version: 66.04
glider: 512
mission: 4
dive: 282
start: 11 10 113 8 58 52
data:
$ID,512
$MISSION,4
$DIVE,282
$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,-112008.78
$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,63
$R_STBD_OVSHOOT,59
$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
$GPS1,082203,2303.485,-15804.518,68,1.5,68,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.6
$GPS2,085755,2303.538,-15804.835,20,1.4,20,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.093,0.191
$KALMAN_X,53598.5,44.8,-134.1,-61689.4,1538.5
$KALMAN_Y,67186.9,-67.2,82.4,-31170.0,-364.7
$MHEAD_RNG_PITCHd_Wd,323.9,1770,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.52,-101.0,0.0,0.0,0,114,0.00,0.00,-93.85,0.000,2,0.000,0.000,7,2544,2749
$GC,120,-0.53,-126.5,2.2,-1.4,11,149,9.50,0.00,-16.38,0.000,6,0.196,0.000,2518,2540,3405
$GC,421,-0.53,-126.5,78.4,-22.0,45,425,0.00,1.50,0.00,0.000,4,0.000,0.039,2512,3533,3405
$GC,612,-0.53,-126.5,114.7,-18.4,61,620,0.00,1.50,0.00,0.000,6,0.000,0.018,2515,2476,3405
$GC,878,-0.53,-126.5,160.8,-17.2,86,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2470,3405
$GC,1162,-0.53,-126.5,207.9,-16.1,110,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2469,3405
$GC,1406,-0.53,-126.5,243.2,-14.1,116,1410,0.00,1.40,0.00,0.000,4,0.000,0.019,2516,1435,3404
$GC,1491,-0.53,-126.5,254.1,-12.0,117,1501,0.00,1.55,0.00,0.000,6,0.000,0.035,2510,2470,3404
$GC,1747,-0.53,-126.5,288.6,-13.8,124,1750,0.00,1.62,0.00,0.000,4,0.000,0.045,2502,3561,3404
$GC,1821,-0.53,-126.5,299.2,-13.2,125,1825,0.00,1.50,0.00,0.000,6,0.000,0.019,2508,2497,3403
$GC,2087,-0.53,-126.5,331.3,-11.8,132,2091,0.00,1.62,0.00,0.000,4,0.000,0.042,2501,3552,3401
$GC,2148,-0.53,-126.5,338.5,-10.8,133,2151,0.00,1.42,0.00,0.000,6,0.000,0.019,2506,2542,3401
$GC,2430,-0.53,-126.5,372.3,-12.5,140,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2534,3399
$GC,2674,-0.53,-126.5,401.7,-11.6,146,2678,0.00,1.50,0.00,0.000,4,0.000,0.021,2514,1449,3398
$GC,2760,-0.53,-126.5,410.5,-9.5,147,2770,0.00,1.65,0.00,0.000,6,0.000,0.039,2508,2532,3397
$GC,3015,-0.53,-126.5,436.6,-10.6,154,3019,0.00,1.58,-0.08,0.000,4,0.000,0.065,2500,3564,3417
$GC,3095,-0.53,-126.5,446.3,-12.1,155,3099,0.00,1.45,0.00,0.000,6,0.000,0.021,2505,2546,3417
$GC,3355,-0.53,-126.5,475.6,-11.2,162,3359,0.00,1.52,0.00,0.000,4,0.000,0.022,2512,1446,3414
$GC,3416,-0.53,-126.5,481.6,-8.5,163,3420,0.00,1.65,0.00,0.000,6,0.000,0.041,2507,2542,3414
$GC,3699,-0.53,-126.5,506.1,-8.5,170,3703,0.00,1.58,0.00,0.000,4,0.000,0.050,2499,3558,3411
$GC,3779,-0.53,-126.5,514.1,-9.8,171,3783,0.00,1.48,0.00,0.000,6,0.000,0.023,2504,2538,3410
$GC,4041,-0.53,-126.5,541.4,-10.9,178,4045,0.00,1.52,0.00,0.000,4,0.000,0.023,2508,1445,3408
$GC,4121,-0.53,-126.5,550.9,-10.8,179,4124,0.00,1.62,0.00,0.000,6,0.000,0.043,2502,2518,3408
$GC,4381,-0.53,-126.5,579.1,-10.9,186,4385,0.00,1.60,0.00,0.000,4,0.000,0.051,2494,3566,3405
$GC,4417,-0.53,-126.5,583.4,-11.3,186,4421,0.00,1.52,0.00,0.000,6,0.000,0.023,2500,2514,3404
$GC,4679,-0.53,-126.5,608.4,-9.5,193,4682,0.00,1.62,0.00,0.000,4,0.000,0.048,2493,3559,3402
$GC,4736,-0.53,-126.5,614.1,-9.3,194,4740,0.00,1.52,0.00,0.000,6,0.000,0.025,2500,2513,3401
$GC,5019,-0.53,-126.5,637.9,-8.5,201,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2506,3400
