version: 66.04
glider: 512
mission: 4
dive: 278
start: 11 9 113 12 4 35
data:
$ID,512
$MISSION,4
$DIVE,278
$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,-111936.95
$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,57
$R_STBD_OVSHOOT,40
$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
$GPS1,114959,2258.547,-15804.364,42,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-82.0
$GPS2,120343,2258.644,-15804.349,17,1.1,17,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,0.226
$KALMAN_X,49517.1,143.2,521.1,-57533.8,-1451.1
$KALMAN_Y,68409.8,-410.3,61.4,-41094.0,690.6
$MHEAD_RNG_PITCHd_Wd,6.1,10756,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.47,-126.5,0.0,0.0,0,90,0.00,0.00,-69.05,0.000,2,0.000,0.000,10,2525,2845
$GC,96,-0.47,-126.5,2.0,-1.3,8,124,9.62,1.55,-13.07,0.000,4,0.199,0.055,2526,3558,3405
$GC,210,-0.47,-126.5,33.6,-27.2,23,213,0.00,1.55,0.00,0.000,6,0.000,0.019,2526,2484,3405
$GC,481,-0.47,-126.5,99.9,-16.6,48,485,0.00,1.65,0.00,0.000,4,0.000,0.041,2518,3564,3406
$GC,555,-0.47,-126.5,111.8,-16.3,54,558,0.00,1.50,0.00,0.000,6,0.000,0.018,2518,2501,3406
$GC,827,-0.47,-126.5,157.8,-17.1,79,831,0.00,1.42,0.00,0.000,4,0.000,0.019,2519,1456,3406
$GC,868,-0.47,-126.5,165.0,-14.9,82,876,0.00,1.60,0.00,0.000,6,0.000,0.035,2513,2511,3406
$GC,1162,-0.47,-126.5,214.0,-17.1,104,1166,0.12,1.60,0.00,0.000,4,0.147,0.043,2540,3562,3406
$GC,1213,-0.47,-126.5,222.2,-13.5,105,1217,0.00,1.45,0.00,0.000,6,0.000,0.018,2540,2528,3406
$GC,1503,-0.47,-126.5,255.0,-11.1,112,1507,0.00,1.48,0.00,0.000,4,0.000,0.019,2545,1451,3406
$GC,1578,-0.47,-126.5,261.7,-7.7,113,1582,0.00,1.60,0.00,0.000,6,0.000,0.036,2540,2529,3406
$GC,1844,-0.47,-126.5,287.0,-10.1,120,1848,0.00,1.58,0.00,0.000,4,0.000,0.047,2532,3561,3405
$GC,1947,-0.47,-126.5,298.5,-10.3,122,1951,0.00,1.45,0.00,0.000,6,0.000,0.020,2532,2531,3404
$GC,2230,-0.47,-126.5,326.7,-9.7,129,2234,0.00,1.60,0.00,0.000,4,0.000,0.045,2525,3575,3402
$GC,2271,-0.47,-126.5,331.0,-10.1,129,2280,0.00,1.48,0.00,0.000,6,0.000,0.021,2525,2530,3402
$GC,2527,-0.47,-126.5,357.6,-10.8,136,2531,0.00,1.48,0.00,0.000,4,0.000,0.020,2525,1460,3400
$GC,2584,-0.47,-126.5,364.3,-10.5,137,2588,0.00,1.62,0.00,0.000,6,0.000,0.039,2523,2524,3400
$GC,2867,-0.47,-126.5,392.7,-9.8,144,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2523,3399
$GC,3110,-0.47,-126.5,415.5,-9.4,150,3114,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3577,3397
$GC,3192,-0.47,-126.5,423.3,-9.5,151,3195,0.00,1.52,0.00,0.000,6,0.000,0.023,2523,2513,3396
$GC,3452,-0.47,-126.5,447.2,-9.6,158,3456,0.00,1.48,-0.08,0.000,4,0.000,0.039,2523,1446,3417
$GC,3516,-0.47,-126.5,453.7,-9.4,159,3519,0.00,1.62,0.00,0.000,6,0.000,0.041,2523,2520,3417
