version: 66.04
glider: 512
mission: 4
dive: 281
start: 11 10 113 3 56 16
data:
$ID,512
$MISSION,4
$DIVE,281
$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,-111987.51
$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,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
$GPS1,031859,2305.428,-15803.624,57,1.2,62,10.1
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.9
$GPS2,035518,2305.306,-15803.754,11,1.3,16,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.141,-0.158
$KALMAN_X,52156.0,79.6,279.6,-58853.3,14.5
$KALMAN_Y,67370.7,113.8,-171.2,-28007.8,-106.4
$MHEAD_RNG_PITCHd_Wd,211.7,2058,-19.5,-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,18,-0.52,-101.0,0.0,0.0,0,123,0.00,0.00,-102.85,0.000,2,0.000,0.000,7,2524,2998
$GC,129,-0.53,-126.5,2.9,-2.6,12,158,9.52,1.55,-7.97,0.000,4,0.197,0.038,2523,1430,3407
$GC,208,-0.53,-126.5,30.5,-27.8,22,217,0.00,1.62,0.00,0.000,6,0.000,0.039,2517,2490,3408
$GC,475,-0.53,-126.5,96.2,-19.9,47,478,0.00,1.62,0.00,0.000,4,0.000,0.044,2510,3559,3408
$GC,604,-0.53,-126.5,121.1,-18.3,58,608,0.00,1.48,0.00,0.000,6,0.000,0.018,2514,2512,3408
$GC,876,-0.53,-126.5,168.4,-16.5,83,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2504,3408
$GC,1159,-0.53,-126.5,213.0,-15.8,104,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2504,3407
$GC,1403,-0.53,-126.5,250.3,-15.4,110,1407,0.00,1.62,0.00,0.000,4,0.000,0.040,2508,3568,3407
$GC,1427,-0.53,-126.5,254.5,-15.0,110,1430,0.00,1.45,0.00,0.000,6,0.000,0.018,2508,2534,3406
$GC,1698,-0.53,-126.5,292.1,-13.7,117,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2526,3406
$GC,1942,-0.53,-126.5,326.0,-14.3,123,1946,0.00,1.60,0.00,0.000,4,0.000,0.042,2501,3568,3404
$GC,2023,-0.53,-126.5,337.6,-12.7,124,2027,0.00,1.42,0.00,0.000,6,0.000,0.019,2506,2554,3403
$GC,2284,-0.53,-126.5,366.7,-11.0,131,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2546,3402
$GC,2527,-0.53,-126.5,393.6,-11.2,137,2531,0.00,1.50,0.00,0.000,4,0.000,0.021,2514,1458,3399
$GC,2590,-0.53,-126.5,400.6,-10.5,138,2594,0.00,1.70,0.00,0.000,6,0.000,0.040,2508,2572,3399
$GC,2868,-0.53,-126.5,428.2,-9.7,145,2872,0.00,1.52,0.00,0.000,4,0.000,0.048,2500,3567,3396
$GC,2993,-0.53,-126.5,441.8,-11.1,147,2996,0.00,1.40,0.00,0.000,6,0.000,0.021,2505,2586,3395
$GC,3254,-0.53,-126.5,468.8,-10.5,154,3258,0.00,1.58,-0.08,0.000,4,0.000,0.039,2512,1446,3416
$GC,3349,-0.53,-126.5,478.5,-9.9,156,3352,0.00,1.73,0.00,0.000,6,0.000,0.041,2507,2565,3416
$GC,3644,-0.53,-126.5,508.9,-10.4,163,3647,0.00,1.52,0.00,0.000,4,0.000,0.050,2500,3553,3413
$GC,3685,-0.53,-126.5,513.9,-10.8,163,3692,0.00,1.40,0.00,0.000,6,0.000,0.023,2506,2568,3413
$GC,3939,-0.53,-126.5,539.7,-10.2,170,3943,0.00,1.55,0.00,0.000,4,0.000,0.023,2513,1462,3411
$GC,4025,-0.53,-126.5,548.0,-9.3,171,4033,0.00,1.67,0.00,0.000,6,0.000,0.043,2508,2548,3410
$GC,4281,-0.53,-126.5,571.1,-9.2,178,4285,0.00,1.58,0.00,0.000,4,0.000,0.051,2500,3560,3408
$GC,4316,-0.53,-126.5,575.0,-9.8,178,4320,0.00,1.45,0.00,0.000,6,0.000,0.024,2506,2560,3408
$GC,4577,-0.53,-126.5,599.9,-9.7,185,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2552,3405
$GC,4820,-0.53,-126.5,622.8,-9.3,191,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2552,3403