$GC,5263,-0.53,-126.5,659.7,-9.1,207,5266,0.00,1.65,0.00,0.000,4,0.000,0.052,2494,3565,3398
$GC,5304,-0.53,-126.5,664.2,-9.5,207,5312,0.00,1.50,0.00,0.000,6,0.000,0.025,2500,2527,3398
$GC,5560,-0.53,-126.5,687.7,-9.5,214,5563,0.00,1.52,0.00,0.000,4,0.000,0.024,2507,1449,3396
$GC,5589,-0.53,-126.5,691.0,-9.9,214,5593,0.00,1.65,0.00,0.000,6,0.000,0.044,2502,2532,3396
$GC,5856,-0.53,-126.5,716.0,-9.6,221,5859,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3569,3394
$GC,5930,-0.53,-126.5,723.6,-9.9,222,5933,0.00,1.50,0.00,0.000,6,0.000,0.025,2499,2543,3392
$GC,6196,-0.53,-126.5,748.1,-9.4,229,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2535,3391
$GC,6441,-0.53,-126.5,770.7,-9.2,235,6444,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3557,3390
$GC,6498,-0.53,-126.5,776.5,-9.2,236,6502,0.00,1.48,0.00,0.000,6,0.000,0.027,2499,2556,3389
$GC,6781,-0.53,-126.5,800.7,-8.7,243,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2548,3388
$GC,7025,-0.53,-126.5,821.5,-8.4,249,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2547,3387
$GC,7269,-0.53,-126.5,841.6,-8.2,255,7272,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3565,3385
$GC,7328,-0.53,-126.5,847.0,-8.8,256,7331,0.00,1.48,0.00,0.000,6,0.000,0.026,2499,2563,3385
$GC,7611,-0.53,-126.5,871.4,-8.9,263,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2554,3384
$GC,7854,-0.53,-126.5,893.7,-9.2,269,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2555,3384
$STATE,7931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7931,begin apogee
$GC,7943,-0.17,0.0,901.3,9.2,271,8055,0.43,0.00,109.50,1.250,6,0.105,0.000,2644,2210,2888
$STATE,8056,end apogee,CONTROL_FINISHED_OK
$STATE,8056,begin climb
$GC,8061,0.53,126.5,905.2,0.0,274,8210,0.57,1.65,126.12,1.166,4,0.030,0.027,2891,1189,2371
$GC,8234,0.53,126.5,892.2,16.3,277,8242,0.00,1.70,0.00,0.000,6,0.000,0.038,2891,2219,2366
$GC,8488,0.53,126.5,845.6,18.6,284,8492,0.00,1.67,0.00,0.000,4,0.000,0.049,2891,3268,2361
$GC,8512,0.53,126.5,840.6,18.8,284,8515,0.00,1.55,0.00,0.000,6,0.000,0.026,2897,2244,2360
$GC,8783,0.53,126.5,787.3,20.0,291,8785,0.12,0.00,0.00,0.000,6,0.183,0.000,2869,2238,2359
$GC,9027,0.53,126.5,745.8,16.5,297,9031,0.00,1.65,0.00,0.000,4,0.000,0.048,2863,3287,2357
$GC,9107,0.53,126.5,731.3,17.6,298,9111,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2235,2356
$GC,9368,0.53,126.5,689.2,16.5,305,9371,0.00,1.65,0.00,0.000,4,0.000,0.047,2864,3284,2355
$GC,9392,0.53,126.5,684.3,17.7,305,9395,0.00,1.52,0.00,0.000,6,0.000,0.027,2869,2260,2355
$GC,9663,0.53,126.5,640.1,16.1,312,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2254,2354
$GC,9907,0.53,126.5,602.0,15.6,318,9910,0.00,1.60,0.00,0.000,4,0.000,0.028,2876,1162,2354
$GC,9942,0.53,126.5,595.9,15.0,318,9946,0.00,1.67,0.00,0.000,6,0.000,0.042,2876,2251,2354
$GC,10204,0.53,126.5,557.4,14.9,325,10207,0.00,1.62,0.00,0.000,4,0.000,0.051,2875,3308,2354
$GC,10228,0.53,126.5,552.9,15.7,325,10232,0.00,1.58,0.00,0.000,6,0.000,0.028,2881,2249,2353
$GC,10499,0.53,126.5,513.3,14.3,332,10503,0.00,1.58,0.00,0.000,4,0.000,0.028,2889,1167,2353
$GC,10529,0.53,126.5,508.7,14.2,332,10533,0.00,1.65,0.00,0.000,6,0.000,0.041,2889,2247,2353
$GC,10795,0.53,126.5,470.7,14.2,339,10798,0.00,1.62,0.00,0.000,4,0.000,0.050,2888,3303,2352
$GC,10826,0.53,126.5,466.0,15.1,339,10830,0.00,1.58,0.00,0.000,6,0.000,0.028,2894,2243,2353