$GC,3794,-0.47,-126.5,480.7,-10.0,166,3798,0.00,1.62,0.00,0.000,4,0.000,0.052,2523,3576,3415
$GC,3902,-0.47,-126.5,491.1,-8.4,168,3906,0.00,1.50,0.00,0.000,6,0.000,0.023,2523,2538,3413
$GC,4180,-0.47,-126.5,516.7,-9.4,175,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3412
$GC,4424,-0.47,-126.5,539.4,-9.2,181,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2529,3411
$GC,4668,-0.47,-126.5,560.5,-8.5,187,4671,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3559,3408
$GC,4725,-0.47,-126.5,565.3,-7.5,188,4729,0.00,1.48,0.00,0.000,6,0.000,0.025,2523,2545,3408
$GC,5008,-0.47,-126.5,586.9,-7.6,195,5012,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1447,3406
$GC,5078,-0.47,-126.5,592.1,-7.0,196,5082,0.00,1.67,0.00,0.000,6,0.000,0.044,2523,2539,3405
$GC,5350,-0.47,-126.5,611.7,-7.5,203,5354,0.00,1.60,0.00,0.000,4,0.000,0.053,2515,3580,3403
$GC,5382,-0.47,-126.5,614.6,-8.5,203,5386,0.00,1.50,0.00,0.000,6,0.000,0.026,2515,2552,3402
$GC,5648,-0.47,-126.5,638.6,-9.3,210,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2544,3401
$GC,5891,-0.47,-126.5,660.7,-9.0,216,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2544,3400
$GC,6136,-0.47,-126.5,681.3,-8.4,222,6139,0.00,1.60,0.00,0.000,4,0.000,0.053,2508,3565,3399
$GC,6194,-0.47,-126.5,686.6,-8.6,223,6198,0.08,1.48,0.00,0.000,6,0.104,0.026,2539,2553,3398
$GC,6478,-0.47,-126.5,704.2,-6.1,230,6481,0.00,1.60,0.00,0.000,4,0.000,0.054,2534,3563,3396
$GC,6514,-0.47,-126.5,706.9,-7.1,230,6517,0.00,1.45,0.00,0.000,6,0.000,0.026,2534,2566,3396
$GC,6774,-0.47,-126.5,724.7,-7.0,237,6778,0.00,1.58,0.00,0.000,4,0.000,0.025,2534,1455,3394
$GC,6834,-0.47,-126.5,729.3,-7.6,238,6837,0.00,1.70,0.00,0.000,6,0.000,0.046,2527,2563,3394
$GC,7117,-0.47,-126.5,750.5,-7.6,245,7120,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3554,3393
$GC,7182,-0.47,-126.5,755.5,-7.9,246,7185,0.00,1.45,0.00,0.000,6,0.000,0.028,2523,2565,3392
$GC,7460,-0.47,-126.5,775.7,-7.3,253,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2556,3391
$GC,7704,-0.47,-126.5,793.2,-7.1,259,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2556,3390
$GC,7947,-0.47,-126.5,809.6,-6.6,265,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2556,3390
$GC,8191,-0.47,-126.5,824.3,-5.9,271,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2556,3389
$GC,8435,-0.47,-126.5,837.9,-5.7,277,8439,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1450,3388
$GC,8471,-0.47,-126.5,840.5,-6.3,277,8474,0.00,1.77,0.00,0.000,6,0.000,0.050,2524,2570,3387
$GC,8731,-0.47,-126.5,856.8,-6.5,284,8735,0.00,1.60,0.00,0.000,4,0.000,0.061,2523,3583,3387
$GC,8796,-0.47,-126.5,861.3,-6.7,285,8800,0.00,1.48,0.00,0.000,6,0.000,0.028,2523,2588,3386
$GC,9075,-0.47,-126.5,879.5,-6.7,292,9079,0.00,1.60,0.00,0.000,4,0.000,0.027,2523,1448,3386