$GC,5064,-0.53,-126.5,644.3,-8.7,197,5067,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,3578,3401
$GC,5133,-0.53,-126.5,650.6,-8.5,198,5137,0.00,1.45,0.00,0.000,6,0.000,0.027,2505,2583,3400
$GC,5406,-0.53,-126.5,673.7,-8.7,205,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2575,3399
$GC,5649,-0.53,-126.5,695.8,-9.2,211,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2574,3398
$GC,5893,-0.53,-126.5,717.4,-8.9,217,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2574,3395
$GC,6137,-0.53,-126.5,738.0,-8.4,223,6140,0.00,1.58,0.00,0.000,4,0.000,0.025,2512,1469,3394
$GC,6180,-0.53,-126.5,741.6,-7.5,223,6188,0.00,1.70,0.00,0.000,6,0.000,0.047,2510,2551,3393
$GC,6435,-0.53,-126.5,760.7,-7.6,230,6439,0.00,1.60,0.00,0.000,4,0.000,0.054,2503,3564,3392
$GC,6476,-0.53,-126.5,764.3,-8.1,230,6484,0.00,1.45,0.00,0.000,6,0.000,0.026,2508,2573,3392
$GC,6731,-0.53,-126.5,783.9,-7.8,237,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2572,3390
$GC,6975,-0.53,-126.5,804.0,-8.2,243,6978,0.00,1.58,0.00,0.000,4,0.000,0.053,2502,3557,3389
$GC,7055,-0.53,-126.5,811.7,-9.5,244,7059,0.00,1.45,0.00,0.000,6,0.000,0.028,2507,2574,3388
$GC,7316,-0.53,-126.5,834.4,-9.0,251,7319,0.00,1.58,0.00,0.000,4,0.000,0.028,2508,1473,3387
$GC,7346,-0.53,-126.5,837.4,-9.0,251,7350,0.00,1.70,0.00,0.000,6,0.000,0.046,2503,2558,3387
$GC,7612,-0.53,-126.5,861.9,-9.4,258,7615,0.00,1.58,0.00,0.000,4,0.000,0.055,2494,3555,3386
$GC,7670,-0.53,-126.5,868.0,-9.7,259,7674,0.00,1.45,0.00,0.000,6,0.000,0.028,2500,2574,3386
$GC,7954,-0.53,-126.5,892.9,-8.8,266,7957,0.00,1.58,0.00,0.000,4,0.000,0.028,2508,1472,3385
$STATE,8034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8034,begin apogee
$GC,8047,-0.17,0.0,900.3,8.1,267,8160,0.38,0.00,110.70,1.249,6,0.101,0.000,2637,2232,2888
$STATE,8161,end apogee,CONTROL_FINISHED_OK
$STATE,8161,begin climb
$GC,8166,0.53,126.5,903.5,0.0,270,8320,0.60,1.65,127.90,1.153,4,0.035,0.026,2884,1197,2372
$GC,8393,0.53,126.5,884.0,15.8,275,8397,0.00,1.62,0.00,0.000,6,0.000,0.039,2879,2216,2365
$GC,8687,0.53,126.5,835.1,16.8,282,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2216,2361
$GC,8931,0.53,126.5,795.2,16.4,288,8934,0.00,1.65,0.00,0.000,4,0.000,0.049,2877,3285,2359
$GC,9034,0.53,126.5,776.9,17.6,290,9038,0.00,1.55,0.00,0.000,6,0.000,0.027,2883,2250,2357
$GC,9316,0.53,126.5,730.1,16.8,297,9320,0.00,1.60,0.00,0.000,4,0.000,0.028,2891,1157,2357
$GC,9335,0.53,126.5,726.5,16.4,297,9338,0.00,1.67,0.00,0.000,6,0.000,0.041,2891,2225,2356
$GC,9613,0.53,126.5,678.6,17.6,304,9617,0.00,1.62,0.00,0.000,4,0.000,0.050,2891,3278,2355
$GC,9707,0.53,126.5,660.9,19.4,306,9712,0.10,1.55,0.00,0.000,6,0.173,0.028,2869,2246,2355
$GC,10002,0.53,126.5,615.7,14.9,313,10006,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3294,2354
$GC,10105,0.53,126.5,600.0,15.1,315,10108,0.00,1.52,0.00,0.000,6,0.000,0.026,2868,2265,2354
$GC,10388,0.53,126.5,560.3,14.3,322,10392,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1163,2354
$GC,10418,0.53,126.5,555.6,13.7,322,10422,0.00,1.75,0.00,0.000,6,0.000,0.041,2876,2283,2354
$GC,10684,0.53,126.5,518.6,13.9,329,10688,0.00,1.67,0.00,0.000,4,0.000,0.028,2882,1152,2354
$GC,10798,0.53,126.5,503.6,11.7,331,10802,0.00,1.70,0.00,0.000,6,0.000,0.041,2876,2262,2353
