7,420,14261,0.00,1.62,0.00,0.000,4,0.000,0.028,2873,1142,2351
$GC,14353,0.47,126.5,335.3,9.5,422,14356,0.00,1.75,0.00,0.000,6,0.000,0.043,2873,2272,2351
$GC,14647,0.47,126.5,305.6,10.0,429,14650,0.00,1.58,0.00,0.000,4,0.000,0.049,2873,3278,2351
$GC,14880,0.47,126.5,279.3,10.5,434,14884,0.10,1.45,0.00,0.000,6,0.158,0.025,2849,2295,2351
$GC,15169,0.47,128.6,253.3,8.9,441,15173,0.00,1.65,0.00,0.000,4,0.000,0.028,2849,1161,2351
$GC,15199,0.48,155.7,250.7,7.7,441,15236,0.00,1.77,25.33,0.749,6,0.000,0.041,2849,2319,2253
$GC,15509,0.50,189.1,228.5,7.4,449,15546,0.00,0.00,29.40,0.765,6,0.000,0.000,2849,2319,2117
$GC,15792,0.50,189.1,203.0,9.6,456,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2319,2112
$GC,16046,0.50,189.1,177.4,9.7,477,16054,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2319,2112
$GC,16312,0.50,189.1,152.7,9.1,502,16316,0.00,1.67,0.00,0.000,4,0.000,0.026,2849,1163,2112
$GC,16365,0.51,219.2,148.1,7.6,506,16402,0.00,1.80,26.05,0.680,6,0.000,0.039,2849,2319,1994
$GC,16663,0.52,250.4,123.7,7.5,533,16692,0.00,0.00,26.90,0.650,6,0.000,0.000,2849,2319,1867
$GC,16949,0.53,279.6,100.7,7.6,560,16980,0.00,1.75,25.23,0.624,4,0.000,0.024,2849,1159,1746
$GC,17016,0.55,322.2,95.4,7.0,565,17056,0.00,1.80,35.17,0.617,6,0.000,0.036,2849,2308,1573
$GC,17314,0.58,406.9,78.5,4.9,592,17385,0.10,0.00,68.25,0.603,6,0.098,0.000,2905,2308,1229
$GC,17641,0.58,406.9,51.0,10.3,623,17645,0.00,1.67,0.00,0.000,4,0.000,0.022,2905,1154,1224
$GC,17847,0.58,406.9,27.8,11.5,640,17856,0.00,1.77,0.00,0.000,6,0.000,0.032,2905,2318,1224
$STATE,18059,end climb,SURFACE_DEPTH_REACHED
$STATE,18059,begin surface coast
$FINISH,0.4,1.007201
$STATE,18092,end surface coast,CONTROL_FINISHED_OK
$STATE,18092,begin surface
$SM_CCo,18177,0.00,0.000,0,0,1222,408.66
$SM_GC,1.23,7.22,0.00,0.00,0.021,0.000,0.000,37,2513,1222,-8.21,0.37,408.66
$IRIDIUM_FIX,2323.87,-15812.35,030203,060600
$TT8_MAMPS,0.02301
$HUMID,2233
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.50
$XPDR_PINGS,8
$24V_AH,23.4,45.814
$10V_AH,10.6,54.625
$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,18.425,122.900,474.400,0.000,0.000,83.748,105.218,1224.820,2.000,0.000,0.000,16.860,1433.265,12263.074,494.293,3612.102,2108.272,33.385,1671.122,0.000,3607.513,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,59.059,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,461.092,2233.652,2321.349,1505.748,1480.966,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57225,678
$CAP_FILE_SIZE,156133,0
$CFSIZE,260165632,240185344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,091113,114959,2258.547,-15804.364,42,1.0,42,10.1