$GC,9138,-0.47,-126.5,884.1,-7.2,293,9142,0.00,1.77,0.00,0.000,6,0.000,0.050,2523,2584,3386
$STATE,9410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9410,begin apogee
$GC,9422,-0.17,0.0,902.7,6.8,300,9535,0.35,0.00,110.43,1.262,6,0.094,0.000,2642,2209,2888
$STATE,9536,end apogee,CONTROL_FINISHED_OK
$STATE,9536,begin climb
$GC,9541,0.47,126.5,905.9,0.0,303,9696,0.55,1.60,128.12,1.164,4,0.034,0.026,2878,1178,2372
$GC,9748,0.47,126.5,889.2,16.3,307,9751,0.00,1.73,0.00,0.000,6,0.000,0.041,2875,2235,2366
$GC,10014,0.47,126.5,844.5,16.9,314,10017,0.00,1.65,0.00,0.000,4,0.000,0.049,2875,3286,2361
$GC,10045,0.47,126.5,838.8,17.6,314,10049,0.12,1.60,0.00,0.000,6,0.185,0.027,2853,2218,2361
$GC,10310,0.47,126.5,798.5,14.9,321,10314,0.00,1.55,0.00,0.000,4,0.000,0.028,2859,1161,2359
$GC,10351,0.47,126.5,792.3,14.0,321,10361,0.00,1.65,0.00,0.000,6,0.000,0.041,2859,2203,2359
$GC,10607,0.47,126.5,756.8,14.0,328,10611,0.00,1.70,0.00,0.000,4,0.000,0.051,2859,3281,2357
$GC,10702,0.47,126.5,742.7,14.7,330,10706,0.00,1.58,0.00,0.000,6,0.000,0.028,2866,2231,2357
$GC,10997,0.47,126.5,701.4,14.2,337,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2225,2356
$GC,11241,0.47,126.5,666.5,14.5,343,11244,0.00,1.67,0.00,0.000,4,0.000,0.050,2863,3291,2355
$GC,11354,0.47,126.5,647.7,15.9,345,11357,0.00,1.60,0.00,0.000,6,0.000,0.028,2869,2203,2355
$GC,11626,0.47,126.5,607.2,14.9,352,11630,0.00,1.73,0.00,0.000,4,0.000,0.050,2864,3295,2354
$GC,11745,0.47,126.5,588.0,15.4,354,11749,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2241,2354
$GC,12012,0.47,126.5,550.1,14.4,361,12015,0.00,1.58,0.00,0.000,4,0.000,0.029,2877,1161,2354
$GC,12106,0.47,126.5,537.7,12.8,363,12110,0.00,1.67,0.00,0.000,6,0.000,0.043,2876,2223,2353
$GC,12401,0.47,126.5,499.1,13.2,370,12405,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3288,2353
$GC,12437,0.47,126.5,493.4,14.6,370,12441,0.12,1.60,0.00,0.000,6,0.176,0.027,2852,2198,2353
$GC,12696,0.47,126.5,463.6,11.0,377,12700,0.00,1.50,0.00,0.000,4,0.000,0.028,2858,1159,2352
$GC,12715,0.47,126.5,461.3,10.8,377,12718,0.00,1.62,0.00,0.000,6,0.000,0.041,2858,2214,2352
$GC,12992,0.47,126.5,431.9,10.7,384,12996,0.00,1.65,0.00,0.000,4,0.000,0.049,2858,3287,2352
$GC,13118,0.47,126.5,417.3,11.1,386,13121,0.00,1.58,0.00,0.000,6,0.000,0.026,2865,2223,2352
$GC,13378,0.47,126.5,392.9,9.2,393,13382,0.00,1.67,0.00,0.000,4,0.000,0.049,2863,3284,2352
$GC,13504,0.47,126.5,376.4,12.8,395,13507,0.00,1.52,0.00,0.000,6,0.000,0.027,2868,2255,2351
$GC,13764,0.47,126.5,343.2,13.0,402,13768,0.00,1.60,0.00,0.000,4,0.000,0.030,2873,1162,2351
$GC,13794,0.47,126.5,339.5,10.3,402,13798,0.00,1.70,0.00,0.000,6,0.000,0.042,2873,2249,2351
$GC,14060,0.47,126.5,311.0,10.4,409,14064,0.00,1.60,0.00,0.000,4,0.000,0.050,2873,3273,2351