$GC,11093,0.53,126.5,430.2,13.6,346,11097,0.00,1.65,0.00,0.000,4,0.000,0.049,2891,3292,2352
$GC,11223,0.53,126.5,410.1,15.8,348,11232,0.08,1.52,0.00,0.000,6,0.179,0.026,2875,2267,2352
$GC,11479,0.53,126.5,380.3,11.1,355,11482,0.00,1.60,0.00,0.000,4,0.000,0.027,2882,1157,2351
$GC,11592,0.53,126.5,367.2,10.8,357,11595,0.00,1.73,0.00,0.000,6,0.000,0.041,2876,2284,2351
$GC,11864,0.53,126.5,335.9,11.5,364,11868,0.00,1.55,0.00,0.000,4,0.000,0.048,2876,3275,2350
$GC,11906,0.53,126.5,329.8,13.3,364,11914,0.00,1.48,0.00,0.000,6,0.000,0.025,2882,2270,2350
$GC,12160,0.53,126.5,303.5,9.8,371,12164,0.00,1.60,0.00,0.000,4,0.000,0.048,2876,3276,2350
$GC,12313,0.53,126.5,285.9,12.5,374,12316,0.00,1.40,0.00,0.000,6,0.000,0.025,2881,2326,2350
$GC,12590,0.53,126.5,260.3,9.1,381,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2320,2350
$GC,12834,0.53,137.3,239.4,8.4,387,12847,0.00,1.70,7.18,0.691,4,0.000,0.026,2889,1166,2327
$GC,13031,0.53,149.3,223.2,8.3,391,13050,0.00,1.75,12.35,0.731,6,0.000,0.039,2889,2318,2279
$GC,13306,0.54,151.6,200.2,8.9,398,13310,0.00,1.65,0.00,0.000,4,0.000,0.025,2895,1169,2278
$GC,13369,0.54,151.6,195.0,9.0,400,13373,0.00,1.75,0.00,0.000,6,0.000,0.038,2891,2298,2277
$GC,13640,0.54,151.6,168.9,10.5,425,13644,0.00,1.65,0.00,0.000,4,0.000,0.025,2897,1161,2277
$GC,13669,0.54,151.6,165.8,11.5,427,13672,0.00,1.77,0.00,0.000,6,0.000,0.038,2891,2306,2277
$GC,13940,0.54,151.6,138.4,10.1,452,13944,0.00,1.50,0.00,0.000,4,0.000,0.043,2891,3287,2277
$GC,13971,0.54,151.6,135.0,11.0,454,13980,0.00,1.42,0.00,0.000,6,0.000,0.022,2897,2302,2277
$GC,14239,0.54,167.2,110.5,8.1,479,14266,0.00,1.55,17.08,0.631,4,0.000,0.041,2891,3286,2206
$GC,14376,0.54,167.2,95.4,9.6,490,14385,0.00,1.38,0.00,0.000,6,0.000,0.022,2896,2334,2204
$GC,14642,0.54,167.2,68.0,10.3,515,14651,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2327,2204
$GC,14909,0.58,268.4,58.5,2.9,540,14997,0.00,1.50,82.78,0.596,4,0.000,0.037,2897,3296,1792
$GC,15057,0.59,300.0,47.4,7.1,551,15089,0.00,1.40,26.17,0.568,6,0.000,0.021,2899,2350,1664
$GC,15372,0.59,300.0,14.8,11.7,587,15382,0.00,1.70,0.00,0.000,4,0.000,0.023,2907,1169,1658
$GC,15455,0.59,300.0,4.5,12.3,599,15464,0.00,1.77,0.00,0.000,6,0.000,0.036,2906,2322,1657
$STATE,15471,end climb,SURFACE_DEPTH_REACHED
$STATE,15471,begin surface coast
$FINISH,0.4,1.010757
$STATE,15504,end surface coast,CONTROL_FINISHED_OK
$STATE,15504,begin surface
$SM_CCo,15530,36.17,0.530,0,0,1297,390.02
$SM_GC,1.53,0.00,0.00,36.17,0.000,0.000,0.530,28,2532,1297,-8.33,0.90,390.02
$IRIDIUM_FIX,2223.01,-15802.82,040203,080843
$TT8_MAMPS,0.023777
$HUMID,2243
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.90
$XPDR_PINGS,4
$24V_AH,23.6,46.834
$10V_AH,10.6,55.750
$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,18.050,111.150,381.175,36.175,0.000,148.859,172.452,1377.074,1.000,0.000,0.000,20.645,1274.421,10469.315,466.477,3174.333,2330.956,33.369,1506.612,0.000,3154.501,0.000,0.545,0.000
$DEVICE_MAMPS,195.585,65.195,1250.210,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,411.844,1992.790,2053.696,1432.682,1367.559,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50953,606
$CAP_FILE_SIZE,140719,0
$CFSIZE,260165632,239857664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,101113,132036,2305.882,-15805.210,88,1.4,88,10.1