$GC,11069,0.53,126.5,469.2,13.4,338,11073,0.00,1.62,0.00,0.000,4,0.000,0.028,2882,1161,2353
$GC,11175,0.53,126.5,454.9,12.3,340,11178,0.00,1.67,0.00,0.000,6,0.000,0.041,2876,2254,2352
$GC,11457,0.53,126.5,419.1,12.6,347,11461,0.00,1.60,0.00,0.000,4,0.000,0.049,2876,3280,2352
$GC,11521,0.53,126.5,410.2,13.2,348,11524,0.00,1.52,0.00,0.000,6,0.000,0.027,2881,2244,2352
$GC,11799,0.53,126.5,376.0,12.7,355,11803,0.00,1.62,0.00,0.000,4,0.000,0.048,2876,3280,2352
$GC,11939,0.53,126.5,358.7,12.2,358,11942,0.00,1.48,0.00,0.000,6,0.000,0.026,2881,2285,2352
$GC,12233,0.53,126.5,325.5,11.6,365,12236,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3287,2351
$GC,12353,0.53,126.5,312.2,11.0,367,12356,0.00,1.42,0.00,0.000,6,0.000,0.025,2881,2315,2351
$GC,12619,0.53,126.5,282.6,11.6,374,12622,0.00,1.55,0.00,0.000,4,0.000,0.047,2876,3288,2352
$GC,12772,0.53,126.5,266.8,9.4,377,12776,0.00,1.35,0.00,0.000,6,0.000,0.025,2881,2365,2351
$GC,13050,0.53,139.1,243.7,8.3,384,13064,0.00,1.75,9.05,0.728,4,0.000,0.026,2889,1166,2320
$GC,13189,0.53,139.1,231.3,10.4,387,13192,0.00,1.80,0.00,0.000,6,0.000,0.040,2888,2340,2319
$GC,13484,0.53,139.1,201.8,9.9,394,13487,0.00,1.45,0.00,0.000,4,0.000,0.047,2888,3280,2319
$GC,13717,0.53,139.1,177.1,11.5,411,13726,0.00,1.38,0.00,0.000,6,0.000,0.024,2894,2329,2319
$GC,13984,0.53,139.1,150.1,9.6,436,13988,0.00,1.50,0.00,0.000,4,0.000,0.043,2891,3290,2319
$GC,14022,0.53,139.1,145.9,10.1,439,14026,0.00,1.40,0.00,0.000,6,0.000,0.022,2897,2324,2319
$GC,14295,0.53,148.5,121.6,8.4,464,14310,0.00,1.70,10.07,0.623,4,0.000,0.025,2901,1149,2283
$GC,14396,0.55,182.1,113.9,7.0,472,14437,0.00,1.80,29.62,0.651,6,0.000,0.036,2901,2325,2145
$GC,14692,0.55,182.1,83.1,9.2,499,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2325,2141
$GC,14960,0.59,282.2,68.2,3.0,524,15046,0.00,1.75,81.45,0.607,4,0.000,0.023,2902,1173,1736
$GC,15097,0.59,284.6,58.1,8.9,534,15107,0.00,1.83,0.00,0.000,6,0.000,0.035,2902,2335,1732
$GC,15364,0.59,284.6,30.1,9.4,559,15368,0.00,1.70,0.00,0.000,4,0.000,0.024,2902,1163,1730
$GC,15395,0.59,284.6,27.1,9.7,562,15403,0.00,1.77,0.00,0.000,6,0.000,0.034,2902,2317,1730
$STATE,15618,end climb,SURFACE_DEPTH_REACHED
$STATE,15618,begin surface coast
$FINISH,0.5,1.023203
$STATE,15657,end surface coast,CONTROL_FINISHED_OK
$STATE,15657,begin surface
$SM_CCo,15683,146.73,0.535,0,0,398,610.54
$SM_GC,1.33,0.00,0.00,146.73,0.000,0.000,0.535,24,2546,398,-8.30,1.27,610.54
$IRIDIUM_FIX,2340.34,-15802.30,040203,030311
$TT8_MAMPS,0.023777
$HUMID,2174
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,26.10
$XPDR_PINGS,6
$24V_AH,23.6,46.626
$10V_AH,10.6,55.526
$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,17.925,110.825,368.800,146.725,0.000,148.433,198.917,1370.234,1.500,0.000,0.000,16.516,1290.276,10503.443,567.927,3290.392,2355.697,33.380,1634.610,0.000,3282.546,0.000,0.545,0.000
$DEVICE_MAMPS,197.119,55.224,1248.676,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,408.781,1976.690,2059.766,1371.816,1373.393,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50870,601
$CAP_FILE_SIZE,143215,0
$CFSIZE,260165632,239902720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,101113,082203,2303.485,-15804.518,68,1.5,68,10.1