$GC,14179,0.47,126.5,298.0,9.3,411,14183,0.08,1.50,0.00,0.000,6,0.166,0.025,2847,2257,2351
$GC,14446,0.49,170.3,278.4,6.9,418,14491,0.00,0.00,37.97,0.800,6,0.000,0.000,2847,2251,2193
$GC,14728,0.49,170.3,250.9,10.4,425,14732,0.00,1.62,0.00,0.000,4,0.000,0.044,2846,3274,2188
$GC,14778,0.49,170.3,246.2,10.4,426,14781,0.00,1.52,0.00,0.000,6,0.000,0.025,2847,2259,2187
$GC,15073,0.50,203.6,223.4,7.4,433,15107,0.00,1.62,29.00,0.764,4,0.000,0.028,2846,1168,2056
$GC,15127,0.52,246.2,219.3,7.0,434,15169,0.00,1.73,36.75,0.748,6,0.000,0.038,2846,2259,1884
$GC,15426,0.52,246.2,194.8,9.1,445,15430,0.00,1.60,0.00,0.000,4,0.000,0.044,2846,3284,1878
$GC,15486,0.52,246.2,188.4,9.7,450,15490,0.00,1.52,0.00,0.000,6,0.000,0.024,2846,2265,1877
$GC,15763,0.52,259.2,162.8,8.4,475,15780,0.00,1.62,11.45,0.652,4,0.000,0.025,2846,1159,1830
$GC,15825,0.54,290.3,157.4,7.5,480,15857,0.00,1.75,27.10,0.676,6,0.000,0.036,2847,2285,1704
$GC,16117,0.54,290.3,130.6,10.5,506,16120,0.00,1.55,0.00,0.000,4,0.000,0.042,2847,3289,1700
$GC,16148,0.54,290.3,127.1,11.1,508,16157,0.00,1.50,0.00,0.000,6,0.000,0.022,2846,2276,1699
$GC,16415,0.55,317.9,105.5,7.7,533,16443,0.00,1.65,23.27,0.627,4,0.000,0.025,2847,1162,1591
$GC,16497,0.57,370.1,98.9,6.5,539,16546,0.00,1.73,43.25,0.624,6,0.000,0.035,2846,2274,1378
$GC,16803,0.60,443.4,80.0,5.5,567,16872,0.12,1.58,59.50,0.605,4,0.058,0.038,2918,3282,1079
$GC,16902,0.60,443.4,68.3,14.4,574,16906,0.08,1.50,0.00,0.000,6,0.098,0.021,2884,2278,1078
$GC,17180,0.60,443.4,45.6,10.5,599,17184,0.00,1.60,0.00,0.000,4,0.000,0.022,2884,1147,1076
$GC,17470,0.60,443.4,7.6,13.6,635,17479,0.00,1.67,0.00,0.000,6,0.000,0.030,2884,2258,1075
$STATE,17505,end climb,SURFACE_DEPTH_REACHED
$STATE,17505,begin surface coast
$FINISH,0.6,1.023113
$STATE,17531,end surface coast,CONTROL_FINISHED_OK
$STATE,17532,begin surface
$SM_CCo,17617,0.00,0.000,0,0,1073,445.21
$SM_GC,1.47,7.20,0.00,0.00,0.024,0.000,0.000,41,2565,1073,-8.21,1.92,445.21
$IRIDIUM_FIX,2326.22,-15812.35,030203,060604
$TT8_MAMPS,0.023777
$HUMID,2237
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.20
$XPDR_PINGS,8
$24V_AH,23.3,45.985
$10V_AH,10.6,54.847
$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,18.450,134.325,506.850,0.000,0.000,25.129,32.789,563.066,2.000,0.000,0.000,17.619,1409.195,11730.901,504.389,3476.711,1304.105,33.379,1647.251,0.000,3465.551,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,60.593,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,439.221,2121.647,2204.800,1395.262,1375.108,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54037,644
$CAP_FILE_SIZE,145627,0
$CFSIZE,260165632,240123904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,091113,170007,2300.777,-15803.486,71,1.8,71,10.1